gs_interfaces

Paczka zawiera definicje wiadomości ROS2 dla ground segmentu

Creating messages for this project - the easy way

1. You can generate message definitions files by editing config.json (assuming that gs_interfaces is a submodule of gs_web_app) and running python3 generate_ros2_messages.py in console
2. And then adding the message file name in CMakeLists.txt file in the rosidl_generate_interfaces section

knowdlege base about working with msgs instruction

1. Creating message

This one is simple, create a text file with .msg or .srv (in case of server message) extension and define custom messages following the format:

type variable_name # comment

Note that variable_name has to start with alphabetic symbol and can't consist of upper_case letters.

2. Update package.xml

If you message is of non standard class/type add dependencies to package.xml e.g. <depend>geometry_msgs</depend>

3. Update CMakeLists.txt

Modify your CMakeLists.txt to include the custom message files for the ROS2 build system to process them. Add your message files under the rosidl_generate_interfaces function call.

rosidl_generate_interfaces(${PROJECT_NAME}
  "msg/YourMessage.msg"
  # Add more message files here
  DEPENDENCIES std_msgs geometry_msgs
)

Note that as for 16/03/2024 we are not following typical directory pattern yet (TODO) - For instance, msg/tanking_msgs/LoadCell.msg tanking_msgs should actually be a separate package i.e. repo should be as such `gs_interfaces/tanking_msgs/msg/LoadCell.msg'

4. Build Your Package

Navigate back to the root of your workspace and build your package. Typically your workspace is a directory consisting of packages, e.g. gs_interfaces package could be in such directory: simba_ws/src/gs_interfaces

cd <>/simba_ws
colcon build --packages-select gs_interfaces

5. Source the Workspace

After building, don't forget to source the setup files to make your new messages available to ROS2.

. install/setup.bash

6. Verify Message Creation

To verify that your message has been created successfully, you can list message types and look for your custom message. ros2 interface list | grep gs_interfaces