feat: define new srv

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
autowarefoundation · Sep 20, 2024 · 281e23d · 281e23d
1 parent a9defa7
commit 281e23d
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Showing 7 changed files with 283 additions and 201 deletions.
diff --git a/bag2lanelet/scripts/bag2map.py b/bag2lanelet/scripts/bag2map.py
@@ -6,6 +6,7 @@
 
 from bag2way import bag2point_stamped
 import folium
+
 from tools.bag2lanelet.scripts.lanelet_xml import LaneletMap
 
 

diff --git a/common/tier4_screen_capture_rviz_plugin/CMakeLists.txt b/common/tier4_screen_capture_rviz_plugin/CMakeLists.txt
@@ -13,17 +13,31 @@ include_directories(
   ${OpenCV_INCLUDE_DIRS}
 )
 
-ament_auto_add_library(${PROJECT_NAME} SHARED
+ament_auto_find_build_dependencies()
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/Capture.srv"
+  DEPENDENCIES
+  std_msgs
+  ADD_LINTER_TESTS
+)
+
+ament_auto_add_library(${PROJECT_NAME}_lib SHARED
   src/screen_capture_panel.hpp
   src/screen_capture_panel.cpp
 )
-target_link_libraries(${PROJECT_NAME}
+
+rosidl_get_typesupport_target(
+  cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
+target_link_libraries(${PROJECT_NAME}_lib "${cpp_typesupport_target}")
+
+target_link_libraries(${PROJECT_NAME}_lib
   ${QT_LIBRARIES}
   ${OpenCV_LIBRARIES}
 )
+
 pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml)
 
 ament_auto_package(
   INSTALL_TO_SHARE
-    plugins
+  plugins
 )
diff --git a/common/tier4_screen_capture_rviz_plugin/package.xml b/common/tier4_screen_capture_rviz_plugin/package.xml
@@ -12,6 +12,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <build_depend>rosidl_default_generators</build_depend>
+
   <depend>libopencv-dev</depend>
   <depend>libqt5-core</depend>
   <depend>libqt5-gui</depend>
@@ -24,6 +26,10 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
   <export>
     <build_type>ament_cmake</build_type>
     <rviz plugin="${prefix}/plugins/plugin_description.xml"/>

diff --git a/common/tier4_screen_capture_rviz_plugin/plugins/plugin_description.xml b/common/tier4_screen_capture_rviz_plugin/plugins/plugin_description.xml
@@ -1,7 +1,8 @@
-<library path="tier4_screen_capture_rviz_plugin">
+<library path="tier4_screen_capture_rviz_plugin_lib">
 
   <class
-    type="AutowareScreenCapturePanel"
+    name="rviz_plugins/AutowareScreenCapturePanel"
+    type="rviz_plugins::AutowareScreenCapturePanel"
     base_class_type="rviz_common::Panel">
     <description>AutowareScreenCapturePanel</description>
   </class>