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Feature/foxy migration (#30)

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* Adding rosidl_cmake

* Updated XML generation

* Updated readme

* Update README.md
This commit is contained in:
Pablo Garrido
2020-06-29 10:22:23 +02:00
committed by GitHub
parent f0effec782
commit 85ef5321f8
4 changed files with 42 additions and 14 deletions
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micro_ros_agent/CMakeLists.txt
+6 -6
View File
@@ -23,6 +23,7 @@ project(micro_ros_agent LANGUAGES CXX)
find_package(ament_cmake REQUIRED)
find_package(microxrcedds_agent REQUIRED)
find_package(rosidl_cmake REQUIRED)
add_executable(${PROJECT_NAME} src/main.cpp)
@@ -79,12 +80,11 @@ if(UROSAGENT_GENERATE_PROFILE)
get_filename_component(_COLCON_CALL_DIR "${_COLCON_CALL_DIR}" DIRECTORY)
set(_PYTHON_SCRIPT_HEAD
"
import os\n
import sys\n
sys.path.append('${_OUTPUT_PATH}')\n
from ${_PYTHON_PKG_TOOL} import *\n
"
"import os
import sys
sys.path.append('${_OUTPUT_PATH}')
from ${_PYTHON_PKG_TOOL} import *
"
)
file(
micro_ros_agent/micro_ros_agent/__init__.py
+7 -8
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@@ -164,21 +164,20 @@ def generate_XML(args):
# Generate source file path
src_file = os.path.join(srcs_dir, "%s_%s_%s.xml" % (spec.base_type.pkg_name, subfolder, spec.msg_name))
# Data writer
#file_content = " <dds>\n"
file_content = " <data_writer profile_name=\"%s_%s_%s_p\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content = " <dds>\n"
file_content += " <data_writer profile_name=\"%s_%s_%s_p\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <kind>NO_KEY</kind>\n"
file_content += " <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " </topic>\n"
file_content += " </data_writer>\n"
#file_content += " </dds>\n"
file_content += " </dds>\n"
# Data reader
#file_content += " <dds>\n"
file_content += " <dds>\n"
file_content += " <data_reader profile_name=\"%s_%s_%s_s\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <kind>NO_KEY</kind>\n"
@@ -186,16 +185,16 @@ def generate_XML(args):
file_content += " <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " </topic>\n"
file_content += " </data_reader>\n"
#file_content += " </dds>\n"
file_content += " </dds>\n"
# Topic
#file_content += " <dds>\n"
file_content += " <dds>\n"
file_content += " <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
file_content += " </topic>\n"
#file_content += " </dds>\n"
file_content += " </dds>\n"
# Write file content
micro_ros_agent/package.xml
+1
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@@ -11,6 +11,7 @@
<buildtool_export_depend>ament_cmake</buildtool_export_depend>
<depend>microxrcedds_agent</depend>
<depend>rosidl_cmake</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>