ros2 · CursedRock17 · May 1, 2024 · May 1, 2024 · May 1, 2024 · Oct 2, 2025
diff --git a/composition/CMakeLists.txt b/composition/CMakeLists.txt
@@ -17,7 +17,7 @@ find_package(example_interfaces REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
 find_package(rcutils REQUIRED)
-find_package(std_msgs REQUIRED)
+find_package(example_interfaces REQUIRED)
 
 include_directories(include)
 
@@ -31,7 +31,7 @@ target_compile_definitions(talker_component
 ament_target_dependencies(talker_component
   "rclcpp"
   "rclcpp_components"
-  "std_msgs")
+  "example_interfaces")
 rclcpp_components_register_nodes(talker_component "composition::Talker")
 set(node_plugins "${node_plugins}composition::Talker;$<TARGET_FILE:talker_component>\n")
 
@@ -42,7 +42,7 @@ target_compile_definitions(listener_component
 ament_target_dependencies(listener_component
   "rclcpp"
   "rclcpp_components"
-  "std_msgs")
+  "example_interfaces")
 rclcpp_components_register_nodes(listener_component "composition::Listener")
 set(node_plugins "${node_plugins}composition::Listener;$<TARGET_FILE:listener_component>\n")
 
@@ -53,7 +53,7 @@ target_compile_definitions(node_like_listener_component
 ament_target_dependencies(node_like_listener_component
   "rclcpp"
   "rclcpp_components"
-  "std_msgs")
+  "example_interfaces")
 rclcpp_components_register_nodes(node_like_listener_component "composition::NodeLikeListener")
 set(node_plugins "${node_plugins}composition::NodeLikeListener;$<TARGET_FILE:node_like_listener_component>\n")
 

diff --git a/composition/include/composition/listener_component.hpp b/composition/include/composition/listener_component.hpp
@@ -17,7 +17,7 @@
 
 #include "composition/visibility_control.h"
 #include "rclcpp/rclcpp.hpp"
-#include "std_msgs/msg/string.hpp"
+#include "example_interfaces/msg/string.hpp"
 
 namespace composition
 {
@@ -29,7 +29,7 @@ class Listener : public rclcpp::Node
   explicit Listener(const rclcpp::NodeOptions & options);
 
 private:
-  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sub_;
+  rclcpp::Subscription<example_interfaces::msg::String>::SharedPtr sub_;
 };
 
 }  // namespace composition

diff --git a/composition/include/composition/node_like_listener_component.hpp b/composition/include/composition/node_like_listener_component.hpp
@@ -17,7 +17,7 @@
 
 #include "composition/visibility_control.h"
 #include "rclcpp/rclcpp.hpp"
-#include "std_msgs/msg/string.hpp"
+#include "example_interfaces/msg/string.hpp"
 
 namespace composition
 {
@@ -34,7 +34,7 @@ class NodeLikeListener
 
 private:
   rclcpp::Node::SharedPtr node_;
-  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sub_;
+  rclcpp::Subscription<example_interfaces::msg::String>::SharedPtr sub_;
 };
 
 }  // namespace composition

diff --git a/composition/include/composition/talker_component.hpp b/composition/include/composition/talker_component.hpp
@@ -17,7 +17,7 @@
 
 #include "composition/visibility_control.h"
 #include "rclcpp/rclcpp.hpp"
-#include "std_msgs/msg/string.hpp"
+#include "example_interfaces/msg/string.hpp"
 
 namespace composition
 {
@@ -33,7 +33,7 @@ class Talker : public rclcpp::Node
 
 private:
   size_t count_;
-  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub_;
+  rclcpp::Publisher<example_interfaces::msg::String>::SharedPtr pub_;
   rclcpp::TimerBase::SharedPtr timer_;
 };
 

diff --git a/composition/package.xml b/composition/package.xml
@@ -19,14 +19,14 @@
   <build_depend>rclcpp</build_depend>
   <build_depend>rclcpp_components</build_depend>
   <build_depend>rcutils</build_depend>
-  <build_depend>std_msgs</build_depend>
+  <build_depend>example_interfaces</build_depend>
 
   <exec_depend>example_interfaces</exec_depend>
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>rclcpp</exec_depend>
   <exec_depend>rclcpp_components</exec_depend>
   <exec_depend>rcutils</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>example_interfaces</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>

diff --git a/composition/src/listener_component.cpp b/composition/src/listener_component.cpp
@@ -18,7 +18,7 @@
 #include <memory>
 
 #include "rclcpp/rclcpp.hpp"
-#include "std_msgs/msg/string.hpp"
+#include "example_interfaces/msg/string.hpp"
 
 namespace composition
 {
@@ -32,7 +32,7 @@ Listener::Listener(const rclcpp::NodeOptions & options)
   // Create a callback function for when messages are received.
   // Variations of this function also exist using, for example, UniquePtr for zero-copy transport.
   auto callback =
-    [this](std_msgs::msg::String::ConstSharedPtr msg) -> void
+    [this](example_interfaces::msg::String::ConstSharedPtr msg) -> void
     {
       RCLCPP_INFO(this->get_logger(), "I heard: [%s]", msg->data.c_str());
       std::flush(std::cout);
@@ -42,7 +42,7 @@ Listener::Listener(const rclcpp::NodeOptions & options)
   // compatible ROS publishers.
   // Note that not all publishers on the same topic with the same type will be compatible:
   // they must have compatible Quality of Service policies.
-  sub_ = create_subscription<std_msgs::msg::String>("chatter", 10, callback);
+  sub_ = create_subscription<example_interfaces::msg::String>("chatter", 10, callback);
 }
 
 }  // namespace composition

diff --git a/composition/src/node_like_listener_component.cpp b/composition/src/node_like_listener_component.cpp
@@ -18,7 +18,7 @@
 #include <memory>
 
 #include "rclcpp/rclcpp.hpp"
-#include "std_msgs/msg/string.hpp"
+#include "example_interfaces/msg/string.hpp"
 
 namespace composition
 {
@@ -38,7 +38,7 @@ NodeLikeListener::NodeLikeListener(const rclcpp::NodeOptions & options)
   // Create a callback function for when messages are received.
   // Variations of this function also exist using, for example, UniquePtr for zero-copy transport.
   auto callback =
-    [this](std_msgs::msg::String::ConstSharedPtr msg) -> void
+    [this](example_interfaces::msg::String::ConstSharedPtr msg) -> void
     {
       RCLCPP_INFO(this->node_->get_logger(), "I heard: [%s]", msg->data.c_str());
       std::flush(std::cout);
@@ -48,7 +48,7 @@ NodeLikeListener::NodeLikeListener(const rclcpp::NodeOptions & options)
   // compatible ROS publishers.
   // Note that not all publishers on the same topic with the same type will be compatible:
   // they must have compatible Quality of Service policies.
-  sub_ = this->node_->create_subscription<std_msgs::msg::String>("chatter", 10, callback);
+  sub_ = this->node_->create_subscription<example_interfaces::msg::String>("chatter", 10, callback);
 }
 
 rclcpp::node_interfaces::NodeBaseInterface::SharedPtr

diff --git a/composition/src/talker_component.cpp b/composition/src/talker_component.cpp
@@ -20,7 +20,7 @@
 #include <utility>
 
 #include "rclcpp/rclcpp.hpp"
-#include "std_msgs/msg/string.hpp"
+#include "example_interfaces/msg/string.hpp"
 
 using namespace std::chrono_literals;
 
@@ -33,16 +33,16 @@ namespace composition
 Talker::Talker(const rclcpp::NodeOptions & options)
 : Node("talker", options), count_(0)
 {
-  // Create a publisher of "std_mgs/String" messages on the "chatter" topic.
-  pub_ = create_publisher<std_msgs::msg::String>("chatter", 10);
+  // Create a publisher of "example_interfaces/msg/String" messages on the "chatter" topic.
+  pub_ = create_publisher<example_interfaces::msg::String>("chatter", 10);
 
   // Use a timer to schedule periodic message publishing.
   timer_ = create_wall_timer(1s, [this]() {return this->on_timer();});
 }
 
 void Talker::on_timer()
 {
-  auto msg = std::make_unique<std_msgs::msg::String>();
+  auto msg = std::make_unique<example_interfaces::msg::String>();
   msg->data = "Hello World: " + std::to_string(++count_);
   RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", msg->data.c_str());
   std::flush(std::cout);

diff --git a/demo_nodes_cpp/CMakeLists.txt b/demo_nodes_cpp/CMakeLists.txt
@@ -21,7 +21,7 @@ find_package(rclcpp_components REQUIRED)
 find_package(rcpputils REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rmw REQUIRED)
-find_package(std_msgs REQUIRED)
+find_package(example_interfaces REQUIRED)
 
 function(custom_executable subfolder target)
   cmake_parse_arguments(ARG "" "" "DEPENDENCIES" ${ARGN})
@@ -50,7 +50,7 @@ target_include_directories(allocator_tutorial PRIVATE
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
 target_link_libraries(allocator_tutorial PRIVATE
   rclcpp::rclcpp
-  ${std_msgs_TARGETS}
+  ${example_interfaces_TARGETS}
 )
 install(TARGETS allocator_tutorial
   DESTINATION lib/${PROJECT_NAME})
@@ -71,10 +71,10 @@ custom_executable(parameters set_and_get_parameters_async
   DEPENDENCIES rclcpp::rclcpp)
 
 custom_executable(events matched_event_detect
-  DEPENDENCIES rclcpp::rclcpp ${std_msgs_TARGETS})
+  DEPENDENCIES rclcpp::rclcpp ${example_interfaces_TARGETS})
 
 custom_executable(logging use_logger_service
-  DEPENDENCIES ${rcl_interfaces_TARGETS} rclcpp::rclcpp ${std_msgs_TARGETS})
+  DEPENDENCIES ${rcl_interfaces_TARGETS} rclcpp::rclcpp ${example_interfaces_TARGETS})
 
 function(create_demo_library plugin executable)
   cmake_parse_arguments(ARG "" "" "FILES;DEPENDENCIES" ${ARGN})
@@ -145,28 +145,28 @@ create_demo_library("demo_nodes_cpp::IntrospectionClientNode" introspection_clie
 # Topics
 create_demo_library("demo_nodes_cpp::ContentFilteringPublisher" content_filtering_publisher
   FILES src/topics/content_filtering_publisher.cpp
-  DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${std_msgs_TARGETS})
+  DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${example_interfaces_TARGETS})
 create_demo_library("demo_nodes_cpp::ContentFilteringSubscriber" content_filtering_subscriber
   FILES src/topics/content_filtering_subscriber.cpp
-  DEPENDENCIES rclcpp::rclcpp rclcpp_components::component rcpputils::rcpputils ${std_msgs_TARGETS})
+  DEPENDENCIES rclcpp::rclcpp rclcpp_components::component rcpputils::rcpputils ${example_interfaces_TARGETS})
 create_demo_library("demo_nodes_cpp::Talker" talker
   FILES src/topics/talker.cpp
-  DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${std_msgs_TARGETS})
+  DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${example_interfaces_TARGETS})
 create_demo_library("demo_nodes_cpp::LoanedMessageTalker" talker_loaned_message
   FILES src/topics/talker_loaned_message.cpp
-  DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${std_msgs_TARGETS})
+  DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${example_interfaces_TARGETS})
 create_demo_library("demo_nodes_cpp::SerializedMessageTalker" talker_serialized_message
   FILES src/topics/talker_serialized_message.cpp
-  DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${std_msgs_TARGETS})
+  DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${example_interfaces_TARGETS})
 create_demo_library("demo_nodes_cpp::Listener" listener
   FILES src/topics/listener.cpp
-  DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${std_msgs_TARGETS})
+  DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${example_interfaces_TARGETS})
 create_demo_library("demo_nodes_cpp::SerializedMessageListener" listener_serialized_message
   FILES src/topics/listener_serialized_message.cpp
-  DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${std_msgs_TARGETS})
+  DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${example_interfaces_TARGETS})
 create_demo_library("demo_nodes_cpp::ListenerBestEffort" listener_best_effort
   FILES src/topics/listener_best_effort.cpp
-  DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${std_msgs_TARGETS})
+  DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${example_interfaces_TARGETS})
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

diff --git a/demo_nodes_cpp/README.md b/demo_nodes_cpp/README.md
@@ -198,7 +198,7 @@ ros2 run demo_nodes_cpp set_and_get_parameters_async
 
 ### Allocator Tutorial
 
-This runs `allocator_tutorial` ROS 2 node that publishes a `std_msgs/msg/UInt32` message that contains an integer representing the number of allocations and deallocations that happened during the program.
+This runs `allocator_tutorial` ROS 2 node that publishes a `example_interfaces/msg/UInt32` message that contains an integer representing the number of allocations and deallocations that happened during the program.
 
 ```bash
 # Open new terminal

diff --git a/demo_nodes_cpp/package.xml b/demo_nodes_cpp/package.xml
@@ -25,7 +25,7 @@
   <build_depend>rcpputils</build_depend>
   <build_depend>rcutils</build_depend>
   <build_depend>rmw</build_depend>
-  <build_depend>std_msgs</build_depend>
+  <build_depend>example_interfaces</build_depend>
 
   <exec_depend>example_interfaces</exec_depend>
   <exec_depend>launch_ros</exec_depend>
@@ -37,7 +37,7 @@
   <exec_depend>rcpputils</exec_depend>
   <exec_depend>rcutils</exec_depend>
   <exec_depend>rmw</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>example_interfaces</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>

diff --git a/demo_nodes_cpp/src/events/matched_event_detect.cpp b/demo_nodes_cpp/src/events/matched_event_detect.cpp
@@ -18,7 +18,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-#include "std_msgs/msg/string.hpp"
+#include "example_interfaces/msg/string.hpp"
 
 using namespace std::chrono_literals;
 
@@ -60,7 +60,7 @@ class MatchedEventDetectNode : public rclcpp::Node
         promise_->set_value(true);
       };
 
-    pub_ = create_publisher<std_msgs::msg::String>(
+    pub_ = create_publisher<example_interfaces::msg::String>(
       pub_topic_name, 10, pub_options);
 
     rclcpp::SubscriptionOptions sub_options;
@@ -84,10 +84,10 @@ class MatchedEventDetectNode : public rclcpp::Node
         }
         promise_->set_value(true);
       };
-    sub_ = create_subscription<std_msgs::msg::String>(
+    sub_ = create_subscription<example_interfaces::msg::String>(
       sub_topic_name,
       10,
-      [](std_msgs::msg::String::ConstSharedPtr) {},
+      [](example_interfaces::msg::String::ConstSharedPtr) {},
       sub_options);
   }
 
@@ -98,8 +98,8 @@ class MatchedEventDetectNode : public rclcpp::Node
   }
 
 private:
-  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub_;
-  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sub_;
+  rclcpp::Publisher<example_interfaces::msg::String>::SharedPtr pub_;
+  rclcpp::Subscription<example_interfaces::msg::String>::SharedPtr sub_;
   bool any_subscription_connected_{false};
   bool any_publisher_connected_{false};
   std::shared_ptr<std::promise<bool>> promise_;
@@ -113,19 +113,19 @@ class MultiSubNode : public rclcpp::Node
     topic_name_(topic_name)
   {}
 
-  rclcpp::Subscription<std_msgs::msg::String>::WeakPtr create_one_sub(void)
+  rclcpp::Subscription<example_interfaces::msg::String>::WeakPtr create_one_sub(void)
   {
     RCLCPP_INFO(this->get_logger(), "Create a new subscription.");
-    auto sub = create_subscription<std_msgs::msg::String>(
+    auto sub = create_subscription<example_interfaces::msg::String>(
       topic_name_,
       10,
-      [](std_msgs::msg::String::ConstSharedPtr) {});
+      [](example_interfaces::msg::String::ConstSharedPtr) {});
 
     subs_.emplace_back(sub);
     return sub;
   }
 
-  void destroy_one_sub(rclcpp::Subscription<std_msgs::msg::String>::WeakPtr sub)
+  void destroy_one_sub(rclcpp::Subscription<example_interfaces::msg::String>::WeakPtr sub)
   {
     auto sub_shared_ptr = sub.lock();
     if (sub_shared_ptr == nullptr) {
@@ -143,7 +143,7 @@ class MultiSubNode : public rclcpp::Node
 
 private:
   std::string topic_name_;
-  std::vector<rclcpp::Subscription<std_msgs::msg::String>::SharedPtr> subs_;
+  std::vector<rclcpp::Subscription<example_interfaces::msg::String>::SharedPtr> subs_;
 };
 
 class MultiPubNode : public rclcpp::Node
@@ -154,16 +154,16 @@ class MultiPubNode : public rclcpp::Node
     topic_name_(topic_name)
   {}
 
-  rclcpp::Publisher<std_msgs::msg::String>::WeakPtr create_one_pub(void)
+  rclcpp::Publisher<example_interfaces::msg::String>::WeakPtr create_one_pub(void)
   {
     RCLCPP_INFO(this->get_logger(), "Create a new publisher.");
-    auto pub = create_publisher<std_msgs::msg::String>(topic_name_, 10);
+    auto pub = create_publisher<example_interfaces::msg::String>(topic_name_, 10);
     pubs_.emplace_back(pub);
 
     return pub;
   }
 
-  void destroy_one_pub(rclcpp::Publisher<std_msgs::msg::String>::WeakPtr pub)
+  void destroy_one_pub(rclcpp::Publisher<example_interfaces::msg::String>::WeakPtr pub)
   {
     auto pub_shared_ptr = pub.lock();
     if (pub_shared_ptr == nullptr) {
@@ -181,7 +181,7 @@ class MultiPubNode : public rclcpp::Node
 
 private:
   std::string topic_name_;
-  std::vector<rclcpp::Publisher<std_msgs::msg::String>::SharedPtr> pubs_;
+  std::vector<rclcpp::Publisher<example_interfaces::msg::String>::SharedPtr> pubs_;
 };
 
 int main(int argc, char ** argv)