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[PI Sprint 24/25 / PD-462] - [Feature] Migrate to RoslibJS #8

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merged 2 commits into from
Mar 15, 2025
Merged

[PI Sprint 24/25 / PD-462] - [Feature] Migrate to RoslibJS #8

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769f4cc
feat: add brake actions srv
marfanr Jan 26, 2025
25b7d12
feat: remove gRPC dependencies
mbsaloka Mar 9, 2025
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51 changes: 0 additions & 51 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -16,62 +16,11 @@ endif()
find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)

set(protobuf_MODULE_COMPATIBLE TRUE)
find_package(Protobuf CONFIG REQUIRED)
message(STATUS "Using protobuf ${Protobuf_VERSION}")

find_package(gRPC CONFIG REQUIRED)
message(STATUS "Using gRPC ${gRPC_VERSION}")

# Generated sources
file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/proto)
add_custom_command(
OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/proto/akushon.pb.cc"
"${CMAKE_CURRENT_BINARY_DIR}/proto/akushon.pb.h"
"${CMAKE_CURRENT_BINARY_DIR}/proto/akushon.grpc.pb.cc"
"${CMAKE_CURRENT_BINARY_DIR}/proto/akushon.grpc.pb.h"
COMMAND $<TARGET_FILE:protobuf::protoc>
ARGS --grpc_out "${CMAKE_CURRENT_BINARY_DIR}/proto"
--cpp_out "${CMAKE_CURRENT_BINARY_DIR}/proto"
-I ${CMAKE_CURRENT_SOURCE_DIR}/proto
--plugin=protoc-gen-grpc=$<TARGET_FILE:gRPC::grpc_cpp_plugin>
${CMAKE_CURRENT_SOURCE_DIR}/proto/akushon.proto
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/proto/akushon.proto)

add_library(akushon_proto
${CMAKE_CURRENT_BINARY_DIR}/proto/akushon.pb.cc
${CMAKE_CURRENT_BINARY_DIR}/proto/akushon.pb.h
${CMAKE_CURRENT_BINARY_DIR}/proto/akushon.grpc.pb.cc
${CMAKE_CURRENT_BINARY_DIR}/proto/akushon.grpc.pb.h)

target_compile_options(akushon_proto PRIVATE -fPIC)
target_compile_features(akushon_proto PUBLIC cxx_std_17)

target_link_libraries(akushon_proto
protobuf::libprotobuf
)

rosidl_generate_interfaces(${PROJECT_NAME}
"msg/RunAction.msg"
"msg/Status.msg"
"srv/GetActions.srv"
"srv/SaveActions.srv")

ament_export_dependencies(rosidl_default_runtime)
ament_export_targets(akushon_proto HAS_LIBRARY_TARGET)

install (
DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/proto/
DESTINATION include/${PROJECT_NAME}
)

install (
TARGETS akushon_proto
EXPORT akushon_proto
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
INCLUDES DESTINATION include
)

ament_package()
47 changes: 0 additions & 47 deletions proto/akushon.proto
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2 changes: 1 addition & 1 deletion srv/SaveActions.srv
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Original file line number Diff line number Diff line change
@@ -1,3 +1,3 @@
string json
---
string status
bool status
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