Define custom message for setting target angle.

CMakeLists.txt

@@ -3,6 +3,7 @@ cmake_minimum_required(VERSION 3.8)
 #######################################################################################
 project(robotem_rovne)
 set(ROBOTEM_ROVNE_TARGET ${PROJECT_NAME}_node)
+set(ROBOTEM_ROVNE_SRV_TARGET ${PROJECT_NAME})
 #######################################################################################
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Werror -Wpedantic)
@@ -13,6 +14,13 @@ find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
 find_package(mp-units REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+#######################################################################################
+rosidl_generate_interfaces(${ROBOTEM_ROVNE_SRV_TARGET}
+        "srv/AngularTarget.srv"
+)
+#######################################################################################
+rosidl_get_typesupport_target(cpp_typesupport_target ${ROBOTEM_ROVNE_SRV_TARGET} "rosidl_typesupport_cpp")
 #######################################################################################
 add_executable(${ROBOTEM_ROVNE_TARGET}
   src/Node.cpp
@@ -29,10 +37,13 @@ target_compile_features(${ROBOTEM_ROVNE_TARGET} PRIVATE cxx_std_20)
 target_link_libraries(${ROBOTEM_ROVNE_TARGET}
         ${rclcpp_LIBRARIES}
         ${mp-units_LIBRARIES}
+        ${cpp_typesupport_target}
 )
 #######################################################################################
 ament_target_dependencies(${ROBOTEM_ROVNE_TARGET} rclcpp std_msgs std_srvs)
 #######################################################################################
+ament_export_dependencies(rosidl_default_runtime)
+#######################################################################################
 install(TARGETS ${ROBOTEM_ROVNE_TARGET} DESTINATION lib/${PROJECT_NAME})
 #######################################################################################
 ament_package()

include/robotem_rovne/Node.h

@@ -16,6 +16,7 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include <std_srvs/srv/empty.hpp>
+#include <robotem_rovne/srv/angular_target.hpp>
 
 #include <mp-units/systems/si/si.h>
 #include <mp-units/systems/angular/angular.h>
@@ -51,6 +52,9 @@ class Node : public rclcpp::Node
   rclcpp::Service<std_srvs::srv::Empty>::SharedPtr _req_stop_service_server;
   void init_req_stop_service_server();
 
+  rclcpp::Service<robotem_rovne::srv::AngularTarget>::SharedPtr _req_set_angular_target_service_server;
+  void init_req_set_angular_target_service_server();
+
   static std::chrono::milliseconds constexpr CTRL_LOOP_RATE{50};
   rclcpp::TimerBase::SharedPtr _ctrl_loop_timer;
   void init_ctrl_loop();

package.xml

@@ -9,6 +9,10 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
   <depend>rclcpp</depend>
   <depend>std_msgs</depend>
   <depend>std_srvs</depend>

src/Node.cpp

@@ -26,6 +26,7 @@ Node::Node()
 {
   init_req_start_service_server();
   init_req_stop_service_server();
+  init_req_set_angular_target_service_server();
 
   init_ctrl_loop();
 
@@ -63,6 +64,17 @@ void Node::init_req_stop_service_server()
     });
 }
 
+void Node::init_req_set_angular_target_service_server()
+{
+  _req_set_angular_target_service_server = create_service<robotem_rovne::srv::AngularTarget>(
+    "cmd_robot/set_angular_target",
+    [this](robotem_rovne::srv::AngularTarget::Request::SharedPtr request,
+           robotem_rovne::srv::AngularTarget::Response::SharedPtr /* response */)
+    {
+      RCLCPP_INFO(get_logger(), "set angular target request received: %0.2f", request->target_angle_rad);
+    });
+}
+
 void Node::init_ctrl_loop()
 {
   _ctrl_loop_timer = create_wall_timer(CTRL_LOOP_RATE, [this]() { this->ctrl_loop(); });

srv/AngularTarget.srv

@@ -0,0 +1,2 @@
+float32 target_angle_rad
+---