[ros-users] [Discourse.ros.org] [Next Generation ROS] ROS2: How to use custom message in project where it's declared?
mch
ros.discourse at gmail.com
Tue Jun 27 23:12:42 UTC 2017
I've created C++ ROS2 project with a custom message as explained here: https://github.com/ros2/ros2/wiki/Defining-custom-interfaces-(msg-srv)
I can see the message is generated properly and .h\.hpp files are installed.
Now I want to use this custom message in the same project where it's generated. But I can't reference the header file of my generated message from the same project.
Here is my CMakeList.txt:
cmake_minimum_required(VERSION 3.5)
project(bridge_test_msgs)
if(NOT WIN32)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -Wall -Wextra -Wpedantic")
endif()
find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(std_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(rosidl_default_generators REQUIRED)
set(msg_files
"msg/BridgeTestMessage.msg"
)
rosidl_generate_interfaces(${PROJECT_NAME}
${msg_files}
ADD_LINTER_TESTS
)
include_directories(
${rclcpp_INCLUDE_DIRS}
${rclcpp_lifecycle_INCLUDE_DIRS}
${std_msgs_INCLUDE_DIRS}
# ${${PROJECT_NAME}_INCLUDE_DIRS}
)
add_executable(my_publisher
src/my_publisher.cpp
)
target_link_libraries(my_publisher
${rclcpp_LIBRARIES}
${rclcpp_lifecycle_LIBRARIES}
${std_msgs_LIBRARIES}
# ${PROJECT_NAME}
# ${PROJECT_NAME}_LIBRARIES
# ${${PROJECT_NAME}_LIBRARIES}
)
add_dependencies(my_publisher ${PROJECT_NAME})
ament_target_dependencies(my_publisher
"rclcpp"
"rclcpp_lifecycle"
"std_msgs"
"${PROJECT_NAME}"
)
install(TARGETS
my_publisher
DESTINATION bin
)
ament_export_dependencies(rosidl_default_runtime)
ament_package()
Inside src/my_publisher.cpp I have a line:
#include "bridge_test_msgs/msg/bridge_test_message.hpp"
Command 'ament build' fails with message:
my_publisher.cpp:7:56: fatal error: bridge_test_msgs/msg/bridge_test_message.hpp: No such file or directory
compilation terminated.
CMakeFiles/my_publisher.dir/build.make:62: recipe for target 'CMakeFiles/my_publisher.dir/src/my_publisher.cpp.o' failed
make[2]: *** [CMakeFiles/my_publisher.dir/src/my_publisher.cpp.o] Error 1
CMakeFiles/Makefile2:288: recipe for target 'CMakeFiles/my_publisher.dir/all' failed
make[1]: *** [CMakeFiles/my_publisher.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2
I can see header file exists:
$ ls install/include/bridge_test_msgs/msg/bridge_test_message.hpp
-rw-r--r-- 1 mc mc 415 Jun 27 15:00 install/include/bridge_test_msgs/msg/bridge_test_message.hpp
Could you hint me how to reference custom message from the project itself?
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