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EdwardiusEdwardius
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adds in package directories and setup
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‎robot_mcp_bringup/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8)
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project(robot_mcp_examples)
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find_package(ament_cmake REQUIRED)
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# Install example config files
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install(DIRECTORY
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config/
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DESTINATION share/${PROJECT_NAME}/config
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)
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# Install launch files
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install(DIRECTORY
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launch/
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DESTINATION share/${PROJECT_NAME}/launch
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)
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ament_package()

‎robot_mcp_bringup/config/minimal.yaml‎

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# Minimal robot_mcp configuration example
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# This will be populated in Phase 2 (Configuration System)
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mcp_http_server:
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ros__parameters:
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server:
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host: "0.0.0.0"
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port: 8080
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# Example actions, services, and topics will be added later

‎robot_mcp_bringup/launch/robot_mcp.launch.yaml‎

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# Copyright 2025 WATonomous
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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launch:
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# Launch arguments
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- arg:
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name: config
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default: ""
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description: "Path to robot_mcp configuration file"
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# Node will be added in Phase 5 (Lifecycle Integration)
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# - node:
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# pkg: robot_mcp_server
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# exec: robot_mcp_server_node
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# name: robot_mcp_server
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# param:
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# - from: $(var config)
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# output: screen

‎robot_mcp_bringup/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>robot_mcp_examples</name>
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<version>0.1.0</version>
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<description>Example configurations, launch files, and custom plugins for robot_mcp</description>
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<maintainer email="e23zhou@watonomous.ca">Eddy Zhou</maintainer>
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<author email="hello@watonomous.ca">WATonomous</author>
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<license>Apache 2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<exec_depend>robot_mcp_server</exec_depend>
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<exec_depend>robot_mcp_common_msg_plugins</exec_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎robot_mcp_common_msg_plugins/robot_common_msg_plugins/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.8)
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project(robot_mcp_common_msg_plugins)
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find_package(ament_cmake REQUIRED)
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ament_package()

‎robot_mcp_common_msg_plugins/robot_common_msg_plugins/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>robot_mcp_common_msg_plugins</name>
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<version>0.1.0</version>
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<description>
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Metapackage that aggregates common ROS2 message plugins for robot_mcp.
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</description>
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<maintainer email="e23zhou@watonomous.ca">Eddy Zhou</maintainer>
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<author email="hello@watonomous.ca">WATonomous</author>
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<license>Apache 2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<exec_depend>robot_mcp_std_msg_plugins</exec_depend>
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<exec_depend>robot_mcp_geometry_msg_plugins</exec_depend>
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<exec_depend>robot_mcp_sensor_msg_plugins</exec_depend>
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<exec_depend>robot_mcp_nav_msg_plugins</exec_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎robot_mcp_common_msg_plugins/robot_mcp_geometry_msg_plugins/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.22)
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project(robot_mcp_geometry_msg_plugins)
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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add_link_options(-Wl,-no-undefined)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(robot_mcp_msg_pluginlib REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(nlohmann_json REQUIRED)
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set(include_dir ${CMAKE_CURRENT_SOURCE_DIR}/include)
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# Plugin library (will be populated in Phase 3)
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# add_library(${PROJECT_NAME} SHARED
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# src/plugins/pose_plugin.cpp
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# # More plugin implementations...
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# )
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# target_include_directories(${PROJECT_NAME} PUBLIC
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# $<BUILD_INTERFACE:${include_dir}>
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# $<INSTALL_INTERFACE:include>
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# )
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# target_link_libraries(${PROJECT_NAME}
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# PUBLIC
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# robot_mcp_msg_pluginlib::robot_mcp_msg_pluginlib
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# PRIVATE
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# ${geometry_msgs_TARGETS}
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# pluginlib::pluginlib
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# nlohmann_json::nlohmann_json
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# )
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#
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# install(TARGETS ${PROJECT_NAME}
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# EXPORT ${PROJECT_NAME}Targets
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# ARCHIVE DESTINATION lib
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# LIBRARY DESTINATION lib
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# RUNTIME DESTINATION bin
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# )
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#
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# install(EXPORT ${PROJECT_NAME}Targets
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# NAMESPACE ${PROJECT_NAME}::
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# DESTINATION share/${PROJECT_NAME}/cmake
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# )
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install(DIRECTORY include/
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DESTINATION include
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)
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install(FILES plugins.xml
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DESTINATION share/${PROJECT_NAME}
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)
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pluginlib_export_plugin_description_file(robot_mcp_msg_pluginlib plugins.xml)
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# ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
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ament_package()

‎robot_mcp_common_msg_plugins/robot_mcp_geometry_msg_plugins/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>robot_mcp_geometry_msg_plugins</name>
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<version>0.1.0</version>
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<description>Message plugins for geometry_msgs types</description>
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<maintainer email="e23zhou@watonomous.ca">Eddy Zhou</maintainer>
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<author email="hello@watonomous.ca">WATonomous</author>
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<license>Apache 2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>robot_mcp_msg_pluginlib</depend>
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<depend>geometry_msgs</depend>
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<depend>pluginlib</depend>
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<depend>nlohmann-json-dev</depend>
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<export>
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<build_type>ament_cmake</build_type>
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<robot_mcp_msg_pluginlib plugin="${prefix}/plugins.xml" />
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</export>
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</package>

‎robot_mcp_common_msg_plugins/robot_mcp_geometry_msg_plugins/plugins.xml‎

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<library path="robot_mcp_geometry_msg_plugins">
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<!-- Plugin implementations will be added in Phase 3 -->
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</library>

‎robot_mcp_common_msg_plugins/robot_mcp_nav_msg_plugins/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.22)
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project(robot_mcp_nav_msg_plugins)
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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add_link_options(-Wl,-no-undefined)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(robot_mcp_msg_pluginlib REQUIRED)
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find_package(nav_msgs REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(nlohmann_json REQUIRED)
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set(include_dir ${CMAKE_CURRENT_SOURCE_DIR}/include)
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# Plugin library (will be populated in Phase 3)
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# add_library(${PROJECT_NAME} SHARED
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# src/plugins/odometry_plugin.cpp
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# # More plugin implementations...
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# )
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# target_include_directories(${PROJECT_NAME} PUBLIC
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# $<BUILD_INTERFACE:${include_dir}>
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# $<INSTALL_INTERFACE:include>
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# )
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# target_link_libraries(${PROJECT_NAME}
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# PUBLIC
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# robot_mcp_msg_pluginlib::robot_mcp_msg_pluginlib
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# PRIVATE
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# ${nav_msgs_TARGETS}
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# pluginlib::pluginlib
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# nlohmann_json::nlohmann_json
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# )
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#
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# install(TARGETS ${PROJECT_NAME}
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# EXPORT ${PROJECT_NAME}Targets
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# ARCHIVE DESTINATION lib
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# LIBRARY DESTINATION lib
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# RUNTIME DESTINATION bin
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# )
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#
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# install(EXPORT ${PROJECT_NAME}Targets
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# NAMESPACE ${PROJECT_NAME}::
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# DESTINATION share/${PROJECT_NAME}/cmake
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# )
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install(DIRECTORY include/
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DESTINATION include
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)
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install(FILES plugins.xml
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DESTINATION share/${PROJECT_NAME}
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)
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pluginlib_export_plugin_description_file(robot_mcp_msg_pluginlib plugins.xml)
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# ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
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ament_package()

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