ros2 foxy

Author: mkimsri

radl_lib/CMakeLists.txt

@@ -13,7 +13,7 @@ target_include_directories(${PROJECT_NAME}
     "$<INSTALL_INTERFACE:include>")
 
 ament_export_include_directories(include)
-ament_export_interfaces(export_${PROJECT_NAME})
+ament_export_targets(export_${PROJECT_NAME})
 ament_export_libraries(${PROJECT_NAME})
 
 ament_package()

radler/radlr/cgen/packagen.py

@@ -80,7 +80,7 @@ def clear(d, templates):
 )
 
 ament_export_include_directories(include)
-ament_export_interfaces(export_{package_name})
+ament_export_targets(export_{package_name})
 ament_export_libraries({package_name})
 
 ament_package()

radler/radlr/ros/roscmake.py

@@ -151,7 +151,7 @@ def clear(d, templates):
 rosidl_target_interfaces({node_target}
       {module} "rosidl_typesupport_cpp")
 
-ament_target_dependencies({node_target} {module})
+#ament_target_dependencies({node_target} {module})
 """
 }
 

radler/radlr/ros/rosnode.py

@@ -159,7 +159,7 @@
 """
     {actionname}(*_out.{pubname});"""
 , 'set_pub'           :
-"""auto {actionname}_ros = _h->create_publisher<{topic_t}>("{topic_name}", rmw_qos_profile_default);{actiondef}"""
+"""auto {actionname}_ros = _h->create_publisher<{topic_t}>("{topic_name}", rclcpp::SystemDefaultsQoS());{actiondef}"""
 , 'in_struct_def'     : "{topic_t}::ConstSharedPtr {subname};"
 , 'in_fill'           :
 """// Retrieve data for {subname} subscription
@@ -176,7 +176,7 @@
   {actionclass}<{topic_t}> {actionname}(_wrap{initmsg});
   std::function<void (const {topic_t}::SharedPtr)> {actionname}_func;
   {actionname}_func = std::ref({actionname});
-  auto {actionname}_ros = _h->create_subscription<{topic_t}>("{topic_name}", {actionname}_func, rmw_qos_profile_default);
+  auto {actionname}_ros = _h->create_subscription<{topic_t}>("{topic_name}", rclcpp::SystemDefaultsQoS(), {actionname}_func);
 
   double _{subname}_maxperiod = 10; // pub_period * pub_each + pub_wcet in seconds
 /* TODO