add drv interfaces

src/CMakeLists.txt

@@ -13,11 +13,18 @@ find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
 find_package(builtin_interfaces REQUIRED)
 
 set(msg_files
   msg/PoseArrayClassAndID.msg
   msg/PoseClassAndID.msg
+  msg/DistMsg.msg
+  msg/InputMsg.msg
+  msg/ImuMsg.msg
+  msg/ImgMsg.msg
+  msg/MotorPos.msg
+  msg/MotorCmd.msg
 )
 set(action_files
   action/MoveToPosition.action
@@ -50,6 +57,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   DEPENDENCIES
     std_msgs
     geometry_msgs
+    sensor_msgs
     builtin_interfaces
 )
 

src/msg/DistMsg.msg

@@ -0,0 +1,5 @@
+string source
+string type
+string position
+int32[] ranges
+sensor_msgs/PointCloud2 points

src/msg/ImgMsg.msg

@@ -0,0 +1,7 @@
+sensor_msgs/Image image_depth
+sensor_msgs/Image image_color
+float64[] karr
+float64[] darr
+string source
+string position
+string type

src/msg/ImuMsg.msg

@@ -0,0 +1,4 @@
+string source
+string type
+string position
+sensor_msgs/Imu imu

src/msg/InputMsg.msg

@@ -0,0 +1,5 @@
+string source
+string type
+string position
+int32 code
+float32 value

src/msg/MotorCmd.msg

@@ -0,0 +1,5 @@
+string target
+string type
+string position
+int32[] motor_id
+float32[] motor_angle

src/msg/MotorPos.msg

@@ -0,0 +1,5 @@
+string source
+string type
+string position
+int32[] motor_id
+float32[] motor_angle