add separate package for service

src/drone_services/CMakeLists.txt

@@ -18,6 +18,11 @@ endif()
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/SetAttitude.srv"
+)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

src/drone_services/package.xml

@@ -1,20 +1,23 @@
 <?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>drone_services</name>
-  <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="ubuntu@todo.todo">ubuntu</maintainer>
-  <license>TODO: License declaration</license>
+    <name>drone_services</name>
+    <version>0.0.0</version>
+    <description>TODO: Package description</description>
+    <maintainer email="ubuntu@todo.todo">ubuntu</maintainer>
+    <license>TODO: License declaration</license>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
+    <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>rclcpp</depend>
+    <depend>rclcpp</depend>
+    <buildtool_depend>rosidl_default_generators</buildtool_depend>
+    <exec_depend>rosidl_default_runtime</exec_depend>
+    <member_of_group>rosidl_interface_packages</member_of_group>
 
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
+    <test_depend>ament_lint_auto</test_depend>
+    <test_depend>ament_lint_common</test_depend>
 
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>

src/px4_connection/CMakeLists.txt

@@ -20,12 +20,7 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(px4_ros_com REQUIRED)
 find_package(px4_msgs REQUIRED)
-find_package(px4_connection REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
-
-rosidl_generate_interfaces(${PROJECT_NAME}
-  "srv/SetAttitude.srv"
-)
+find_package(drone_services REQUIRED)
 
 include_directories(include)
 add_executable(heartbeat src/heartbeat.cpp)
@@ -42,7 +37,7 @@ ament_target_dependencies(
     rclcpp
     px4_ros_com
     px4_msgs
-    px4_connection
+    drone_services
 )
 
 target_include_directories(heartbeat PUBLIC

src/px4_connection/package.xml

@@ -8,11 +8,6 @@
     <license>Apache License 2.0</license>
 
     <buildtool_depend>ament_cmake</buildtool_depend>
-    <buildtool_depend>rosidl_default_generators</buildtool_depend>
-
-    <exec_depend>rosidl_default_runtime</exec_depend>
-    <member_of_group>rosidl_interface_packages</member_of_group>
-
 
     <depend>rclcpp</depend>