use rosidl parser, ros2 interface format

Author: fferri

CMakeLists.txt

@@ -49,6 +49,7 @@ set(CMAKE_MODULE_PATH
     ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules
     ${LIBPLUGIN_DIR}/cmake)
 find_package(CoppeliaSim 4.0.0.0 REQUIRED)
+find_package(Python3 REQUIRED COMPONENTS Interpreter)
 
 file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/generated)
 file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/doc)
@@ -62,13 +63,10 @@ include_directories(${CMAKE_CURRENT_BINARY_DIR}/generated)
 include_directories(${COPPELIASIM_INCLUDE_DIR})
 include_directories(${COPPELIASIM_COMMON_DIR})
 
-set(ROS_MSG_SRV_CACHE "${CMAKE_CURRENT_BINARY_DIR}/ros-msg-srv-defs.pickle")
-add_custom_command(OUTPUT "${ROS_MSG_SRV_CACHE}" COMMAND python "${CMAKE_CURRENT_SOURCE_DIR}/tools/parse_messages_and_services.py" "${CMAKE_CURRENT_SOURCE_DIR}/meta/messages.txt" "${CMAKE_CURRENT_SOURCE_DIR}/meta/services.txt" "${ROS_MSG_SRV_CACHE}" DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/meta/messages.txt" "${CMAKE_CURRENT_SOURCE_DIR}/meta/services.txt" "${CMAKE_CURRENT_SOURCE_DIR}/tools/parse_messages_and_services.py")
-
 set(generatedFiles)
 file(GLOB templateFiles RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}/templates/ ${CMAKE_CURRENT_SOURCE_DIR}/templates/*)
 foreach(templateFile ${templateFiles})
-    add_custom_command(OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/generated/${templateFile}" COMMAND python "${LIBPLUGIN_DIR}/simStubsGen/external/pycpp/pycpp.py" -p "cache_file=${ROS_MSG_SRV_CACHE}" -i "${CMAKE_CURRENT_SOURCE_DIR}/templates/${templateFile}" -o "${CMAKE_CURRENT_BINARY_DIR}/generated/${templateFile}" -P "${CMAKE_CURRENT_SOURCE_DIR}/tools" DEPENDS "${ROS_MSG_SRV_CACHE}" "${CMAKE_CURRENT_SOURCE_DIR}/templates/${templateFile}")
+    add_custom_command(OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/generated/${templateFile}" COMMAND ${Python3_EXECUTABLE} "${LIBPLUGIN_DIR}/simStubsGen/external/pycpp/pycpp.py" -p "interfaces_file=${CMAKE_CURRENT_SOURCE_DIR}/meta/interfaces.txt" -i "${CMAKE_CURRENT_SOURCE_DIR}/templates/${templateFile}" -o "${CMAKE_CURRENT_BINARY_DIR}/generated/${templateFile}" -P "${CMAKE_CURRENT_SOURCE_DIR}/tools" DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/tools/parse_interfaces.py" "${CMAKE_CURRENT_SOURCE_DIR}/meta/interfaces.txt" "${CMAKE_CURRENT_SOURCE_DIR}/templates/${templateFile}")
     set(generatedFiles ${generatedFiles} "${CMAKE_CURRENT_BINARY_DIR}/generated/${templateFile}")
 endforeach()
 add_custom_target(generate_ros_code DEPENDS ${generatedFiles})

README.md

@@ -13,8 +13,13 @@ _NOTE:_ the directory containing all files (i.e. package.xml etc) must be called
 ```
 $ git clone --recursive https://github.com/CoppeliaRobotics/simExtROS2Interface.git sim_ros2_interface
 ```
-3. Edit `meta/messages.txt` and `meta/services.txt` if you need to include more ROS messages/services. You need to specify the full message/service type, i.e. geometry_msgs/Twist rather than Twist.
+3. Edit `meta/interfaces.txt` if you need to include more ROS interfaces. You need to specify the fully qualified interface, e.g. geometry_msgs/msg/Twist rather than Twist.
 4. Compile
 ```
 $ colcon build --symlink-install
 ```
+
+Note: if you are reporting a compile error, please use this command to build:
+```
+VERBOSE=1 MAKEFLAGS=-j1 colcon build --symlink-install --event-handlers console_direct+ --parallel-workers 1
+```

meta/interfaces.txt

@@ -0,0 +1,27 @@
+builtin_interfaces/msg/Duration
+builtin_interfaces/msg/Time
+geometry_msgs/msg/Quaternion
+geometry_msgs/msg/Transform
+geometry_msgs/msg/TransformStamped
+geometry_msgs/msg/Vector3
+sensor_msgs/msg/Image
+std_msgs/msg/Bool
+std_msgs/msg/Byte
+std_msgs/msg/ColorRGBA
+std_msgs/msg/Empty
+std_msgs/msg/Float32
+std_msgs/msg/Float64
+std_msgs/msg/Header
+std_msgs/msg/Int8
+std_msgs/msg/Int16
+std_msgs/msg/Int32
+std_msgs/msg/Int64
+std_msgs/msg/String
+std_msgs/msg/UInt8
+std_msgs/msg/UInt16
+std_msgs/msg/UInt32
+std_msgs/msg/UInt64
+std_srvs/srv/Empty
+std_srvs/srv/SetBool
+std_srvs/srv/Trigger
+example_interfaces/action/Fibonacci