完成定义后,还需要在功能包的CMakeLists.txt中配置编译选项,让编译器在编译过程中,根据接口定义,自动生成不同语言的代码: Plaintext...find_package(rosidl_default_generators REQUIRED)rosidl_generate_interfaces(${PROJECT_NAME}"action/MoveCircle.action")... 功能...
鉴于功能包base_interfaces_demo的基础配置以及设置过了,所以只需要修改CMakeLists.txt中的rosidl_generate_interfaces 函数即可,修改后的内容如下: rosidl_generate_interfaces(${PROJECT_NAME} "msg/Student.msg" "srv/AddInts.srv" "srv/Distance.srv" "action/Progress.action" ) 2.cpp07_exercise下的CMakeLis...
find_package(rosidl_default_generators REQUIRED) rosidl_generate_interfaces(${PROJECT_NAME} "srv/OledControl.srv" ) ament_package() 2.2 编译功能包 cd extra_packages/ colcon build 2.3 重新编译工程 编译前需要删除.pio/libdeps/featheresp32/micro_ros_platformio/libmicroros文件夹,使用Ctrl+Alt+B重新重...
ROS2通过自带rosidl_default_generators包来为自定义的msg、srv和action文件生成各个语言的头文件! ROS2通过在CMakeLists.txt中调用新增的宏rosidl_generate_interfaces来为msg、srv和action文件生成各个语言的头文件!而这个宏的实现定义在rosidl_default_generators包。在命名时踩了文件名和变量名规范的坑下面是具体要求。
rosidl/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake 5181196 # :param DEPENDENCIES: the packages from which message types are # being used # :type DEPENDENCIES: list of strings commentedJul 19, 2022• edited The tutorials do not use existing messages as seen here. ...
find_package(rosidl_default_generators REQUIRED) 1. 声明要生成的消息列表: set(msg_files "msg/AddressBook.msg" ) 1. 2. 3. 通过手动添加.msg文件,可以确保CMake知道在添加其他.msg文件后,它何时需要重新配置项目。 生成消息: rosidl_generate_interfaces(${PROJECT_NAME} ...
rosidl_generate_interfaces(${PROJECT_NAME}${msg_files}${srv_files}) 3.在同一个包里使用接口 在more_interfaces/src目录下,创建一个名为publish_address_book.cpp的文件并粘贴以下代码: #include<chrono>#include<memory>#include"rclcpp/rclcpp.hpp"#include"more_interfaces/msg/address_book.hpp"usingnamesp...
rosidl_generate_interfaces(${PROJECT_NAME} ${msg_files} ) 1. 2. 3. 4. #导出运行时依赖 ament_export_dependencies(rosidl_default_runtime) 1. 2. 先不构建这个msg包,留在后面。 设置多接口(扩展) 如果我们要使用多个msg和srv呢,我们可以在CMakeLists.txt中做如下调整: ...
rosidl_generate_interfaces(${PROJECT_NAME} "action/Progress.action" 2.5、编译功能包 1 cd ~/ros_ws colcon build --packages-select pkg_interfaces 编译完成后在工作空间的install目录下将生成Progress.action文件对应的C++和Python文件,可以在终端进入工作空间,通过如下命令查看是否编译成功: 1 2 source install...
rosidl_generate_interfaces(${PROJECT_NAME} "msg/RobotPose.msg" "msg/RobotStatus.msg" "srv/MoveRobot.srv" DEPENDENCIES geometry_msgs ) 接着修改package.xml <buildtool_depend>ament_cmake</buildtool_depend><depend>rosidl_default_generators</depend><depend>geometry_msgs</depend><member_of_group>ros...