According to ros2, cmakelist and packages files have been corrected.

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()

msg/Altimeter.msg

@@ -0,0 +1,3 @@
+std_msgs/Header header
+
+float64 data

msg/encoder.msg → 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

msg/Fog.msg

@@ -0,0 +1,3 @@
+std_msgs/Header header
+
+float32 data

msg/fog_3axis.msg → 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
-

msg/imu.msg → 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
-

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
 

msg/vrs.msg → 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

package.xml

@@ -1,10 +1,9 @@
-<package>
-
+<?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>irp_sen_msgs</name>
   <version>1.2.0</version>
-  <description>
-    ROS message definitions for IRAP.
-  </description>
+  <description>ROS 2 message definitions for IRAP.</description>
   <maintainer email="irap@kaist.ac.kr">IRAP</maintainer>
   <author>Jinyong Jeong</author>
   <license>BSD</license>
@@ -13,16 +12,18 @@
   <url type="repository">https://github.com/irapkaist/irp_msgs</url>
   <url type="bugtracker">https://github.com/irapkaist/irp_msgs/issues</url>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <build_depend>message_generation</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>sensor_msgs</build_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
 
-  <run_depend>message_runtime</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>sensor_msgs</run_depend>
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>sensor_msgs</depend>
 
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>