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rosidl_dds节点
产生rosidl dds的消息
软件架构说明
https://github.com/ros2/rosidl_dds.git
文件内容:
├── CONTRIBUTING.md
├── LICENSE
└── rosidl_generator_dds_idl
├── bin
│ └── rosidl_generator_dds_idl
├── cmake
│ └── rosidl_generate_dds_interfaces.cmake
├── CMakeLists.txt
├── package.xml
├── resource
│ ├── action.idl.em
│ ├── idl.idl.em
│ ├── msg.idl.em
│ └── srv.idl.em
├── rosidl_generator_dds_idl
│ └── __init__.py
└── rosidl_generator_dds_idl-extras.cmake.in
aarch64:
wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_aarch64/aarch64/rosidl_dds/ros2-foxy-ros2-rosidl_dds-0.7.1-2.oe2203.aarch64.rpm
x86_64:
wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_x86_64/x86_64/rosidl_dds/ros2-foxy-ros2-rosidl_dds-0.7.1-2.oe2203.x86_64.rpm
aarch64:
sudo rpm -ivh --nodeps --force ros2-foxy-ros2-rosidl_dds-0.7.1-2.oe2203.aarch64.rpm
x86_64:
sudo rpm -ivh --nodeps --force ros2-foxy-ros2-rosidl_dds-0.7.1-2.oe2203.x86_64.rpm
依赖环境安装:
sh /opt/ros/foxy/install_dependence.sh
安装完成以后,在/opt/ros/foxy/目录下如下输出,则表示安装成功。
输出:
./
├── bin
├── COLCON_IGNORE
├── include
│ ├── ament_index_cpp
│ ├── benchmark
│ ├── mimick
│ ├── osrf_testing_tools_cpp
│ ├── performance_test_fixture
│ ├── rcppmath
│ ├── rcpputils
│ ├── rcutils
│ ├── rosidl_runtime_c
│ ├── rosidl_runtime_cpp
│ ├── rosidl_typesupport_cpp
│ ├── rosidl_typesupport_interface
│ ├── rosidl_typesupport_introspection_c
│ └── rosidl_typesupport_introspection_cpp
├── lib
│ ├── cmake
│ ├── rosidl_adapter
│ ├── rosidl_generator_c
│ ├── rosidl_generator_cpp
│ ├── rosidl_generator_dds_idl
│ ├── rosidl_parser
│ ├── rosidl_typesupport_introspection_c
│ └── rosidl_typesupport_introspection_cpp
├── lib64
├── local_setup.bash
├── local_setup.ps1
├── local_setup.sh
├── _local_setup_util_ps1.py
├── _local_setup_util_sh.py
├── local_setup.zsh
├── setup.bash
├── setup.ps1
├── setup.sh
├── setup.zsh
├── share
│ ├── rosidl_adapter
│ ├── rosidl_cmake
│ ├── rosidl_generator_c
│ ├── rosidl_generator_cpp
│ ├── rosidl_generator_dds_idl
│ ├── rosidl_parser
│ ├── rosidl_runtime_c
│ ├── rosidl_runtime_cpp
│ ├── rosidl_typesupport_interface
│ ├── rosidl_typesupport_introspection_c
│ ├── rosidl_typesupport_introspection_cpp
│ └── uncrustify_vendor
└── src
├── gmock_vendor
└── gtest_vendor
#!/usr/bin/env python3
import argparse
import sys
from rosidl_generator_dds_idl import generate_dds_idl
def main(argv=sys.argv[1:]):
parser = argparse.ArgumentParser(
description='Generate the DDS interfaces for ROS interfaces.',
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument(
'--additional-service-templates',
nargs='*',
help='Additional EmPy templates to evaluate when generating services')
parser.add_argument(
'--generator-arguments-file',
required=True,
help='The location of the file containing the generator arguments')
parser.add_argument(
'--subfolders',
nargs='*',
help='The subfolders between the package name and the interface '
'definition')
parser.add_argument(
'--extension',
nargs='?',
help='The Python module extending the generator')
args = parser.parse_args(argv)
return generate_dds_idl(
args.generator_arguments_file,
args.subfolders,
args.extension,
args.additional_service_templates,
)
if __name__ == '__main__':
sys.exit(main())
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