use "std_msgs/msg/bool"

ICube-Robotics · Jan 8, 2024 · b8fce47 · b8fce47
1 parent 5bf88e3
commit b8fce47
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Showing 4 changed files with 9 additions and 6 deletions.
diff --git a/fd_controllers/ee_pose_broadcaster/CMakeLists.txt b/fd_controllers/ee_pose_broadcaster/CMakeLists.txt
@@ -17,6 +17,7 @@ find_package(rclcpp_lifecycle REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(realtime_tools REQUIRED)
 find_package(geometry_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
 find_package(example_interfaces REQUIRED)
 find_package(eigen3_cmake_module REQUIRED)
 find_package(Eigen3)
@@ -34,6 +35,7 @@ ament_target_dependencies(ee_pose_broadcaster
   rcutils
   realtime_tools
   geometry_msgs
+  std_msgs
   eigen3_cmake_module
   Eigen3
   example_interfaces

diff --git a/fd_controllers/ee_pose_broadcaster/include/ee_pose_broadcaster/ee_pose_broadcaster.hpp b/fd_controllers/ee_pose_broadcaster/include/ee_pose_broadcaster/ee_pose_broadcaster.hpp
@@ -29,7 +29,7 @@
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "realtime_tools/realtime_publisher.h"
 #include "geometry_msgs/msg/pose_stamped.hpp"
-#include "example_interfaces/msg/bool.hpp"
+#include "std_msgs/msg/bool.hpp"
 
 namespace ee_pose_broadcaster
 {
@@ -77,8 +77,8 @@ class EePoseBroadcaster : public controller_interface::ControllerInterface
   std::shared_ptr<realtime_tools::RealtimePublisher<geometry_msgs::msg::PoseStamped>>
   realtime_ee_pose_publisher_;
 
-  std::shared_ptr<rclcpp::Publisher<example_interfaces::msg::Bool>> fd_button_publisher_;
-  std::shared_ptr<realtime_tools::RealtimePublisher<example_interfaces::msg::Bool>>
+  std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Bool>> fd_button_publisher_;
+  std::shared_ptr<realtime_tools::RealtimePublisher<std_msgs::msg::Bool>>
   realtime_fd_button_publisher_;
 };
 

diff --git a/fd_controllers/ee_pose_broadcaster/package.xml b/fd_controllers/ee_pose_broadcaster/package.xml
@@ -20,8 +20,9 @@
   <depend>controller_interface</depend>
   <depend>hardware_interface</depend>
   <depend>rclcpp_lifecycle</depend>
-  <depend>geometry_msgs</depend>
   <depend>realtime_tools</depend>
+  <depend>geometry_msgs</depend>
+  <depend>std_msgs</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>

diff --git a/fd_controllers/ee_pose_broadcaster/src/ee_pose_broadcaster.cpp b/fd_controllers/ee_pose_broadcaster/src/ee_pose_broadcaster.cpp
@@ -157,11 +157,11 @@ EePoseBroadcaster::on_configure(const rclcpp_lifecycle::State & /*previous_state
       std::make_shared<realtime_tools::RealtimePublisher<geometry_msgs::msg::PoseStamped>>(
       ee_pose_publisher_);
 
-    fd_button_publisher_ = get_node()->create_publisher<example_interfaces::msg::Bool>(
+    fd_button_publisher_ = get_node()->create_publisher<std_msgs::msg::Bool>(
       "button_state", rclcpp::SystemDefaultsQoS());
 
     realtime_fd_button_publisher_ =
-      std::make_shared<realtime_tools::RealtimePublisher<example_interfaces::msg::Bool>>(
+      std::make_shared<realtime_tools::RealtimePublisher<std_msgs::msg::Bool>>(
       fd_button_publisher_);
   } catch (const std::exception & e) {
     // get_node() may throw, logging raw here