move height and lidar message definitions to drone_services package

src/drone_services/CMakeLists.txt

@@ -34,6 +34,9 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/DroneArmStatus.msg"
   "msg/DroneRouteStatus.msg"
   "msg/DroneStatus.msg"
+  "msg/HeightData.msg"
+  "msg/LidarReading.msg"
+  "msg/MultiflexReading.msg"
 )
 
 if(BUILD_TESTING)

src/height/CMakeLists.txt

@@ -19,12 +19,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(TerabeeApi REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
+find_package(drone_services REQUIRED)
-find_package(height REQUIRED)
-
-rosidl_generate_interfaces(${PROJECT_NAME}
-  "msg/HeightData.msg"
- )
 
 add_executable(height_reader src/height_reader.cpp)
 target_include_directories(height_reader PUBLIC
@@ -38,7 +33,7 @@ ament_target_dependencies(
   height_reader
   rclcpp
   TerabeeApi
-  height
+  drone_services
 )
 
 install(TARGETS height_reader

src/height/src/height_reader.cpp

@@ -7,7 +7,7 @@
 #include <chrono>
 
 #include "rclcpp/rclcpp.hpp"
-#include "height/msg/height_data.hpp"
+#include "drone_services/msg/height_data.hpp"
 
 #include <terabee/ITerarangerFactory.hpp>
 #include <terabee/ITerarangerEvoMini.hpp>
@@ -48,7 +48,7 @@ public:
         RCLCPP_INFO(this->get_logger(), "Succesfully initialized Evo mini!");
 
         timer_ = this->create_wall_timer(500ms, std::bind(&HeightReader::read_height, this));
-        publisher_ = this->create_publisher<height::msg::HeightData>("drone/height", 10);
+        publisher_ = this->create_publisher<drone_services::msg::HeightData>("drone/height", 10);
     }
 
 private:
@@ -58,7 +58,7 @@ private:
      */
     void read_height()
     {
-        auto msg = height::msg::HeightData();
+        auto msg = drone_services::msg::HeightData();
 
         // high initial minimal value
         float min = 255;
@@ -82,7 +82,7 @@ private:
     // timer for publishing height readings
     rclcpp::TimerBase::SharedPtr timer_;
     // publisher for height readings
-    rclcpp::Publisher<height::msg::HeightData>::SharedPtr publisher_;
+    rclcpp::Publisher<drone_services::msg::HeightData>::SharedPtr publisher_;
 
     // factory for height sensor
     std::unique_ptr<terabee::ITerarangerFactory> factory;

src/object_detection/CMakeLists.txt

@@ -22,17 +22,11 @@ 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(drone_services REQUIRED)
-find_package(object_detection REQUIRED)
-
-rosidl_generate_interfaces(${PROJECT_NAME}
-  "msg/LidarReading.msg"
-  "msg/MultiflexReading.msg"
- )
 
 add_executable(lidar_reader src/lidar_reader.cpp)
 ament_target_dependencies(lidar_reader rclcpp 
-	object_detection
+	drone_services
 )
 
 target_link_libraries(lidar_reader ${TerabeeApi_LIBRARIES})
@@ -40,7 +34,7 @@ target_include_directories(lidar_reader PUBLIC ${TerabeeApi_INCLUDE_DIRS})
 
 add_executable(multiflex_reader src/multiflex_reader.cpp)
 ament_target_dependencies(multiflex_reader rclcpp 
-	object_detection
+	drone_services
 )
 
 target_link_libraries(multiflex_reader ${TerabeeApi_LIBRARIES})

src/object_detection/src/lidar_reader.cpp

@@ -1,7 +1,7 @@
 #include <chrono>
 
 #include "rclcpp/rclcpp.hpp"
-#include "object_detection/msg/lidar_reading.hpp"
+#include "drone_services/msg/lidar_reading.hpp"
 
 #include <terabee/ITerarangerFactory.hpp>
 #include <terabee/ITerarangerTowerEvo.hpp>
@@ -26,7 +26,7 @@ public:
         this->declare_parameter("lidar_serial_port", "/dev/ttyACM0", descriptor);
 
         // create publisher and bind timer to publish function
-        publisher_ = this->create_publisher<object_detection::msg::LidarReading>("drone/object_detection", 10);
+        publisher_ = this->create_publisher<drone_services::msg::LidarReading>("drone/object_detection", 10);
         timer_ = this->create_wall_timer(500ms, std::bind(&LidarReader::read_lidar_data, this));
 
         factory = terabee::ITerarangerFactory::getFactory();
@@ -50,7 +50,7 @@ public:
 
 private:
     // publisher for lidar data
-    rclcpp::Publisher<object_detection::msg::LidarReading>::SharedPtr publisher_;
+    rclcpp::Publisher<drone_services::msg::LidarReading>::SharedPtr publisher_;
     // timer for publishing readings
     rclcpp::TimerBase::SharedPtr timer_;
 
@@ -64,7 +64,7 @@ private:
      */
     void read_lidar_data()
     {
-        auto msg = object_detection::msg::LidarReading();
+        auto msg = drone_services::msg::LidarReading();
 
         // read distance data from all sensors
         msg.sensor_1 = tower->getDistance().distance.at(0);

src/object_detection/src/multiflex_reader.cpp

@@ -1,7 +1,7 @@
 #include <chrono>
 
 #include "rclcpp/rclcpp.hpp"
-#include "object_detection/msg/multiflex_reading.hpp"
+#include "drone_services/msg/multiflex_reading.hpp"
 
 #include <terabee/ITerarangerFactory.hpp>
 #include <terabee/ITerarangerMultiflex.hpp>
@@ -48,7 +48,7 @@ public:
 
         RCLCPP_INFO(this->get_logger(), "Multiflex initialized");
 
-        publisher_ = this->create_publisher<object_detection::msg::MultiflexReading>("drone/object_detection", 10);
+        publisher_ = this->create_publisher<drone_services::msg::MultiflexReading>("drone/object_detection", 10);
         timer_ = this->create_wall_timer(500ms, std::bind(&MultiflexReader::read_multiflex_data, this));
     }
 
@@ -59,7 +59,7 @@ private:
 
     // timer and publisher for publishing message onto topic
     rclcpp::TimerBase::SharedPtr timer_;
-    rclcpp::Publisher<object_detection::msg::MultiflexReading>::SharedPtr publisher_;
+    rclcpp::Publisher<drone_services::msg::MultiflexReading>::SharedPtr publisher_;
 
     /**
      * @brief Reads distance data from the sensor and publishes it onto the drone/object_detection topic
@@ -71,7 +71,7 @@ private:
         terabee::DistanceData data = multiflex->getDistance();
 
         // populate message with readings
-        auto msg = object_detection::msg::MultiflexReading();
+        auto msg = drone_services::msg::MultiflexReading();
         for (size_t i = 0; i < data.size(); i++)
         {
             RCLCPP_INFO(this->get_logger(), "distance %f", data.distance[i]);