Moved msgs to sub-package to make them work

CMakeLists.txt

@@ -17,6 +17,7 @@ find_package(std_msgs REQUIRED)
 find_package(hardware_interface REQUIRED)
 find_package(ros2_control REQUIRED)
 find_package(diagnostic_updater REQUIRED)
+find_package(ubiquity_motor_ros2_msgs REQUIRED)
 # find_package(zenohc REQUIRED)
 
 # add_compile_definitions(ZENOHCXX_ZENOHC) # Tells zenoh-cpp to use zenoh-c
@@ -33,6 +34,9 @@ find_package(diagnostic_updater REQUIRED)
 #   DEPENDENCIES std_msgs # Add this line
 # )
 
+# Ensure the generated code is built before anything else that uses it
+# ament_export_dependencies(rosidl_default_runtime)
+
 
 set(serial_SRCS
     serial/src/serial.cc
@@ -43,6 +47,8 @@ set(serial_SRCS
 list(APPEND serial_SRCS serial/src/impl/unix.cc)
 list(APPEND serial_SRCS serial/src/impl/list_ports/list_ports_linux.cc)
 add_library(ur_serial SHARED ${serial_SRCS})
+# target_link_libraries(ur_serial /usr/local/lib/libpython3.8.so)
+
 # Link libraries (add any additional libraries if needed)
 target_link_libraries(ur_serial rt pthread)
 ##H HACK to contain all serial stuff in here
@@ -119,8 +125,9 @@ ament_target_dependencies(${PROJECT_NAME}_lib
   "hardware_interface"
   "ros2_control"
   "diagnostic_updater"
+  # "rosidl_default_runtime"
+  "ubiquity_motor_ros2_msgs"
   # "${PROJECT_NAME}"  # This adds a dependency on the generated messages in the same package
-
 )
 
 # # Add executable

README.md

@@ -1,7 +1,4 @@
 # Ubiquity motor ROS 2
 
-## Build the motor node
-colcon build --packages-select ubiquity_motor_ros2 --cmake-args -DCMAKE_PREFIX_PATH=/home/ubuntu/ros2_ws/install/zenohc --symlink-install --event-handlers console_direct+
-
-## Build the examples
-colcon build --packages-select zenohcxx --cmake-args -DCMAKE_PREFIX_PATH=/home/ubuntu/ros2_ws/install/zenohc --cmake-target examples --symlink-install --event-handlers console_direct+
+## Build the motor node and its msgs
+colcon build --base-paths src/ubiquity_motor_ros2 src/ubiquity_motor_ros2/ubiquity_motor_ros2_msgs --cmake-args --event-handlers console_direct+

package.xml

@@ -19,8 +19,9 @@
   <depend>hardware_interface</depend>
 
   <build_depend>std_msgs</build_depend>
-<exec_depend>std_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
 
+  <depend>ubiquity_motor_ros2_msgs</depend>
 
 
   <export>

src/motor_node.cc

@@ -52,7 +52,6 @@ MotorNode::MotorNode()
 
     RCLCPP_INFO(get_logger(), "Motor node is starting.");
 
-    run();
 }
 
 
@@ -334,6 +333,10 @@ void MotorNode::run() {
     f = boost::bind(&PID_update_callback, _1, _2);
     server.setCallback(f);
 
+
+
+
+
     robot->setParams(g_firmware_params);
     robot->requestFirmwareVersion();
 
@@ -594,6 +597,8 @@ int main(int argc, char* argv[]) {
     rclcpp::init(argc, argv);
 
     auto node = std::make_shared<MotorNode>();
+    node->run();
+
     rclcpp::spin(node);
     rclcpp::shutdown();
 

ubiquity_motor_ros2_msgs/CMakeLists.txt

@@ -0,0 +1,35 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(ubiquity_motor_ros2_msgs)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+
+set(msg_files
+  "msg/MotorState.msg"
+  "msg/Leds.msg"
+)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  DEPENDENCIES std_msgs
+  ADD_LINTER_TESTS
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()

ubiquity_motor_ros2_msgs/package.xml

@@ -0,0 +1,24 @@
+<?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>ubiquity_motor_ros2_msgs</name>
+  <version>1.0.0</version>
+  <description>Custom msgs for ubiquity_motor_ros2</description>
+  <maintainer email="mb@ubiquityrobotics.com">Matjaz Bostic</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>std_msgs</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_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>