Add srv folder and VehicleCommand.srv service

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
PX4 · Nov 4, 2023 · dec469d · dec469d
1 parent af99aa3
commit dec469d
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Showing 2 changed files with 9 additions and 4 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -20,12 +20,14 @@ find_package(rosidl_default_generators REQUIRED)
 set(MSGS_DIR "${CMAKE_CURRENT_SOURCE_DIR}/msg")
 file(GLOB PX4_MSGS RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}" "${MSGS_DIR}/*.msg")
 
-file(GLOB ROS_MSG_DIR_LIST "${MSGS_DIR}/*.msg")
-
-set(ROS_MSG_DIR_LIST "${ROS_MSG_DIR_LIST}" CACHE INTERNAL "ROS_MSG_DIR_LIST")
+# get all srv files
+set(SRVS_DIR "${CMAKE_CURRENT_SOURCE_DIR}/srv")
+file(GLOB PX4_SRVS RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}" "${SRVS_DIR}/*.srv")
 
 # Generate introspection typesupport for C and C++ and IDL files
-rosidl_generate_interfaces(${PROJECT_NAME} ${PX4_MSGS}
+rosidl_generate_interfaces(${PROJECT_NAME}
+	${PX4_MSGS}
+	${PX4_SRVS}
 	DEPENDENCIES builtin_interfaces
 	ADD_LINTER_TESTS
 )

diff --git a/srv/VehicleCommand.srv b/srv/VehicleCommand.srv
@@ -0,0 +1,3 @@
+VehicleCommand request
+---
+VehicleCommandAck reply