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ROS2 port #13

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47 changes: 26 additions & 21 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -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
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()

ament_export_dependencies(rosidl_default_runtime)

ament_package()
2 changes: 1 addition & 1 deletion msg/BatteryState.msg
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down
24 changes: 18 additions & 6 deletions package.xml
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Original file line number Diff line number Diff line change
@@ -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>
Expand All @@ -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>