april_msgs

Repository containing msg, srv and action files of APRIL system.

Contact info @ IIT:

• Giulia Belgiovine

• Jonathan Bar-Magen Numhauser

• Francesco Rea

Instructions

This branch of April Messages allow us to have noth ROS1 and ROS2 in the same Workspace.

IMPORTANT!! DEPENDENCIES

Depends on external libraries (need to be downloaded to compile both environments):

• vision_msgs

ROS1 Build

To compile for ROS1 run on base folder of April_Msgs:

. /opt/ros/noetic/setup.sh && catkin_make

ROS2 Build

To compile for ROS2 run on base folder of April_Msgs:

. /opt/ros/galactic/setup.sh && colcon build

Adding Messages

Adding a new message in ROS1 and ROS2 should follow the next steps:

ROS1:

Inside the "msg_ros1" folder, add the .msg file with the new message file in ROS1.

IMPORTANT!! the std_msgs/Header Header should have a "H" capital letter (in the "Header" name variable) in the beginning of the message file.

Then update the CMakeListsROS1.txt, in cmake folder "/cmake/CMakeListROS1.txt".

ROS2:

Inside the "msg_ros2" folder, find the folder related to the module to which the message belongs to.

Then add the new message file to the folder.

IMPORTANT!! the std_msgs/Header header should have a "h" lower letter (in the "header" name variable) in the beginning of the message file.

MAP_RULES:

It's important to update the map_rules.yaml to associate both the ROS1 and ROS2 messages, so the ROS1_BRIDGE can map them and relate them. Any NEW message will require such mapping.