Create turtlesim_msgs (#169)

Signed-off-by: Alejandro Hernandez Cordero <[email protected]>

Author: ahcorde

turtlesim/CMakeLists.txt

@@ -14,29 +14,16 @@ find_package(ament_cmake REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(Qt5 REQUIRED COMPONENTS Widgets)
-find_package(rcl_interfaces REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_action REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
+find_package(turtlesim_msgs REQUIRED)
 
 include_directories(include ${Qt5Widgets_INCLUDE_DIRS})
 
-rosidl_generate_interfaces(${PROJECT_NAME}
-  "action/RotateAbsolute.action"
-  "msg/Color.msg"
-  "msg/Pose.msg"
-  "srv/Kill.srv"
-  "srv/SetPen.srv"
-  "srv/Spawn.srv"
-  "srv/TeleportAbsolute.srv"
-  "srv/TeleportRelative.srv")
-
 qt5_wrap_cpp(turtlesim_node_MOCS include/turtlesim/turtle_frame.hpp)
 
-rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")
-
 add_executable(turtlesim_node
   src/turtlesim.cpp
   src/turtle.cpp
@@ -47,32 +34,32 @@ target_link_libraries(turtlesim_node PRIVATE
   ament_index_cpp::ament_index_cpp
   ${cpp_typesupport_target}
   ${geometry_msgs_TARGETS}
+  ${turtlesim_msgs_TARGETS}
   Qt5::Widgets
-  ${rcl_interfaces_TARGETS}
   rclcpp::rclcpp
   rclcpp_action::rclcpp_action
   ${std_srvs_TARGETS}
 )
 
 add_executable(turtle_teleop_key tutorials/teleop_turtle_key.cpp)
 target_link_libraries(turtle_teleop_key PRIVATE
-  "${cpp_typesupport_target}"
+  ${turtlesim_msgs_TARGETS}
   ${geometry_msgs_TARGETS}
   rclcpp::rclcpp
   rclcpp_action::rclcpp_action
 )
 
 add_executable(draw_square tutorials/draw_square.cpp)
 target_link_libraries(draw_square PRIVATE
-  "${cpp_typesupport_target}"
+  ${turtlesim_msgs_TARGETS}
   ${geometry_msgs_TARGETS}
   rclcpp::rclcpp
   ${std_srvs_TARGETS}
 )
 
 add_executable(mimic tutorials/mimic.cpp)
 target_link_libraries(mimic PRIVATE
-  "${cpp_typesupport_target}"
+  ${turtlesim_msgs_TARGETS}
   ${geometry_msgs_TARGETS}
   rclcpp::rclcpp
 )
@@ -82,7 +69,11 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-install(TARGETS turtlesim_node turtle_teleop_key draw_square mimic
+install(TARGETS
+  turtlesim_node
+  turtle_teleop_key
+  draw_square
+  mimic
   DESTINATION lib/${PROJECT_NAME})
 
 install(DIRECTORY images

turtlesim/include/turtlesim/turtle.hpp

@@ -35,12 +35,12 @@
 # include <rclcpp_action/rclcpp_action.hpp>
 
 # include <geometry_msgs/msg/twist.hpp>
-# include <turtlesim/action/rotate_absolute.hpp>
-# include <turtlesim/msg/color.hpp>
-# include <turtlesim/msg/pose.hpp>
-# include <turtlesim/srv/set_pen.hpp>
-# include <turtlesim/srv/teleport_absolute.hpp>
-# include <turtlesim/srv/teleport_relative.hpp>
+# include <turtlesim_msgs/action/rotate_absolute.hpp>
+# include <turtlesim_msgs/msg/color.hpp>
+# include <turtlesim_msgs/msg/pose.hpp>
+# include <turtlesim_msgs/srv/set_pen.hpp>
+# include <turtlesim_msgs/srv/teleport_absolute.hpp>
+# include <turtlesim_msgs/srv/teleport_relative.hpp>
 #endif
 
 #include <QImage>
@@ -61,7 +61,7 @@ class Turtle
 {
 public:
   using RotateAbsoluteGoalHandle = rclcpp_action::ServerGoalHandle<
-    turtlesim::action::RotateAbsolute>;
+    turtlesim_msgs::action::RotateAbsolute>;
 
   Turtle(
     rclcpp::Node::SharedPtr & nh, const std::string & real_name, const QImage & turtle_image,
@@ -75,14 +75,14 @@ class Turtle
 private:
   void velocityCallback(const geometry_msgs::msg::Twist::ConstSharedPtr vel);
   bool setPenCallback(
-    const turtlesim::srv::SetPen::Request::SharedPtr,
-    turtlesim::srv::SetPen::Response::SharedPtr);
+    const turtlesim_msgs::srv::SetPen::Request::SharedPtr,
+    turtlesim_msgs::srv::SetPen::Response::SharedPtr);
   bool teleportRelativeCallback(
-    const turtlesim::srv::TeleportRelative::Request::SharedPtr,
-    turtlesim::srv::TeleportRelative::Response::SharedPtr);
+    const turtlesim_msgs::srv::TeleportRelative::Request::SharedPtr,
+    turtlesim_msgs::srv::TeleportRelative::Response::SharedPtr);
   bool teleportAbsoluteCallback(
-    const turtlesim::srv::TeleportAbsolute::Request::SharedPtr,
-    turtlesim::srv::TeleportAbsolute::Response::SharedPtr);
+    const turtlesim_msgs::srv::TeleportAbsolute::Request::SharedPtr,
+    turtlesim_msgs::srv::TeleportAbsolute::Response::SharedPtr);
   void rotateAbsoluteAcceptCallback(const std::shared_ptr<RotateAbsoluteGoalHandle>);
 
   void rotateImage();
@@ -102,17 +102,17 @@ class Turtle
   QPen pen_;
 
   rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr velocity_sub_;
-  rclcpp::Publisher<turtlesim::msg::Pose>::SharedPtr pose_pub_;
-  rclcpp::Publisher<turtlesim::msg::Color>::SharedPtr color_pub_;
-  rclcpp::Service<turtlesim::srv::SetPen>::SharedPtr set_pen_srv_;
-  rclcpp::Service<turtlesim::srv::TeleportRelative>::SharedPtr teleport_relative_srv_;
-  rclcpp::Service<turtlesim::srv::TeleportAbsolute>::SharedPtr teleport_absolute_srv_;
-  rclcpp_action::Server<turtlesim::action::RotateAbsolute>
+  rclcpp::Publisher<turtlesim_msgs::msg::Pose>::SharedPtr pose_pub_;
+  rclcpp::Publisher<turtlesim_msgs::msg::Color>::SharedPtr color_pub_;
+  rclcpp::Service<turtlesim_msgs::srv::SetPen>::SharedPtr set_pen_srv_;
+  rclcpp::Service<turtlesim_msgs::srv::TeleportRelative>::SharedPtr teleport_relative_srv_;
+  rclcpp::Service<turtlesim_msgs::srv::TeleportAbsolute>::SharedPtr teleport_absolute_srv_;
+  rclcpp_action::Server<turtlesim_msgs::action::RotateAbsolute>
   ::SharedPtr rotate_absolute_action_server_;
 
   std::shared_ptr<RotateAbsoluteGoalHandle> rotate_absolute_goal_handle_;
-  std::shared_ptr<turtlesim::action::RotateAbsolute::Feedback> rotate_absolute_feedback_;
-  std::shared_ptr<turtlesim::action::RotateAbsolute::Result> rotate_absolute_result_;
+  std::shared_ptr<turtlesim_msgs::action::RotateAbsolute::Feedback> rotate_absolute_feedback_;
+  std::shared_ptr<turtlesim_msgs::action::RotateAbsolute::Result> rotate_absolute_result_;
   qreal rotate_absolute_start_orient_;
 
   rclcpp::Time last_command_time_;

turtlesim/include/turtlesim/turtle_frame.hpp

@@ -49,8 +49,8 @@
 
 #include <rcl_interfaces/msg/parameter_event.hpp>
 #include <std_srvs/srv/empty.hpp>
-#include <turtlesim/srv/spawn.hpp>
-#include <turtlesim/srv/kill.hpp>
+#include <turtlesim_msgs/srv/spawn.hpp>
+#include <turtlesim_msgs/srv/kill.hpp>
 #endif
 
 namespace turtlesim
@@ -86,11 +86,11 @@ private slots:
     const std_srvs::srv::Empty::Request::SharedPtr,
     std_srvs::srv::Empty::Response::SharedPtr);
   bool spawnCallback(
-    const turtlesim::srv::Spawn::Request::SharedPtr,
-    turtlesim::srv::Spawn::Response::SharedPtr);
+    const turtlesim_msgs::srv::Spawn::Request::SharedPtr,
+    turtlesim_msgs::srv::Spawn::Response::SharedPtr);
   bool killCallback(
-    const turtlesim::srv::Kill::Request::SharedPtr,
-    turtlesim::srv::Kill::Response::SharedPtr);
+    const turtlesim_msgs::srv::Kill::Request::SharedPtr,
+    turtlesim_msgs::srv::Kill::Response::SharedPtr);
 
   void parameterEventCallback(const rcl_interfaces::msg::ParameterEvent::ConstSharedPtr);
 
@@ -106,8 +106,8 @@ private slots:
 
   rclcpp::Service<std_srvs::srv::Empty>::SharedPtr clear_srv_;
   rclcpp::Service<std_srvs::srv::Empty>::SharedPtr reset_srv_;
-  rclcpp::Service<turtlesim::srv::Spawn>::SharedPtr spawn_srv_;
-  rclcpp::Service<turtlesim::srv::Kill>::SharedPtr kill_srv_;
+  rclcpp::Service<turtlesim_msgs::srv::Spawn>::SharedPtr spawn_srv_;
+  rclcpp::Service<turtlesim_msgs::srv::Kill>::SharedPtr kill_srv_;
   rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr parameter_event_sub_;
 
   typedef std::map<std::string, TurtlePtr> M_Turtle;

turtlesim/package.xml

@@ -26,25 +26,21 @@
   <build_depend>qtbase5-dev</build_depend>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
   <exec_depend>libqt5-core</exec_depend>
   <exec_depend>libqt5-gui</exec_depend>
-  <exec_depend>rosidl_default_runtime</exec_depend>
 
   <depend>ament_index_cpp</depend>
   <depend>geometry_msgs</depend>
-  <depend>rcl_interfaces</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_action</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>
+  <depend>turtlesim_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>

turtlesim/src/turtle.cpp

@@ -38,12 +38,12 @@
 #include "geometry_msgs/msg/twist.hpp"
 #include "rclcpp/rclcpp.hpp"
 
-#include "turtlesim/action/rotate_absolute.hpp"
-#include "turtlesim/msg/pose.hpp"
-#include "turtlesim/msg/color.hpp"
-#include "turtlesim/srv/set_pen.hpp"
-#include "turtlesim/srv/teleport_absolute.hpp"
-#include "turtlesim/srv/teleport_relative.hpp"
+#include "turtlesim_msgs/action/rotate_absolute.hpp"
+#include "turtlesim_msgs/msg/pose.hpp"
+#include "turtlesim_msgs/msg/color.hpp"
+#include "turtlesim_msgs/srv/set_pen.hpp"
+#include "turtlesim_msgs/srv/teleport_absolute.hpp"
+#include "turtlesim_msgs/srv/teleport_relative.hpp"
 #include "turtlesim/qos.hpp"
 
 #define DEFAULT_PEN_R 0xb3
@@ -78,37 +78,38 @@ Turtle::Turtle(
     real_name + "/cmd_vel", qos, std::bind(
       &Turtle::velocityCallback, this,
       std::placeholders::_1));
-  pose_pub_ = nh_->create_publisher<turtlesim::msg::Pose>(real_name + "/pose", qos);
-  color_pub_ = nh_->create_publisher<turtlesim::msg::Color>(real_name + "/color_sensor", qos);
+  pose_pub_ = nh_->create_publisher<turtlesim_msgs::msg::Pose>(real_name + "/pose", qos);
+  color_pub_ = nh_->create_publisher<turtlesim_msgs::msg::Color>(real_name + "/color_sensor", qos);
   set_pen_srv_ =
-    nh_->create_service<turtlesim::srv::SetPen>(
+    nh_->create_service<turtlesim_msgs::srv::SetPen>(
     real_name + "/set_pen",
     std::bind(&Turtle::setPenCallback, this, std::placeholders::_1, std::placeholders::_2));
-  teleport_relative_srv_ = nh_->create_service<turtlesim::srv::TeleportRelative>(
+  teleport_relative_srv_ = nh_->create_service<turtlesim_msgs::srv::TeleportRelative>(
     real_name + "/teleport_relative",
     std::bind(
       &Turtle::teleportRelativeCallback, this, std::placeholders::_1,
       std::placeholders::_2));
-  teleport_absolute_srv_ = nh_->create_service<turtlesim::srv::TeleportAbsolute>(
+  teleport_absolute_srv_ = nh_->create_service<turtlesim_msgs::srv::TeleportAbsolute>(
     real_name + "/teleport_absolute",
     std::bind(
       &Turtle::teleportAbsoluteCallback, this, std::placeholders::_1,
       std::placeholders::_2));
-  rotate_absolute_action_server_ = rclcpp_action::create_server<turtlesim::action::RotateAbsolute>(
-    nh,
-    real_name + "/rotate_absolute",
+  rotate_absolute_action_server_ =
+    rclcpp_action::create_server<turtlesim_msgs::action::RotateAbsolute>(
+      nh,
+      real_name + "/rotate_absolute",
     [](const rclcpp_action::GoalUUID &,
-    std::shared_ptr<const turtlesim::action::RotateAbsolute::Goal>)
+    std::shared_ptr<const turtlesim_msgs::action::RotateAbsolute::Goal>)
     {
-      // Accept all goals
+        // Accept all goals
       return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
-    },
+      },
     [](const std::shared_ptr<RotateAbsoluteGoalHandle>)
     {
-      // Accept all cancel requests
+        // Accept all cancel requests
       return rclcpp_action::CancelResponse::ACCEPT;
-    },
-    std::bind(&Turtle::rotateAbsoluteAcceptCallback, this, std::placeholders::_1));
+      },
+      std::bind(&Turtle::rotateAbsoluteAcceptCallback, this, std::placeholders::_1));
 
   last_command_time_ = nh_->now();
 
@@ -137,8 +138,8 @@ void Turtle::velocityCallback(const geometry_msgs::msg::Twist::ConstSharedPtr ve
 }
 
 bool Turtle::setPenCallback(
-  const turtlesim::srv::SetPen::Request::SharedPtr req,
-  turtlesim::srv::SetPen::Response::SharedPtr)
+  const turtlesim_msgs::srv::SetPen::Request::SharedPtr req,
+  turtlesim_msgs::srv::SetPen::Response::SharedPtr)
 {
   pen_on_ = !req->off;
   if (req->off) {
@@ -155,16 +156,16 @@ bool Turtle::setPenCallback(
 }
 
 bool Turtle::teleportRelativeCallback(
-  const turtlesim::srv::TeleportRelative::Request::SharedPtr req,
-  turtlesim::srv::TeleportRelative::Response::SharedPtr)
+  const turtlesim_msgs::srv::TeleportRelative::Request::SharedPtr req,
+  turtlesim_msgs::srv::TeleportRelative::Response::SharedPtr)
 {
   teleport_requests_.push_back(TeleportRequest(0, 0, req->angular, req->linear, true));
   return true;
 }
 
 bool Turtle::teleportAbsoluteCallback(
-  const turtlesim::srv::TeleportAbsolute::Request::SharedPtr req,
-  turtlesim::srv::TeleportAbsolute::Response::SharedPtr)
+  const turtlesim_msgs::srv::TeleportAbsolute::Request::SharedPtr req,
+  turtlesim_msgs::srv::TeleportAbsolute::Response::SharedPtr)
 {
   teleport_requests_.push_back(TeleportRequest(req->x, req->y, req->theta, 0, false));
   return true;
@@ -181,8 +182,8 @@ void Turtle::rotateAbsoluteAcceptCallback(
     rotate_absolute_goal_handle_->abort(rotate_absolute_result_);
   }
   rotate_absolute_goal_handle_ = goal_handle;
-  rotate_absolute_feedback_.reset(new turtlesim::action::RotateAbsolute::Feedback);
-  rotate_absolute_result_.reset(new turtlesim::action::RotateAbsolute::Result);
+  rotate_absolute_feedback_.reset(new turtlesim_msgs::action::RotateAbsolute::Feedback);
+  rotate_absolute_result_.reset(new turtlesim_msgs::action::RotateAbsolute::Result);
   rotate_absolute_start_orient_ = orient_;
 }
 
@@ -300,7 +301,7 @@ bool Turtle::update(
       static_cast<double>(canvas_height)));
 
   // Publish pose of the turtle
-  auto p = std::make_unique<turtlesim::msg::Pose>();
+  auto p = std::make_unique<turtlesim_msgs::msg::Pose>();
   p->x = pos_.x();
   p->y = canvas_height - pos_.y();
   p->theta = orient_;
@@ -310,7 +311,7 @@ bool Turtle::update(
 
   // Figure out (and publish) the color underneath the turtle
   {
-    auto color = std::make_unique<turtlesim::msg::Color>();
+    auto color = std::make_unique<turtlesim_msgs::msg::Color>();
     QRgb pixel = path_image.pixel((pos_ * meter_).toPoint());
     color->r = qRed(pixel);
     color->g = qGreen(pixel);