initial

xr_rm_interfaces/CMakeLists.txt

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.8)
+project(xr_rm_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/XrController.msg"
+  DEPENDENCIES geometry_msgs std_msgs
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()

xr_rm_interfaces/msg/XrController.msg

@@ -0,0 +1,5 @@
+std_msgs/Header header
+string hand
+bool grip
+float32 trigger
+geometry_msgs/Pose pose

xr_rm_interfaces/package.xml

@@ -0,0 +1,24 @@
+<?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>xr_rm_interfaces</name>
+  <version>0.1.0</version>
+  <description>ROS2 interfaces for XR controller based RealMan teleoperation.</description>
+  <maintainer email="user@example.com">Yikai Fu</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  <build_depend>std_msgs</build_depend>
+
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>