代码内容转移

drone_interfaces/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.8)
+project(drone_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME} "action/ExecuteMission.action")
+
+ament_package()

drone_interfaces/action/ExecuteMission.action

@@ -0,0 +1,10 @@
+# Goal definition
+string py_tree_json
+---
+# Result definition
+bool success
+string message
+---
+# Feedback definition
+string node_id
+int32 status # 0: RUNNING, 1: SUCCESS, 2: FAILURE

drone_interfaces/package.xml

@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>drone_interfaces</name>
+  <version>0.0.0</version>
+  <description>Interfaces for the drone project</description>
+  <maintainer email="user@todo.todo">user</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+</package>