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add NoDL files for talker and listener #523

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add NoDL files for talker and listener #523

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3 changes: 3 additions & 0 deletions demo_nodes_cpp/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
endif()

find_package(ament_cmake REQUIRED)
find_package(ament_nodl REQUIRED)
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@wjwwood meta: I think we should make this an optional dependency. Core builds (that include demo_nodes_cpp but not ament_nodl) will fail otherwise.

find_package(example_interfaces REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
Expand Down Expand Up @@ -112,6 +113,7 @@ rclcpp_components_register_node(parameters_library
rclcpp_components_register_node(topics_library
PLUGIN "demo_nodes_cpp::Talker"
EXECUTABLE talker)
nodl_export_node_description_file(talker.nodl.xml)
rclcpp_components_register_node(topics_library
PLUGIN "demo_nodes_cpp::LoanedMessageTalker"
EXECUTABLE talker_loaned_message)
Expand All @@ -121,6 +123,7 @@ rclcpp_components_register_node(topics_library
rclcpp_components_register_node(topics_library
PLUGIN "demo_nodes_cpp::Listener"
EXECUTABLE listener)
nodl_export_node_description_file(listener.nodl.xml)
rclcpp_components_register_node(topics_library
PLUGIN "demo_nodes_cpp::SerializedMessageListener"
EXECUTABLE listener_serialized_message)
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5 changes: 5 additions & 0 deletions demo_nodes_cpp/listener.nodl.xml
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@@ -0,0 +1,5 @@
<interface version="1">
<node name="listener" executable="listener">
<topic name="chatter" type="std_msgs/msg/String" role="subscription" />
</node>
</interface>
1 change: 1 addition & 0 deletions demo_nodes_cpp/package.xml
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Expand Up @@ -12,6 +12,7 @@
<author email="[email protected]">William Woodall</author>

<buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>ament_nodl</buildtool_depend>

<build_depend>example_interfaces</build_depend>
<build_depend>rclcpp</build_depend>
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5 changes: 5 additions & 0 deletions demo_nodes_cpp/talker.nodl.xml
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@@ -0,0 +1,5 @@
<interface version="1">
<node name="talker" executable="talker">
<topic name="chatter" type="std_msgs/msg/String" role="publisher" />
</node>
</interface>