CCOMJHC · CaptKrasno · Aug 10, 2023
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,35 +1,42 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.8)
+
 project(project11_msgs)
-find_package(catkin REQUIRED roscpp std_msgs message_generation geographic_msgs)
 
-add_message_files(
-  FILES
-  Contact.msg
-  CourseMadeGood.msg
-  CourseMadeGoodStamped.msg
-  Detect.msg
-  DifferentialDrive.msg
-  GeoPoseNavEuler.msg
-  GeoPoseNavEulerStamped.msg
-  GeoPoseNavEulerWithCovariance.msg
-  GeoPoseNavEulerWithCovarianceStamped.msg
-  Heartbeat.msg
-  Helm.msg
-  KeyValue.msg
-  NavEuler.msg
-  NavEulerStamped.msg
-  NavSource.msg
-  PIDDebug.msg
-  PIDParameters.msg
-  Platform.msg
-  PlatformList.msg
-  RangeBearing.msg
-)
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geographic_msgs REQUIRED)
+
+set(MSG_FILES
+  msg/Contact.msg
+  msg/CourseMadeGood.msg
+  msg/CourseMadeGoodStamped.msg
+  msg/Detect.msg
+  msg/DifferentialDrive.msg
+  msg/GeoPoseNavEuler.msg
+  msg/GeoPoseNavEulerStamped.msg
+  msg/GeoPoseNavEulerWithCovariance.msg
+  msg/GeoPoseNavEulerWithCovarianceStamped.msg
+  msg/Heartbeat.msg
+  msg/Helm.msg
+  msg/KeyValue.msg
+  msg/NavEuler.msg
+  msg/NavEulerStamped.msg
+  msg/NavSource.msg
+  # msg/PIDDebug.msg
+  # msg/PIDParameters.msg
+  msg/Platform.msg
+  msg/PlatformList.msg
+  msg/RangeBearing.msg)
+
+rosidl_generate_interfaces(
+    ${PROJECT_NAME}
+    ${MSG_FILES}
+    DEPENDENCIES
+    builtin_interfaces
+    std_msgs
+    geographic_msgs)
 
-generate_messages(
-  DEPENDENCIES
-  std_msgs
-  geographic_msgs
-)
+ament_export_dependencies(rosidl_default_runtime)
 
-catkin_package(CATKIN_DEPENDS message_runtime geographic_msgs)
+ament_package()
diff --git a/msg/Contact.msg b/msg/Contact.msg
@@ -4,7 +4,7 @@ uint8 CONTACT_SOURCE_UNSPECIFIED = 0
 uint8 CONTACT_SOURCE_AIS         = 1
 uint8 CONTACT_SOURCE_RADAR       = 2
 
-Header header
+std_msgs/Header header
 
 uint8 contact_source
 

diff --git a/msg/CourseMadeGoodStamped.msg b/msg/CourseMadeGoodStamped.msg
@@ -1,4 +1,4 @@
 # Course in clockwise degrees relative to north.
-Header header
+std_msgs/Header header
 float64 course
 
diff --git a/msg/Detect.msg b/msg/Detect.msg
@@ -1,6 +1,6 @@
 # Template for a Detect message
 
-Header header
+std_msgs/Header header
 string sensor_id
 project11_msgs/KeyValue[] values
 geometry_msgs/PoseWithCovariance pose

diff --git a/msg/DifferentialDrive.msg b/msg/DifferentialDrive.msg
@@ -1,4 +1,4 @@
 # Dual thruster command input
-Header header
+std_msgs/Header header
 float32 left_thrust  # -1.0 to 1.0, full reverse to full forward
 float32 right_thrust # -1.0 to 1.0, fell reverse to full forward
diff --git a/msg/GeoPoseNavEulerStamped.msg b/msg/GeoPoseNavEulerStamped.msg
@@ -3,5 +3,5 @@
 # Orientation uses the East-North-Up (ENU) frame of reference.
 # Expressed as Euler Angles
 
-Header header
+std_msgs/Header header
 GeoPoseNavEuler pose
diff --git a/msg/GeoPoseNavEulerWithCovarianceStamped.msg b/msg/GeoPoseNavEulerWithCovarianceStamped.msg
@@ -1,3 +1,3 @@
 # A representation of pose in free space composed of position and orientation using Euler angles.
-Header header
+std_msgs/Header header
 GeoPoseNavEulerWithCovariance pose
diff --git a/msg/Heartbeat.msg b/msg/Heartbeat.msg
@@ -1,5 +1,5 @@
 # periodic message sent with basic status info
 
-Header header
+std_msgs/Header header
 KeyValue[] values # an array of values associated with the status
 
diff --git a/msg/Helm.msg b/msg/Helm.msg
@@ -1,4 +1,4 @@
 # Throttle and rudder command input
-Header header
+std_msgs/Header header
 float32 throttle   # -1.0 to 1.0, full reverse to full forward
 float32 rudder     # -1.0 to 1.0, fell left to full right
diff --git a/msg/NavEulerStamped.msg b/msg/NavEulerStamped.msg
@@ -1,4 +1,4 @@
 # Stamped version of NavEuler
 
-Header header
+std_msgs/Header header
 NavEuler orientation
diff --git a/msg/RangeBearing.msg b/msg/RangeBearing.msg
@@ -1,3 +1,3 @@
-time stamp
+builtin_interfaces/Time stamp
 float32 range   # range in meters
 float32 bearing # bearing in degrees
diff --git a/package.xml b/package.xml
@@ -1,23 +1,26 @@
-<package format="2">
-    <name>project11_msgs</name>
-    <version>0.0.0</version>
-    <description>
-    This package provides message types used with Project11.
-    </description>
-
-    <maintainer email="roland@ccom.unh.edu">Roland Arsenault</maintainer>
-
-    <license>BSD</license>
-
-    <buildtool_depend>catkin</buildtool_depend>
-    <build_depend>message_generation</build_depend>
-    <exec_depend>message_runtime</exec_depend>
-    <depend>geographic_msgs</depend>
+<?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>project11_msgs</name>
+  <version>0.0.0</version>
+  <description>This package provides message types used with Project11.</description>
+  <maintainer email="roland@ccom.unh.edu">Roland Arsenault</maintainer>
+  <license>BSD</license>
 
-    <depend>rosbag_migration_rule</depend>
-    <export>
-        <rosbag_migration_rule rule_file="bmr/from_marine_msgs.bmr"/>
-    </export>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
-
-</package>
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <depend>std_msgs</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>