Skip to main content
Version: 1.5.0

ROS2 CmakeLists

include_directories()​

In ROS2 you have to explicitly list all the packages you are including from:

...
include_directories(
  ...
  ${mrs_lib_INCLUDE_DIRS}
  ${<some_other_package>_INCLUDE_DIRS}
}

exporting nodeletes (components)​

Components are declared in CmakeLists, instead of package.xml (like it was in ROS1):

rclcpp_components_register_nodes(MrsMultirotorSimulator_Simulator PLUGIN "mrs_multirotor_simulator::MultirotorSimulator" EXECUTABLE MrsMultirotorSimulator_Simulator)

exporting pluginlib plugins​

You need to provide path to the .xml file with plugin description in CmakeLists, instaed of in package.xml like it was in ROS1:

# <package of the base class>, <relative path to the xml>
pluginlib_export_plugin_description_file(mrs_uav_hw_api plugins.xml)