From 8468e8bffc75f5dc437408afe891decf2055cbc8 Mon Sep 17 00:00:00 2001 From: Mehmetmrtgl Date: Mon, 29 Dec 2025 07:29:10 +0300 Subject: [PATCH] According to ros2, cmakelist and packages files have been corrected. --- CMakeLists.txt | 39 +++++++++++++++++++---------- msg/Altimeter.msg | 3 +++ msg/{encoder.msg => Encoder.msg} | 3 ++- msg/Fog.msg | 3 +++ msg/{fog_3axis.msg => Fog3Axis.msg} | 3 +-- msg/{imu.msg => Imu.msg} | 3 +-- msg/LaserScanArray.msg | 5 ++-- msg/{vrs.msg => Vrs.msg} | 31 +++++++++++------------ msg/altimeter.msg | 3 --- msg/fog.msg | 3 --- package.xml | 29 ++++++++++----------- 11 files changed, 68 insertions(+), 57 deletions(-) create mode 100644 msg/Altimeter.msg rename msg/{encoder.msg => Encoder.msg} (50%) create mode 100644 msg/Fog.msg rename msg/{fog_3axis.msg => Fog3Axis.msg} (50%) rename msg/{imu.msg => Imu.msg} (80%) rename msg/{vrs.msg => Vrs.msg} (62%) delete mode 100644 msg/altimeter.msg delete mode 100644 msg/fog.msg diff --git a/CMakeLists.txt b/CMakeLists.txt index cf8abd1..14a54ed 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,17 +1,30 @@ -cmake_minimum_required(VERSION 2.8.3) - +cmake_minimum_required(VERSION 3.8) project(irp_sen_msgs) -if (NOT CMAKE_BUILD_TYPE) - set (CMAKE_BUILD_TYPE RelWithDebInfo) -endif () -find_package(catkin REQUIRED COMPONENTS message_generation std_msgs geometry_msgs sensor_msgs -) -add_message_files( - DIRECTORY msg -) -generate_messages(DEPENDENCIES std_msgs geometry_msgs sensor_msgs) +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() -catkin_package( - CATKIN_DEPENDS message_runtime std_msgs geometry_msgs sensor_msgs +# Find dependencies +find_package(ament_cmake REQUIRED) +find_package(rosidl_default_generators REQUIRED) +find_package(std_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) + +# Generate messages +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/Altimeter.msg" + "msg/Encoder.msg" + "msg/Fog.msg" + "msg/Fog3Axis.msg" # Dikkat: Alt tireyi kaldırdık (PascalCase kuralı gereği daha güvenli) + "msg/Imu.msg" + "msg/LaserScanArray.msg" + "msg/Vrs.msg" + DEPENDENCIES std_msgs geometry_msgs sensor_msgs ) + +# Export dependencies for packages that depend on this one +ament_export_dependencies(rosidl_default_runtime) + +ament_package() diff --git a/msg/Altimeter.msg b/msg/Altimeter.msg new file mode 100644 index 0000000..ae23850 --- /dev/null +++ b/msg/Altimeter.msg @@ -0,0 +1,3 @@ +std_msgs/Header header + +float64 data diff --git a/msg/encoder.msg b/msg/Encoder.msg similarity index 50% rename from msg/encoder.msg rename to msg/Encoder.msg index 01da714..c65adc2 100644 --- a/msg/encoder.msg +++ b/msg/Encoder.msg @@ -1,4 +1,5 @@ -Header header # standard ROS message header +std_msgs/Header header + int64 type int64 left_count int64 right_count diff --git a/msg/Fog.msg b/msg/Fog.msg new file mode 100644 index 0000000..6946332 --- /dev/null +++ b/msg/Fog.msg @@ -0,0 +1,3 @@ +std_msgs/Header header + +float32 data diff --git a/msg/fog_3axis.msg b/msg/Fog3Axis.msg similarity index 50% rename from msg/fog_3axis.msg rename to msg/Fog3Axis.msg index 84fa5bf..3deede5 100644 --- a/msg/fog_3axis.msg +++ b/msg/Fog3Axis.msg @@ -1,6 +1,5 @@ -Header header # standard ROS message header +std_msgs/Header header float32 d_roll float32 d_pitch float32 d_yaw - diff --git a/msg/imu.msg b/msg/Imu.msg similarity index 80% rename from msg/imu.msg rename to msg/Imu.msg index 3e62200..80717ba 100644 --- a/msg/imu.msg +++ b/msg/Imu.msg @@ -1,8 +1,7 @@ -Header header # standard ROS message header +std_msgs/Header header geometry_msgs/Quaternion quaternion_data geometry_msgs/Vector3 eular_data geometry_msgs/Vector3 gyro_data geometry_msgs/Vector3 acceleration_data geometry_msgs/Vector3 magneticfield_data - diff --git a/msg/LaserScanArray.msg b/msg/LaserScanArray.msg index c1b3cb2..d6b61a2 100644 --- a/msg/LaserScanArray.msg +++ b/msg/LaserScanArray.msg @@ -1,6 +1,5 @@ -Header header # standard ROS message header +std_msgs/Header header int64 size -sensor_msgs/LaserScan[] LaserScans - +sensor_msgs/LaserScan[] laser_scans diff --git a/msg/vrs.msg b/msg/Vrs.msg similarity index 62% rename from msg/vrs.msg rename to msg/Vrs.msg index 0ded57c..f5b8afa 100644 --- a/msg/vrs.msg +++ b/msg/Vrs.msg @@ -1,17 +1,17 @@ -Header header # standard ROS message header - -string GPGGA -string GNGLL -string GNGNS -string GNGST -string GPGSV -string GLGSV -string GNHDT -string GNRMC -string GNVTG -string GNZDA -string GNROT -string GNGMP +std_msgs/Header header + +string gpgga +string gngll +string gngns +string gngst +string gpgsv +string glgsv +string gnhdt +string gnrmc +string gnvtg +string gnzda +string gnrot +string gngmp float64 longitude float64 latitude @@ -37,5 +37,4 @@ float64 heading_true float64 heading_magnet float64 speed_knot float64 speed_km -string GNVTG_mode - +string gnvtg_mode diff --git a/msg/altimeter.msg b/msg/altimeter.msg deleted file mode 100644 index bb711a5..0000000 --- a/msg/altimeter.msg +++ /dev/null @@ -1,3 +0,0 @@ -Header header # standard ROS message header - -float64 data diff --git a/msg/fog.msg b/msg/fog.msg deleted file mode 100644 index 98a96fb..0000000 --- a/msg/fog.msg +++ /dev/null @@ -1,3 +0,0 @@ -Header header # standard ROS message header - -float32 data diff --git a/package.xml b/package.xml index 5bacbff..9449177 100644 --- a/package.xml +++ b/package.xml @@ -1,10 +1,9 @@ - - + + + irp_sen_msgs 1.2.0 - - ROS message definitions for IRAP. - + ROS 2 message definitions for IRAP. IRAP Jinyong Jeong BSD @@ -13,16 +12,18 @@ https://github.com/irapkaist/irp_msgs https://github.com/irapkaist/irp_msgs/issues - catkin + ament_cmake - message_generation - std_msgs - geometry_msgs - sensor_msgs + rosidl_default_generators + rosidl_default_runtime + + rosidl_interface_packages - message_runtime - std_msgs - geometry_msgs - sensor_msgs + std_msgs + geometry_msgs + sensor_msgs + + ament_cmake +