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1 | initial version |
Package structure
action_interface
|_ action
| |_PlanAid.action
|_ CMakeLists.txt
|_ package.xml
Let's look at the files.
PlanAid.action
string planning_problem
---
string trajectory
---
string planning_status
package.xml
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>action_interface</name>
<version>0.0.1</version>
<description>Examples of message and service interfaces</description>
<maintainer email="alberto.soragna@gmail.com">Alberto Soragna</maintainer>
<license>MIT</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>rosidl_default_generators</buildtool_depend>
<build_depend>std_msgs</build_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<exec_depend>std_msgs</exec_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
CMakeLists.txt
cmake_minimum_required(VERSION 3.5)
project(action_interface)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
# we dont use add_compile_options with pedantic in message packages
# because the Python C extensions dont comply with it
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
endif()
find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(std_msgs REQUIRED)
find_package(action_msgs REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
action/PlanAid.action
DEPENDENCIES std_msgs action_msgs
)
ament_export_dependencies(rosidl_default_runtime)
ament_package()
2 | No.2 Revision |
Package structure
action_interface
|_ action
| |_PlanAid.action
|_ CMakeLists.txt
|_ package.xml
Let's look at the files.
PlanAid.action
string planning_problem
---
string trajectory
---
string planning_status
package.xml
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>action_interface</name>
<version>0.0.1</version>
<description>Examples of message and service interfaces</description>
<maintainer email="alberto.soragna@gmail.com">Alberto Soragna</maintainer>
<license>MIT</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>rosidl_default_generators</buildtool_depend>
<build_depend>std_msgs</build_depend>
<build_depend>action_msgs</build_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>action_msgs</exec_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
CMakeLists.txt
cmake_minimum_required(VERSION 3.5)
project(action_interface)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
# we dont use add_compile_options with pedantic in message packages
# because the Python C extensions dont comply with it
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
endif()
find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(std_msgs REQUIRED)
find_package(action_msgs REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
action/PlanAid.action
DEPENDENCIES std_msgs action_msgs
)
ament_export_dependencies(rosidl_default_runtime)
ament_package()