Merge pull request #27 from iit-DLSLab/barebon_structure_update

Barebone structure and msg update

Author: MMarcus95

CMakeLists.txt

@@ -22,6 +22,14 @@ add_subdirectory(visualizers/rviz_interface)
 message(STATUS "Generating ROS2 messages from IDL files...")
 set (DLS2_ROS2_INTERFACE_SRC_DIR ${CMAKE_CURRENT_SOURCE_DIR}/dls2_ros2_interface/ros2_ws/src)
 set (DLS2_ROS2_INTERFACE_DIR ${DLS2_ROS2_INTERFACE_SRC_DIR}/dls2_interface)
+
+
+# remove .msg files from the ROS2 interface src directory to avoid conflicts with the newly generated ones
+file(GLOB DLS_MSG_FILES CONFIGURE_DEPENDS "${DLS2_ROS2_INTERFACE_DIR}/msg/*.msg")
+foreach(msg_file IN LISTS DLS_MSG_FILES)
+  file(REMOVE ${msg_file})
+endforeach()
+
 file(GLOB DLS_IDL_FILES CONFIGURE_DEPENDS "${DLS_MESSAGE_FOLDER}/idls/*.idl")
 foreach(idl_file IN LISTS DLS_IDL_FILES)
   execute_process(

README.md

@@ -10,7 +10,7 @@ This project is currently in **pre-release** and under active development.
 
 # Repository Structure
 
-| Component | Path | Description |
+| Component | Path | Description | 
 |-----------|------|-------------|
 | **DLS2 Framework** | `dls2/` | Core control middleware. Contains modules for control, state estimation, messaging (DDS/IDL), plugins, state machines, signal handling, logging, and utilities. |
 | **Robotlib** | `robotlib/` | Generic C++ robot abstraction layer. Provides a common API (kinematics, dynamics, Jacobians, data structures) that controllers target, independent of any specific robot morphology. Uses a factory pattern with `dlopen` for runtime-loadable robot libraries. |

dls2_msgs

@@ -10,14 +10,6 @@ if (NOT TARGET dls_messages)
 	find_package(dls_messages REQUIRED)
 endif()
 
-
-if(DEFINED DLS_MESSAGE_FOLDER)
-	list(APPEND CMAKE_MODULE_PATH "${DLS_MESSAGE_FOLDER}/cmake")
-else()
-	list(APPEND CMAKE_MODULE_PATH "/usr/include/dls_messages/cmake")
-endif()
-include(generate_msg_library)
-
 # Set RELEASE as the default build type
 if(NOT CMAKE_BUILD_TYPE)
 	set(CMAKE_BUILD_TYPE Release CACHE STRING "Build type" FORCE)