Compare commits
6 Commits
| Author | SHA1 | Date | |
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| c1d9c6e33c | |||
| 25b8997abe | |||
| 19ff69e8a4 | |||
| 57be3d0d8e | |||
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3d1c97d514 | ||
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b29be30aa3 |
@ -1,64 +0,0 @@
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cmake_minimum_required(VERSION 3.5)
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project(custom_interfaces)
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(builtin_interfaces REQUIRED)
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# -->
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# ADD THESE LINES: START HERE
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find_package(rosidl_default_generators REQUIRED)
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find_package(rclcpp REQUIRED)
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# CUSTOM LINES: CHANGE FOR YOUR FILENAMES
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rosidl_generate_interfaces(${PROJECT_NAME}
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"msg/CustomMsg1.msg"
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"msg/CustomMsg2.msg"
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"srv/CustomSrv1.srv"
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"srv/StateMachineSrv.srv"
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DEPENDENCIES builtin_interfaces
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)
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# END HERE
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# <--
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# uncomment the line when a copyright and license is not present in all source files
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#set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# uncomment the line when this package is not in a git repo
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#set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()
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@ -1,40 +0,0 @@
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Use this ROS2 package to create custom interfaces, eg. topic (*.msg) and/or service (*.srv) files.
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This package must only be used for interface files and __no__ Python scripts.
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The following steps describe how to create a new custom topic or service.
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## 1. Create new interface file
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Topic *.msg files got into `msg` directory,
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Service *.srv files got into `srv` directory.
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Create these files according to the example on this [instructions page](https://docs.ros.org/en/foxy/Tutorials/Writing-A-Simple-Py-Service-And-Client.html).
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## 2. CMakeLists.txt
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Edit the `CMakeLists.txt` file by adding the newly created *.msg or *.srv files to this part:
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```cmake
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rosidl_generate_interfaces(${PROJECT_NAME}
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"msg/CustomMsg1.msg"
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"msg/CustomMsg2.msg"
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"srv/CustomSrv1.srv"
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DEPENDENCIES builtin_interfaces
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)
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```
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## 3. Build colcon workspace
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Move back to the root of your _colcon_ workspace and rebuild it: `colcon build --symlink-install`
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It should build without any errors. If you encounter errors fix these before continuing.
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After a successful build you must __close and reopen all terminals__ in order to source the newly built workspace. For this to happen you must have edited _.bashrc_ and added your current workspace (`sudo nano ~/.bashrc` and follow [this example](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/non-ros-files/bashrc_overlay.bash)).
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## 4. Import interfaces
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Import the newly created interfaces into the Python scripts. These scripts must be located in _Python packages_ inside the same workspace (or another _sourced_ workspace):
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* Topics:
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```python
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from custom_interfaces.msg import CustomMsg1
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```
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* Services:
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```python
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from custom_interfaces.srv import CustomSrv1
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```
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Now you can work with your custom interface in order to exchange custom information between nodes.
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@ -1,8 +0,0 @@
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# Header data, eg timestamp
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# Problem: "header__struct.hpp: No such file or directory"
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#Header header
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# Sensor Data coming back from an array of atmospheric sensors
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float32[] temperature
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float32[] pressure
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float32[] humidity
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@ -1,7 +0,0 @@
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# Header data, eg timestamp
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# Problem: "header__struct.hpp: No such file or directory"
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#Header header
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# User inputs, eg. for controlling a camera mast , eg. set angles [rad]
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float32 pitch_ctrl
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float32 yaw_ctrl
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@ -1,42 +0,0 @@
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>custom_interfaces</name>
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<version>0.0.0</version>
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<description>TODO: Package description</description>
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<maintainer email="rosmobile@todo.todo">rosmobile</maintainer>
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<license>TODO: License declaration</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<!-- ADD THESE LINES: START HERE -->
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<build_depend>builtin_interfaces</build_depend>
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<build_depend>rosidl_default_generators</build_depend>
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<exec_depend>builtin_interfaces</exec_depend>
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<exec_depend>rosidl_default_runtime</exec_depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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<!-- END HERE -->
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<depend>std_msgs</depend>
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<!-- DO NOT ENTER THIS DEPENDENCY WHEN CREATING NEW PACKAGE -->
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<!-- <depend>builtin_interfaces</depend> -->
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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@ -1,3 +0,0 @@
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string command
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---
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bool success
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@ -1,4 +0,0 @@
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string command
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float32 value
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---
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bool success
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@ -15,7 +15,9 @@
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<!-- CUSTOM LINE -->
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<!-- This is custom for the package you depend on -->
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<exec_depend>pubsub_msg</exec_depend>
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<!-- <exec_depend>pubsub_msg</exec_depend> -->
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<exec_depend>custom_interfaces</exec_depend>
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<!-- test -->
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<!-- END HERE -->
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@ -166,7 +166,9 @@ class MinimalServiceProvider(Node):
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# Insert your callback code here
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def user_defined(self, request, response):
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""" Write your user defined code here which will be run at every service call
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""" OLD! Use function parameter srv_callback_fct instead!
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Write your user defined code here which will be run at every service call
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Input:
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* request: srv request class
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@ -201,7 +203,7 @@ class MinimalServiceClientAsync(Node):
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def send_request(self, request):
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"""
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Feed request of type "SRV_TYPE.Request()"
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Access variable using
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Access individual variables using
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* request = SRV_TYPE.Request()
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* request.<var_name> = ....
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"""
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@ -1,59 +0,0 @@
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cmake_minimum_required(VERSION 3.5)
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project(pubsub_msg)
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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# uncomment the following section in order to fill in
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# further dependencies manually.
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# find_package(<dependency> REQUIRED)
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# -->
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# ADD THESE LINES: START HERE
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find_package(builtin_interfaces REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(rclcpp REQUIRED)
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# CUSTOM LINES: CHANGE FOR YOUR FILENAMES
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rosidl_generate_interfaces(${PROJECT_NAME}
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"msg/CustomMsg1.msg"
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"msg/CustomMsg2.msg"
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DEPENDENCIES builtin_interfaces
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)
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# END HERE
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# <--
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# uncomment the line when a copyright and license is not present in all source files
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#set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# uncomment the line when this package is not in a git repo
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#set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()
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@ -1,8 +0,0 @@
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# Header data, eg timestamp
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# Problem: "header__struct.hpp: No such file or directory"
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#Header header
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# Sensor Data coming back from an array of atmospheric sensors
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float32[] temperature
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float32[] pressure
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float32[] humidity
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@ -1,7 +0,0 @@
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# Header data, eg timestamp
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# Problem: "header__struct.hpp: No such file or directory"
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#Header header
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# User inputs, eg. for controlling a camera mast , eg. set angles [rad]
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float32 pitch_ctrl
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float32 yaw_ctrl
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@ -1,34 +0,0 @@
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>pubsub_msg</name>
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<version>0.0.0</version>
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<description>TODO: Package description</description>
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<maintainer email="winterhalder.p@googlemail.com">patrick</maintainer>
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<license>TODO: License declaration</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<!-- ADD THESE LINES: START HERE -->
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<build_depend>builtin_interfaces</build_depend>
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<build_depend>rosidl_default_generators</build_depend>
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<exec_depend>builtin_interfaces</exec_depend>
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<exec_depend>rosidl_default_runtime</exec_depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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<!-- END HERE -->
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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Block a user