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ajshankajshank
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Port freyja_msgs to ROS2, build passing
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-83
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10 files changed

+35
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‎freyja_msgs/CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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cmake_minimum_required(VERSION 3.8)
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project(freyja_msgs)
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## Compile as C++11, supported in ROS Kinetic and newer
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# add_compile_options(-std=c++11)
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add_compile_options(-std=c++14)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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geometry_msgs
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message_generation
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message_runtime
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roscpp
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std_msgs
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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## Generate messages in the 'msg' folder
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add_message_files( #DIRECTORY msg
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FILES
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asctec_handler/AsctecCommand.msg
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asctec_handler/AsctecData.msg
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asctec_handler/MotorCommand.msg
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trajectory_provider/ReferenceState.msg
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trajectory_provider/TrajectoryDebug.msg
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trajectory_provider/WaypointTarget.msg
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lqr_ctrl/CtrlCommand.msg
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lqr_ctrl/ControllerDebug.msg
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state_manager/CurrentState.msg
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state_manager/CurrentStateBiasEst.msg
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)
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## Generate added messages and services with any dependencies listed here
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generate_messages(
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DEPENDENCIES
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geometry_msgs
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std_msgs
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rosidl_generate_interfaces(${PROJECT_NAME}
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"msg/asctec_handler/AsctecCommand.msg"
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"msg/asctec_handler/AsctecData.msg"
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"msg/asctec_handler/MotorCommand.msg"
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"msg/trajectory_provider/ReferenceState.msg"
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"msg/trajectory_provider/TrajectoryDebug.msg"
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"msg/trajectory_provider/WaypointTarget.msg"
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"msg/lqr_ctrl/CtrlCommand.msg"
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"msg/lqr_ctrl/ControllerDebug.msg"
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"msg/state_manager/CurrentState.msg"
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"msg/state_manager/CurrentStateBiasEst.msg"
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)
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if your package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES freyja_msgs
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# CATKIN_DEPENDS geometry_msgs message_generation message_runtime roscpp std_msgs
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# DEPENDS system_lib
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)
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ament_package()
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‎freyja_msgs/msg/asctec_handler/AsctecData.msg

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Header header
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std_msgs/Header header
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int64 lat
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int64 lon

‎freyja_msgs/msg/lqr_ctrl/ControllerDebug.msg

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uint8 FLAT_FF = 4
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uint8 MASS_CR = 8
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Header header
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std_msgs/Header header
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float32[4] lqr_u
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float32[4] biasv
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float32[7] errv

‎freyja_msgs/msg/state_manager/CurrentState.msg

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# Full state generated for the controller:
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# [pn, pe, pd, vn, ve, vd, roll, pitch, yaw, rrate, prate, yrate, delta_t]
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Header header
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std_msgs/Header header
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float64[13] state_vector
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uint8 state_valid

‎freyja_msgs/msg/state_manager/CurrentStateBiasEst.msg

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# Estimated state augmented with bias estimates
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# [pn, pe, pd, vn, ve, vd, bn, be, bd, debug1, debug2, debug3]
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# Use debug to monitor the variance of estimator, for instance.
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Header header
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std_msgs/Header header
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float64[12] state_vector

‎freyja_msgs/msg/trajectory_provider/ReferenceState.msg

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# Reference 10-element state for the controller to follow.
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Header header
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std_msgs/Header header
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float64 pn
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float64 pe

‎freyja_msgs/msg/trajectory_provider/TrajectoryDebug.msg

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# Debug message for trajectory generation
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Header header
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std_msgs/Header header
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uint8 system_state
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float32 hover_z_target

‎freyja_msgs/msg/trajectory_provider/WaypointTarget.msg

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# Discrete waypoint for a waypoint handler to convert into ReferenceState.
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Header header
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std_msgs/Header header
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float64 terminal_pn
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float64 terminal_pe
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float64 terminal_pd

‎freyja_msgs/msg/vehicle_handler/FreyjaStatus.msg

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# msg is to ease log analysis. External tools/code
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# are, of course, free to consume it however.
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Header header
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std_msgs/Header header
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int8 is_connected # comms to vehicle
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int8 is_armed # motors on
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int8 is_compctrl # mode == computer

‎freyja_msgs/package.xml

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<?xml version="1.0"?>
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<package format="2">
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<package format="3">
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<name>freyja_msgs</name>
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<version>0.0.0</version>
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<description>The freyja_msgs package</description>
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<version>2.0.0</version>
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<description>Package containing msg files used in Freyja</description>
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<maintainer email="ashankar@cse.unl.edu">aj</maintainer>
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<license>GPLv3</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<build_depend>rosidl_default_generators</build_depend>
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<exec_depend>rosidl_default_runtime</exec_depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>geometry_msgs</build_depend>
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<build_depend>message_generation</build_depend>
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<build_depend>roscpp</build_depend>
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<build_depend>std_msgs</build_depend>
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<build_export_depend>geometry_msgs</build_export_depend>
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<build_export_depend>roscpp</build_export_depend>
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<build_export_depend>std_msgs</build_export_depend>
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<exec_depend>geometry_msgs</exec_depend>
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<exec_depend>message_runtime</exec_depend>
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<exec_depend>roscpp</exec_depend>
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<exec_depend>std_msgs</exec_depend>
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<!-- The export tag contains other, unspecified, tags -->
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<export>
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<!-- Other tools can request additional information be placed here -->
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<build_type>ament_cmake</build_type>
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</export>
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</package>

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