From c83e6f8fa30a9d96a5173eac156a69a928e9c2e2 Mon Sep 17 00:00:00 2001
From: ruffsl <roxfoxpox@gmail.com>
Date: Wed, 16 Jun 2021 16:07:07 -0700
Subject: [PATCH] Initial ros2 port

---
 CMakeLists.txt       | 47 ++++++++++++++++++++++++--------------------
 msg/BatteryState.msg |  2 +-
 package.xml          | 24 ++++++++++++++++------
 3 files changed, 45 insertions(+), 28 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5c2455e..4211af6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,27 +1,32 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(power_msgs)
 
-find_package(catkin REQUIRED
-  COMPONENTS
-    message_generation
-    std_msgs
-)
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 
-add_message_files(
-  FILES
-    BatteryState.msg
-    BreakerState.msg
-)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
-add_service_files(
-  FILES
-    BreakerCommand.srv
-)
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
 
-generate_messages(DEPENDENCIES std_msgs)
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/BatteryState.msg"
+  "msg/BreakerState.msg"
+  "srv/BreakerCommand.srv"
+  DEPENDENCIES builtin_interfaces std_msgs)
 
-catkin_package(
-  CATKIN_DEPENDS
-    message_runtime
-    std_msgs
-)
\ No newline at end of file
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
diff --git a/msg/BatteryState.msg b/msg/BatteryState.msg
index c1568cc..46cb676 100644
--- a/msg/BatteryState.msg
+++ b/msg/BatteryState.msg
@@ -10,7 +10,7 @@ bool is_charging
 # When charging, this is the remaining time until fully charged.
 # When discharging, this is the time until battery is empty.
 # Non-zero values are considered valid.
-duration remaining_time
+builtin_interfaces/Duration remaining_time
 
 # Total capacity of battery
 float32 total_capacity
diff --git a/package.xml b/package.xml
index 2ba7d9b..c5b847e 100644
--- a/package.xml
+++ b/package.xml
@@ -1,4 +1,6 @@
-<package>
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>power_msgs</name>
   <version>0.4.1</version>
   <description>
@@ -14,12 +16,22 @@
 
   <license>BSD</license>
   <url>http://ros.org/wiki/power_msgs</url>
-  
-  <buildtool_depend>catkin</buildtool_depend>
 
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <build_depend>builtin_interfaces</build_depend>
   <build_depend>std_msgs</build_depend>
-  <build_depend>message_generation</build_depend>
 
-  <run_depend>std_msgs</run_depend>
-  <run_depend>message_runtime</run_depend>
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <exec_depend>std_msgs</exec_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>
 </package>