new package created and srv built

This commit is contained in:
winterhalderp 2021-04-20 18:27:13 +02:00
parent 2786c9a6a7
commit cded485150
6 changed files with 131 additions and 1 deletions

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@ -65,7 +65,7 @@ pubsub <---- depends on *.msg files ----< pubsub_msg
This is also done in the background when creating a new package and defining dependencies This is also done in the background when creating a new package and defining dependencies
`ros2 pkg create <pkg-name> --dependencies [deps]` `ros2 pkg create <pkg-name> --dependencies [deps]`
for example for example
`ros2 pkg create pubsub_2 --dependencies std_msgs` `ros2 pkg create pubsub_2 --dependencies std_msgs builtin_interfaces --build-type ament_cmake`
This command creates the new package `pubsub_2` but already links it to the ROS standard messages `std_msgs` so they are available. This command creates the new package `pubsub_2` but already links it to the ROS standard messages `std_msgs` so they are available.
## pubsub/ ## pubsub/

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@ -0,0 +1,63 @@
cmake_minimum_required(VERSION 3.5)
project(custom_interfaces)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(std_msgs REQUIRED)
find_package(builtin_interfaces REQUIRED)
# -->
# ADD THESE LINES: START HERE
find_package(rosidl_default_generators REQUIRED)
find_package(rclcpp REQUIRED)
# CUSTOM LINES: CHANGE FOR YOUR FILENAMES
rosidl_generate_interfaces(${PROJECT_NAME}
"msg/CustomMsg1.msg"
"msg/CustomMsg2.msg"
"srv/CustomSrv1.srv"
DEPENDENCIES builtin_interfaces
)
# END HERE
# <--
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# uncomment the line when a copyright and license is not present in all source files
#set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# uncomment the line when this package is not in a git repo
#set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()

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@ -0,0 +1,8 @@
# Header data, eg timestamp
# Problem: "header__struct.hpp: No such file or directory"
#Header header
# Sensor Data coming back from an array of atmospheric sensors
float32[] temperature
float32[] pressure
float32[] humidity

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@ -0,0 +1,7 @@
# Header data, eg timestamp
# Problem: "header__struct.hpp: No such file or directory"
#Header header
# User inputs, eg. for controlling a camera mast , eg. set angles [rad]
float32 pitch_ctrl
float32 yaw_ctrl

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@ -0,0 +1,42 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>custom_interfaces</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="rosmobile@todo.todo">rosmobile</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<!-- ADD THESE LINES: START HERE -->
<build_depend>builtin_interfaces</build_depend>
<build_depend>rosidl_default_generators</build_depend>
<exec_depend>builtin_interfaces</exec_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<!-- END HERE -->
<depend>std_msgs</depend>
<!-- DO NOT ENTER THIS DEPENDENCY WHEN CREATING NEW PACKAGE -->
<!-- <depend>builtin_interfaces</depend> -->
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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@ -0,0 +1,10 @@
# Header data, eg timestamp
# Problem: "header__struct.hpp: No such file or directory"
#Header header
# Sensor Data coming back from an array of atmospheric sensors
float32[] temperature
float32[] pressure
float32[] humidity
---
bool success