include ros2/src/fs_msgs as a submodule

Author: mateusz-lichota

.gitmodules

@@ -1,3 +1,7 @@
 [submodule "ros/src/fs_msgs"]
 	path = ros/src/fs_msgs
 	url = https://github.com/FS-Driverless/fs_msgs.git
+[submodule "ros2/src/fs_msgs"]
+	path = ros2/src/fs_msgs
+	url = https://github.com/FS-Driverless/fs_msgs.git
+	branch = ros2

ros2/src/fs_msgs/CMakeLists.txt

@@ -1,42 +1,36 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 2.8.3)
 project(fs_msgs)
 
-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(builtin_interfaces REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(geometry_msgs REQUIRED)
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  message_generation
+  message_runtime
+)
 
-set(msg_files
-  msg/ControlCommand.msg
-  msg/FinishedSignal.msg
-  msg/GoSignal.msg
-  msg/Track.msg
-  msg/Cone.msg
-  msg/ExtraInfo.msg
+add_message_files(
+  FILES
+  ControlCommand.msg
+  FinishedSignal.msg
+  GoSignal.msg
+  Track.msg
+  Cone.msg
+  ExtraInfo.msg
 )
 
-set(srv_files
-  srv/Reset.srv
+add_service_files(
+  FILES
+  Reset.srv
 )
 
+generate_messages(
+  DEPENDENCIES
+  geometry_msgs
+)
 
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-endif()
 
-rosidl_generate_interfaces(${PROJECT_NAME}
-  ${msg_files}
-  ${srv_files}
-  DEPENDENCIES builtin_interfaces std_msgs geometry_msgs
-  ADD_LINTER_TESTS
+catkin_package(
+    CATKIN_DEPENDS
+    geometry_msgs
+    message_runtime
 )
-ament_export_dependencies(rosidl_default_runtime)
-ament_package()
-
 

ros2/src/fs_msgs/msg/Cone.msg

@@ -5,4 +5,4 @@ uint8 BLUE=0
 uint8 YELLOW=1
 uint8 ORANGE_BIG=2
 uint8 ORANGE_SMALL=3
-uint8 UNKNOWN=4
+uint8 UNKNOWN=4

ros2/src/fs_msgs/msg/ControlCommand.msg

@@ -1,4 +1,4 @@
-std_msgs/Header header
+Header header
 float64 throttle # [-] range : (0, 1)
 float64 steering # [-] range : (-1, 1)
-float64 brake # # [-] range : (0, 1)
+float64 brake # # [-] range : (0, 1)

ros2/src/fs_msgs/msg/FinishedSignal.msg

@@ -1,2 +1,2 @@
-std_msgs/Header header
+Header header
 bool placeholder

ros2/src/fs_msgs/msg/GoSignal.msg

@@ -1,3 +1,3 @@
-std_msgs/Header header
+Header header
 string mission
-string track
+string track

ros2/src/fs_msgs/msg/Track.msg

@@ -1 +1 @@
-fs_msgs/Cone[] track
+fs_msgs/Cone[] track

ros2/src/fs_msgs/package.xml

@@ -1,6 +1,5 @@
 <?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">
+<package format="2">
   <name>fs_msgs</name>
   <version>0.1.0</version>
   <description>
@@ -9,18 +8,8 @@
   <maintainer email="davidoort@hotmail.com">David Oort Alonso</maintainer>
   <maintainer email="sijmenhuizenga@gmail.com">Sijmen Huizenga</maintainer>
   <license>Apache-License-2.0</license>
-  <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>rosidl_default_generators</buildtool_depend>
-
-  <depend>builtin_interfaces</depend>
-  <depend>std_msgs</depend>
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>message_generation</depend>
+  <depend>message_runtime</depend>
   <depend>geometry_msgs</depend>
-
-  <exec_depend>rosidl_default_runtime</exec_depend>
-
-  <member_of_group>rosidl_interface_packages</member_of_group>
-  <export>
-    <build_type>ament_cmake</build_type>
-    <architecture_independent/>
-  </export>
 </package>

ros2/src/fs_msgs/srv/Reset.srv

@@ -1,2 +1,2 @@
-bool wait_on_last_task 
+bool waitOnLastTask 
 ---