[ROS2] 패키지

패키지 설정 파일

• package.xml

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>topic_service_action_rclpy_example</name>
  <version>0.2.0</version>
  <description>ROS 2 rclpy example package for the topic, service, action</description>
  <maintainer email="passionvirus@gmail.com">Pyo</maintainer>
  <license>Apache License 2.0</license>
  <author email="passionvirus@gmail.com">Pyo</author>
  <author email="routiful@gmail.com">Darby Lim</author>
  <depend>rclpy</depend>
  <depend>std_msgs</depend>
  **<depend>msg_srv_action_interface_example</depend> # 해당 패키지 사용할 예정**
  <test_depend>ament_copyright</test_depend>
  <test_depend>ament_flake8</test_depend>
  <test_depend>ament_pep257</test_depend>
  <test_depend>python3-pytest</test_depend>
  <export>
    <build_type>ament_python</build_type>
  </export>
</package>

파이썬 패키지 설정 파일

• setup.py

#!/usr/bin/env python3

import glob
import os

from setuptools import find_packages
from setuptools import setup

package_name = 'topic_service_action_rclpy_example'
share_dir = 'share/' + package_name

setup(
    name=package_name,
    version='0.2.0',
    packages=find_packages(exclude=['test']),
    data_files=[ #패키지 사용 파일 기입 
        ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
        (share_dir, ['package.xml']),
        (share_dir + '/launch', glob.glob(os.path.join('launch', '*.launch.py'))),
        (share_dir + '/param', glob.glob(os.path.join('param', '*.yaml'))),
    ],
    install_requires=['setuptools'],
    zip_safe=True,
    author='Pyo, Darby Lim',
    author_email='passionvirus@gmail.com, routiful@gmail.com',
    maintainer='Pyo',
    maintainer_email='passionvirus@gmail.com',
    keywords=['ROS'],
    classifiers=[
        'Intended Audience :: Developers',
        'License :: OSI Approved :: Apache Software License',
        'Programming Language :: Python',
        'Topic :: Software Development',
    ],
    description='ROS 2 rclpy example package for the topic, service, action',
    license='Apache License, Version 2.0',
    tests_require=['pytest'],
    entry_points={ # 콘솔 스크립트의 이름과 호출함수 기입. 
        'console_scripts': [
            'argument = topic_service_action_rclpy_example.arithmetic.argument:main',
            'operator = topic_service_action_rclpy_example.arithmetic.operator:main',
            'calculator = topic_service_action_rclpy_example.calculator.main:main',
            'checker = topic_service_action_rclpy_example.checker.main:main',
        ],
    },
)

소스코드 다운로드 및 빌드

$ cd ~/ros2_dashing/src
$ git clone https://github.com/robotpilot/ros2-seminar-examples.git
$ cd ~/ros2_dashing && colcon build --symlink-install

• colcon build 안됨 ㅠㅠ