Modifying ROS2 Messages

Owned by Duncan Calvert
Jan 03, 2019
1 min read

Source Modification

ROS2 message source files can be found here:

https://stash.ihmc.us/projects/LIBS/repos/ihmc-open-robotics-software/browse/ihmc-interfaces/src/main/messages/ihmc_interfaces/controller_msgs/msg

When you change them, you must make sure that directory is consistent with itself. For instance, when renaming a message, you must refactor all occurrences in that directory.

If you have added a message, you must also ensure it's presence in the ROS1 CMakeLists.txt file:

https://stash.ihmc.us/projects/LIBS/repos/ihmc-open-robotics-software/browse/ihmc-interfaces/src/main/messages/ros1/controller_msgs/CMakeLists.txt

Generation

After modifying the source files, run the Gradle generateMessages task in the ihmc-interfaces project.

Make sure any changed files have Unix line endings and do not introduce any compile errors in ihmc-open-robotics-software.