Refs #3366. XML generator works fine. The path of the generated xml may need to be changed.

cmake/micrortps_agent_xml_generator.cmake

@@ -0,0 +1,62 @@
+# Copyright 2014-2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+# list msg files 
+set(_ros_idl_files "")
+foreach(_idl_file ${rosidl_generate_interfaces_IDL_FILES})
+  get_filename_component(_extension "${_idl_file}" EXT)
+  # Skip .srv files
+  if(_extension STREQUAL ".msg")
+    list(APPEND _ros_idl_files "${_idl_file}")
+  endif()
+endforeach()
+
+
+# Set output dir
+set(_output_path "${CMAKE_CURRENT_BINARY_DIR}/micro_ros_agent/${PROJECT_NAME}")
+
+
+# check if all templates exits
+set(target_dependencies
+  "${micro_ros_agent_BIN}"
+  "${micro_ros_agent_GENERATOR_FILES}"
+  ${rosidl_generate_interfaces_IDL_FILES}
+  ${_dependency_files})
+foreach(dep ${target_dependencies})
+  if(NOT EXISTS "${dep}")
+    message(FATAL_ERROR "Target dependency '${dep}' does not exist")
+  endif()
+endforeach()
+
+
+# generate script argument file 
+set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/micro_ros_agent__arguments.json")
+rosidl_write_generator_arguments(
+  "${generator_arguments_file}"
+  PACKAGE_NAME "${PROJECT_NAME}"
+  ROS_INTERFACE_FILES "${rosidl_generate_interfaces_IDL_FILES}"
+  ROS_INTERFACE_DEPENDENCIES "${_dependencies}"
+  OUTPUT_DIR "${_output_path}"
+  TEMPLATE_DIR "${micro_ros_agent_TEMPLATE_DIR}"
+  TARGET_DEPENDENCIES ${target_dependencies}
+  ADDITIONAL_FILES ${_dds_idl_files}
+)
+
+
+# Execute python script
+execute_process(
+                COMMAND ${PYTHON_EXECUTABLE} ${micro_ros_agent_BIN}
+                --generator-arguments-file "${generator_arguments_file}"
+                )