Add message files

NaokiTakahashi12 · Apr 16, 2024 · 91c01c5 · 91c01c5
1 parent 7ed4b70
commit 91c01c5
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Showing 6 changed files with 32 additions and 3 deletions.
diff --git a/cybergear_driver_msgs/CMakeLists.txt b/cybergear_driver_msgs/CMakeLists.txt
@@ -7,9 +7,21 @@ endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
+find_package(ament_cmake_auto REQUIRED)
+
+ament_auto_find_build_dependencies()
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/Setpoint.msg
+  msg/SetpointStamped.msg
+  msg/SetpointWithGain.msg
+  msg/SetpointWithGainStamped.msg
+  DEPENDENCIES
+    builtin_interfaces
+    std_msgs
+)
+
+ament_export_dependencies(rosidl_default_runtime)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

diff --git a/cybergear_driver_msgs/msg/Setpoint.msg b/cybergear_driver_msgs/msg/Setpoint.msg
@@ -0,0 +1,3 @@
+float32 position
+float32 velocity
+float32 effort
diff --git a/cybergear_driver_msgs/msg/SetpointStamped.msg b/cybergear_driver_msgs/msg/SetpointStamped.msg
@@ -0,0 +1,2 @@
+std_msgs/Header header
+Setpoint point
diff --git a/cybergear_driver_msgs/msg/SetpointWithGain.msg b/cybergear_driver_msgs/msg/SetpointWithGain.msg
@@ -0,0 +1,3 @@
+Setpoint point
+float32 kp
+float32 kd
diff --git a/cybergear_driver_msgs/msg/SetpointWithGainStamped.msg b/cybergear_driver_msgs/msg/SetpointWithGainStamped.msg
@@ -0,0 +1,2 @@
+std_msgs/Header header
+SetpointWithGain point_with_gain
diff --git a/cybergear_driver_msgs/package.xml b/cybergear_driver_msgs/package.xml
@@ -8,10 +8,17 @@
   <license>MIT</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>builtin_interfaces</depend>
+  <depend>std_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		std_msgs/Header header
		SetpointWithGain point_with_gain