Port msgs to ROS2

This commit is contained in:
JafarAbdi 2021-11-23 16:58:42 +03:00
parent 5bb6596f2f
commit e095e501ec
2 changed files with 43 additions and 31 deletions

View File

@ -1,38 +1,43 @@
cmake_minimum_required(VERSION 3.1.3)
cmake_minimum_required(VERSION 3.5)
project(moveit_task_constructor_msgs)
set(MSG_DEPS moveit_msgs visualization_msgs)
find_package(catkin REQUIRED COMPONENTS
message_generation
${MSG_DEPS}
)
find_package(ament_cmake REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(moveit_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
# ROS messages, services and actions
add_message_files(DIRECTORY msg FILES
Property.msg
Solution.msg
SolutionInfo.msg
StageDescription.msg
StageStatistics.msg
SubSolution.msg
SubTrajectory.msg
TaskDescription.msg
TaskStatistics.msg
set(msg_files
"msg/Property.msg"
"msg/Solution.msg"
"msg/SolutionInfo.msg"
"msg/StageDescription.msg"
"msg/StageStatistics.msg"
"msg/SubSolution.msg"
"msg/SubTrajectory.msg"
"msg/TaskDescription.msg"
"msg/TaskStatistics.msg"
)
add_service_files(DIRECTORY srv FILES
GetSolution.srv
set(srv_files
"srv/GetSolution.srv"
)
add_action_files(DIRECTORY action FILES
ExecuteTaskSolution.action
set(action_files
"action/ExecuteTaskSolution.action"
)
generate_messages(DEPENDENCIES ${MSG_DEPS})
catkin_package(
CATKIN_DEPENDS
message_runtime
${MSG_DEPS}
rosidl_generate_interfaces(${PROJECT_NAME}
${msg_files}
${srv_files}
${action_files}
DEPENDENCIES
builtin_interfaces
moveit_msgs
visualization_msgs
)
ament_export_dependencies(rosidl_default_runtime)
ament_package()

View File

@ -1,4 +1,4 @@
<package format="2">
<package format="3">
<name>moveit_task_constructor_msgs</name>
<version>0.0.0</version>
<description>Messages for MoveIt Task Pipeline</description>
@ -7,11 +7,18 @@
<maintainer email="rhaschke@techfak.uni-bielefeld.de">Robert Haschke</maintainer>
<maintainer email="me@v4hn.de">Michael Goerner</maintainer>
<buildtool_depend>catkin</buildtool_depend>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>message_generation</depend>
<depend>moveit_msgs</depend>
<depend>visualization_msgs</depend>
<exec_depend>message_runtime</exec_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<build_depend>rosidl_default_generators</build_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>