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Merge pull request #3976 from alonfaraj/ros2-wrapper
Add ROS2 wrapper
2 parents a7c05fc + 8f5f660 commit de1c8ae

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‎.gitignore‎

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ros/.catkin_workspace
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ros/src/CMakeLists.txt
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# ROS2
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ros2/install/
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ros2/log/
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ros2/src/log
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# docs
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docs/README.md
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build_docs/

‎ros2/src/airsim_interfaces/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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project(airsim_interfaces)
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(geographic_msgs REQUIRED)
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rosidl_generate_interfaces(${PROJECT_NAME}
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"msg/GimbalAngleEulerCmd.msg"
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"msg/GimbalAngleQuatCmd.msg"
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"msg/GPSYaw.msg"
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"msg/VelCmd.msg"
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"msg/VelCmdGroup.msg"
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"msg/CarControls.msg"
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"msg/CarState.msg"
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"msg/Altimeter.msg"
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"msg/Environment.msg"
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"srv/SetGPSPosition.srv"
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"srv/Takeoff.srv"
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"srv/TakeoffGroup.srv"
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"srv/Land.srv"
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"srv/LandGroup.srv"
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"srv/Reset.srv"
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"srv/SetLocalPosition.srv" DEPENDENCIES std_msgs geometry_msgs geographic_msgs
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)
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ament_export_dependencies(rosidl_default_runtime)
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ament_package()

‎ros2/src/airsim_interfaces/msg/Altimeter.msg‎

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std_msgs/Header header
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float32 altitude
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float32 pressure
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float32 qnh

‎ros2/src/airsim_interfaces/msg/CarControls.msg‎

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std_msgs/Header header
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float32 throttle
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float32 brake
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float32 steering
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bool handbrake
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bool manual
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int8 manual_gear
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bool gear_immediate

‎ros2/src/airsim_interfaces/msg/CarState.msg‎

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std_msgs/Header header
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geometry_msgs/PoseWithCovariance pose
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geometry_msgs/TwistWithCovariance twist
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float32 speed
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int8 gear
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float32 rpm
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float32 maxrpm
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bool handbrake

‎ros2/src/airsim_interfaces/msg/Environment.msg‎

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std_msgs/Header header
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geometry_msgs/Vector3 position
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geographic_msgs/GeoPoint geo_point
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geometry_msgs/Vector3 gravity
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float32 air_pressure
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float32 temperature
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float32 air_density
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‎ros2/src/airsim_interfaces/msg/GPSYaw.msg‎

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float64 latitude
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float64 longitude
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float64 altitude
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float64 yaw

‎ros2/src/airsim_interfaces/msg/GimbalAngleEulerCmd.msg‎

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std_msgs/Header header
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string camera_name
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string vehicle_name
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float64 roll
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float64 pitch
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float64 yaw

‎ros2/src/airsim_interfaces/msg/GimbalAngleQuatCmd.msg‎

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std_msgs/Header header
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string camera_name
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string vehicle_name
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geometry_msgs/Quaternion orientation

‎ros2/src/airsim_interfaces/msg/VelCmd.msg‎

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geometry_msgs/Twist twist

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