From e9d0a470cca9328affd51e9c89ddb4f661269e4a Mon Sep 17 00:00:00 2001
From: Philipp Caspers <philipp.caspers@vorausrobotik.com>
Date: Thu, 4 Jul 2024 13:01:37 +0200
Subject: [PATCH] feat: Add interface package (#16)

Adds a temporary sample interface package to provide custom ros messages and
services.
---
 voraus_ros_interfaces/CMakeLists.txt | 27 +++++++++++++++++++++++++++
 voraus_ros_interfaces/README.md      |  5 +++++
 voraus_ros_interfaces/msg/Voraus.msg | 11 +++++++++++
 voraus_ros_interfaces/package.xml    | 20 ++++++++++++++++++++
 voraus_ros_interfaces/srv/Voraus.srv |  5 +++++
 5 files changed, 68 insertions(+)
 create mode 100644 voraus_ros_interfaces/CMakeLists.txt
 create mode 100644 voraus_ros_interfaces/README.md
 create mode 100644 voraus_ros_interfaces/msg/Voraus.msg
 create mode 100644 voraus_ros_interfaces/package.xml
 create mode 100644 voraus_ros_interfaces/srv/Voraus.srv

diff --git a/voraus_ros_interfaces/CMakeLists.txt b/voraus_ros_interfaces/CMakeLists.txt
new file mode 100644
index 0000000..73d70e6
--- /dev/null
+++ b/voraus_ros_interfaces/CMakeLists.txt
@@ -0,0 +1,27 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(voraus_ros_interfaces)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+set(msg_files
+  "msg/Voraus.msg"
+  "srv/Voraus.srv"
+)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
diff --git a/voraus_ros_interfaces/README.md b/voraus_ros_interfaces/README.md
new file mode 100644
index 0000000..dca8085
--- /dev/null
+++ b/voraus_ros_interfaces/README.md
@@ -0,0 +1,5 @@
+This is a ros package without any rust code for providing the necessary message and service types.
+It will probably be autogenerated in the future. It is needed for the compilation of the voraus-ros-bridge and
+all its ros consumers.
+As this package will be generated from the OPC UA spec it will move to either the voraus components or to the release
+such that a preconfigured rosbridge can be shipped.
\ No newline at end of file
diff --git a/voraus_ros_interfaces/msg/Voraus.msg b/voraus_ros_interfaces/msg/Voraus.msg
new file mode 100644
index 0000000..885d5c7
--- /dev/null
+++ b/voraus_ros_interfaces/msg/Voraus.msg
@@ -0,0 +1,11 @@
+# Primitive types
+bool bool_member true
+int8 int8_member 1
+uint8 uint8_member 2
+byte byte_member 3
+float32 float32_member 1e-2
+
+# Array/sequence of primitive type
+float32[3] float_array [1.0, 2.0, 3.0]
+float32[<=3] float_seq_bounded [4.0, 5.0]
+float32[] float_seq_unbounded [6.0]
diff --git a/voraus_ros_interfaces/package.xml b/voraus_ros_interfaces/package.xml
new file mode 100644
index 0000000..7ca914a
--- /dev/null
+++ b/voraus_ros_interfaces/package.xml
@@ -0,0 +1,20 @@
+<package format="3">
+  <name>voraus_ros_interfaces</name>
+  <version>0.0.1</version>
+  <description>Defines custom ros message/service types for the voraus-ros-bridge</description>
+  <maintainer email="jan-niklas.burfeind@vorausrobotik.com">user</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/voraus_ros_interfaces/srv/Voraus.srv b/voraus_ros_interfaces/srv/Voraus.srv
new file mode 100644
index 0000000..b2e646f
--- /dev/null
+++ b/voraus_ros_interfaces/srv/Voraus.srv
@@ -0,0 +1,5 @@
+int64 a
+int64 b
+int64 c
+---
+int64 sum