add message definition

.vscode/c_cpp_properties.json

@@ -10,7 +10,8 @@
                 "/home/ubuntu/ros2_ws/src/beacon_positioning/include/**",
                 "/usr/include/**",
                 "/mnt/Homework/Avans/AFSTUDEERSTAGE/positioning_systems_api/rtls_driver/include/**",
-                "/mnt/Homework/Avans/AFSTUDEERSTAGE/positioning_systems_api/serial_communication/include/**"
+                "/mnt/Homework/Avans/AFSTUDEERSTAGE/positioning_systems_api/serial_communication/include/**",
+                "/mnt/Homework/Avans/AFSTUDEERSTAGE/terabee_api/include/**"
             ],
             "name": "ROS",
             "intelliSenseMode": "gcc-x64",

src/object_detection/CMakeLists.txt

@@ -22,9 +22,15 @@ find_package(ament_cmake REQUIRED)
 # find_package(<dependency> REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(TerabeeApi REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(object_detection REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/LidarReading.msg"
+ )
 
 add_executable(lidar_reader src/lidar_reader.cpp)
-ament_target_dependencies(lidar_reader rclcpp)
+ament_target_dependencies(lidar_reader rclcpp object_detection)
 
 target_link_libraries(lidar_reader ${TerabeeApi_LIBRARIES})
 target_include_directories(lidar_reader PUBLIC ${TerabeeApi_INCLUDE_DIRS})

src/object_detection/msg/LidarReading.msg

@@ -0,0 +1,6 @@
+float32 sensor_1
+float32 sensor_2
+float32 sensor_3
+float32 sensor_4
+float32[] imu_data
+

src/object_detection/package.xml

@@ -14,7 +14,12 @@
 
   <build_depend>rclcpp</build_depend>
   <build_depend>TerabeeApi</build_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  
   <exec_depend>TerabeeApi</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  
+  <member_of_group>rosidl_interface_packages</member_of_group>
 
   <export>
     <build_type>ament_cmake</build_type>