DLS2 messages

Package defining and building off-the-shelf messages for DLS2.

Message generation

Each message is defined by an idl file inside the idls folder. See here for details about how to define a message in IDL format.

To generate messages for fastdds, the fastddgen tool is used (check the cmake function generate_msg_library inside generate_msg_library.cmake file).

ROS2 compatibility

For ROS2 communication, message definitions should comply with the following conventions:

• each message uses a CamelCase name, i.e. MyMessage, not my_message
• the file name follows the same convention: MyMessage.idl
• the message should be wrapped in the modules dls2_interface and msg, i.e.

module dls2_interface
{
  module msg
  {
    struct MyMessage
    {
      ...
    }
  }
}