utbots_dependencies

Simple repository for custom ROS dependecies -- messages, services and actions -- which multiple utbots repositories need. Designed to avoid having to install multiple packages to work on a singular one

Building

cd ~/<ros2_ws>/src
git clone https://github.com/UtBotsAtHome-UTFPR/utbots_dependencies.git
pip uninstall em && pip install empy==3.3.4 --force-reinstall --no-cache
pip install lark

# no bashrc: source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash
cd ..
colcon build

Dependencies

Make sure ROS is installed along with the ordinary message types (std_msgs, sensor_msgs, geometry_msgs, etc.).

Adding new resources

Make sure the .msg, .action or .srv follows the syntax guidelines for ROS2:

• For the file name, only CamelCase
• For the file fields names, only snake_case
• Message types should have their full "path", such as std_msgs/Header not only Header

utbots_msgs

• Define <new_msg>.msg inside utbots_msgs/msg with the custom message fields
• Add it to the CMakeLists.txt:

rosidl_generate_interfaces(${PROJECT_NAME}
  ...
  "msg/<new_msg>.msg"
  DEPENDENCIES <remember to add new missing dependencies if necessary>
)

• Build with colcon build in the workspace base directory

utbots_srvs

• Define <new_srv>.msg inside utbots_srvs/msg with the custom message fields
• Make sure the syntax for .srv files is like the following:

# Request
## Add your request fieds, if any
---
# Response
## Add your response fieds, if any

• Add it to the CMakeLists.txt:

rosidl_generate_interfaces(${PROJECT_NAME}
  ...
  "srv/<new_srv>.srv"
  DEPENDENCIES <remember to add new missing dependencies if necessary>
)

• Build with colcon build in the workspace base directory

utbots_actions

• Define <new_action>.action inside utbots_actions/msg with the custom message fields
• Make sure the syntax for .action files is like the following:

# Goal
## Add your goal fieds, if any
---
# Result
## Add your result fieds, if any
---
# Feedback
## Add your feedback fieds, if any

• Add it to the CMakeLists.txt:

rosidl_generate_interfaces(${PROJECT_NAME}
  ...
  "action/<new_action>.action"
  DEPENDENCIES <remember to add new missing dependencies if necessary>
)

• Build with colcon build in the workspace base directory