Skip to content

Commit 4f41fe9

Browse files
author
Shota Aoki
authored
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
1 parent c2715b5 commit 4f41fe9

File tree

4 files changed

+7
-7
lines changed

4 files changed

+7
-7
lines changed

.github/workflows/ci.yaml

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -29,7 +29,7 @@ jobs:
2929
- name: esp32:esp32
3030
source-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
3131
libraries: | # RTがカスタマイズしたmicro_ros_arduinoライブラリを使用する
32-
- source-url: https://github.com/ShotaAk/micro_ros_arduino/archive/refs/tags/humble-add-custom-msg-esp32s3.zip
32+
- source-url: https://github.com/rt-net/micro_ros_arduino/archive/refs/tags/esp32s3-230417.zip
3333
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
3434
- --build-property
3535
- "compiler.cpp.extra_flags= \

uROS_STEP12_SensorMsg/uROS_STEP12_SensorMsg.ino

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -19,8 +19,8 @@
1919
#include <rcl/error_handling.h>
2020
#include <rclc/rclc.h>
2121

22-
#include <picosensor/msg/light_sensor.h>
23-
picosensor__msg__LightSensor sensor_msg;
22+
#include <pico_msgs/msg/light_sensor.h>
23+
pico_msgs__msg__LightSensor sensor_msg;
2424

2525
#include <std_msgs/msg/int16.h>
2626
std_msgs__msg__Int16 bat_msg;
@@ -161,7 +161,7 @@ void setup() {
161161
RCCHECK(rclc_publisher_init_default(
162162
&publisher_sensor,
163163
&node,
164-
ROSIDL_GET_MSG_TYPE_SUPPORT(picosensor, msg, LightSensor),
164+
ROSIDL_GET_MSG_TYPE_SUPPORT(pico_msgs, msg, LightSensor),
165165
"pico_sensor"));
166166

167167
RCCHECK(rclc_publisher_init_default(

uROS_STEP13_micromouse/microROS.ino

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -17,7 +17,7 @@ sensor_msgs__msg__JointState jstate;
1717
std_msgs__msg__Int16 bat_msg;
1818
rosidl_runtime_c__String joint_name[2];
1919
double positions[2];
20-
picosensor__msg__LightSensor sensor_msg;
20+
pico_msgs__msg__LightSensor sensor_msg;
2121
visualization_msgs__msg__Marker marker_msg;
2222

2323
rcl_publisher_t publisher_tf, publisher_joint, publisher_sensor, publisher_battery, publisher_marker;
@@ -502,7 +502,7 @@ void init_microROS(void) {
502502
RCCHECK(rclc_publisher_init_default(
503503
&publisher_sensor,
504504
&node,
505-
ROSIDL_GET_MSG_TYPE_SUPPORT(picosensor, msg, LightSensor),
505+
ROSIDL_GET_MSG_TYPE_SUPPORT(pico_msgs, msg, LightSensor),
506506
"/pico_sensor"));
507507

508508
RCCHECK(rclc_publisher_init_default(

uROS_STEP13_micromouse/uROS_STEP13_micromouse.ino

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -32,7 +32,7 @@
3232
#include <geometry_msgs/msg/transform_stamped.h>
3333
#include <tf2_msgs/msg/tf_message.h>
3434
#include <sensor_msgs/msg/joint_state.h>
35-
#include <picosensor/msg/light_sensor.h>
35+
#include <pico_msgs/msg/light_sensor.h>
3636
#include <std_msgs/msg/int16.h>
3737
#include <visualization_msgs/msg/marker.h>
3838

0 commit comments

Comments
 (0)