add service definition

2023-05-01 14:28:00 +02:00
parent d82b1925a4
commit fb34e50b38
3 changed files with 24 additions and 14 deletions
--- a/src/px4_connection/CMakeLists.txt
+++ b/src/px4_connection/CMakeLists.txt
@@ -20,6 +20,11 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(px4_ros_com REQUIRED)
 find_package(px4_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/SetAttitude.srv"
+)

 add_executable(heartbeat src/heartbeat.cpp)
 ament_target_dependencies(
--- a/src/px4_connection/package.xml
+++ b/src/px4_connection/package.xml
@@ -8,6 +8,11 @@
    <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>

--- a/src/px4_msgs
+++ b/src/px4_msgs