CIとスケッチを更新してpico_msgsを使用します。（#4）

* Change library url of CI.yaml

* Use pico_msgs in STEP12 and STEP13

* Modify ci.yaml

* update ci

* fix typo

Author: Shota Aoki

.github/workflows/ci.yaml

@@ -29,7 +29,7 @@ jobs:
             - name: esp32:esp32
               source-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
           libraries: |  # RTがカスタマイズしたmicro_ros_arduinoライブラリを使用する
-            - source-url: https://github.com/ShotaAk/micro_ros_arduino/archive/refs/tags/humble-add-custom-msg-esp32s3.zip
+            - source-url: https://github.com/rt-net/micro_ros_arduino/archive/refs/tags/esp32s3-230417.zip
           cli-compile-flags: |  # 警告がエラーとして扱われるので、対処しない警告はエラーから除外する
             - --build-property
             - "compiler.cpp.extra_flags= \

uROS_STEP12_SensorMsg/uROS_STEP12_SensorMsg.ino

@@ -19,8 +19,8 @@
 #include <rcl/error_handling.h>
 #include <rclc/rclc.h>
 
-#include <picosensor/msg/light_sensor.h>
-picosensor__msg__LightSensor sensor_msg;
+#include <pico_msgs/msg/light_sensor.h>
+pico_msgs__msg__LightSensor sensor_msg;
 
 #include <std_msgs/msg/int16.h>
 std_msgs__msg__Int16 bat_msg;
@@ -161,7 +161,7 @@ void setup() {
   RCCHECK(rclc_publisher_init_default(
     &publisher_sensor,
     &node,
-    ROSIDL_GET_MSG_TYPE_SUPPORT(picosensor, msg, LightSensor),
+    ROSIDL_GET_MSG_TYPE_SUPPORT(pico_msgs, msg, LightSensor),
     "pico_sensor"));
 
   RCCHECK(rclc_publisher_init_default(

uROS_STEP13_micromouse/microROS.ino

@@ -17,7 +17,7 @@ sensor_msgs__msg__JointState jstate;
 std_msgs__msg__Int16 bat_msg;
 rosidl_runtime_c__String joint_name[2];
 double positions[2];
-picosensor__msg__LightSensor sensor_msg;
+pico_msgs__msg__LightSensor sensor_msg;
 visualization_msgs__msg__Marker marker_msg;
 
 rcl_publisher_t publisher_tf, publisher_joint, publisher_sensor, publisher_battery, publisher_marker;
@@ -502,7 +502,7 @@ void init_microROS(void) {
   RCCHECK(rclc_publisher_init_default(
     &publisher_sensor,
     &node,
-    ROSIDL_GET_MSG_TYPE_SUPPORT(picosensor, msg, LightSensor),
+    ROSIDL_GET_MSG_TYPE_SUPPORT(pico_msgs, msg, LightSensor),
     "/pico_sensor"));
 
   RCCHECK(rclc_publisher_init_default(

uROS_STEP13_micromouse/uROS_STEP13_micromouse.ino

@@ -32,7 +32,7 @@
 #include <geometry_msgs/msg/transform_stamped.h>
 #include <tf2_msgs/msg/tf_message.h>
 #include <sensor_msgs/msg/joint_state.h>
-#include <picosensor/msg/light_sensor.h>
+#include <pico_msgs/msg/light_sensor.h>
 #include <std_msgs/msg/int16.h>
 #include <visualization_msgs/msg/marker.h>