sem/5g_drone_ROS2
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add separate package for service

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Sem van der Hoeven
2023-05-01 16:06:43 +02:00
parent bb3942c301
commit 0f0c84cf0c
6 changed files with 24 additions and 26 deletions
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5
src/drone_services/CMakeLists.txt
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@@ -18,6 +18,11 @@ endif()
# find dependencies # find dependencies
find_package(ament_cmake REQUIRED) find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED) find_package(rclcpp REQUIRED)
find_package(rosidl_default_generators REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
"srv/SetAttitude.srv"
)
if(BUILD_TESTING) if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED) find_package(ament_lint_auto REQUIRED)

29
src/drone_services/package.xml
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@@ -1,20 +1,23 @@
<?xml version="1.0"?> <?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3"> <package format="3">
<name>drone_services</name> <name>drone_services</name>
<version>0.0.0</version> <version>0.0.0</version>
<description>TODO: Package description</description> <description>TODO: Package description</description>
<maintainer email="ubuntu@todo.todo">ubuntu</maintainer> <maintainer email="ubuntu@todo.todo">ubuntu</maintainer>
<license>TODO: License declaration</license> <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_auto</test_depend>
<test_depend>ament_lint_common</test_depend> <test_depend>ament_lint_common</test_depend>
<export> <export>
<build_type>ament_cmake</build_type> <build_type>ament_cmake</build_type>
</export> </export>
</package> </package>

0
src/px4_connection/srv/SetAttitude.srv → src/drone_services/srv/SetAttitude.srv
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9
src/px4_connection/CMakeLists.txt
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@@ -20,12 +20,7 @@ find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED) find_package(rclcpp REQUIRED)
find_package(px4_ros_com REQUIRED) find_package(px4_ros_com REQUIRED)
find_package(px4_msgs REQUIRED) find_package(px4_msgs REQUIRED)
find_package(px4_connection REQUIRED) find_package(drone_services REQUIRED)
find_package(rosidl_default_generators REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
"srv/SetAttitude.srv"
)
include_directories(include) include_directories(include)
add_executable(heartbeat src/heartbeat.cpp) add_executable(heartbeat src/heartbeat.cpp)
@@ -42,7 +37,7 @@ ament_target_dependencies(
rclcpp rclcpp
px4_ros_com px4_ros_com
px4_msgs px4_msgs
px4_connection drone_services
) )
target_include_directories(heartbeat PUBLIC target_include_directories(heartbeat PUBLIC

5
src/px4_connection/package.xml
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@@ -8,11 +8,6 @@
<license>Apache License 2.0</license> <license>Apache License 2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend> <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> <depend>rclcpp</depend>

2
src/px4_msgs

Submodule src/px4_msgs updated: ffc3a4cd57...b64ef0475c