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Configure
Rahul Katiyar edited this page Jun 17, 2021
·
1 revision
Open package.xml
with your text editor.
Add the line:
<depend>node_registry</depend>
This declares the package needs node_registry
when its code is executed.
Now open the CMakeLists.txt
file. Below the existing dependency
find_package(ament_cmake REQUIRED), add the lines:\
find_package(node_registry REQUIRED)
Add the node_registry
in the ament_target_dependencies
ament_target_dependencies(talker rclcpp std_msgs node_registry)
cmake_minimum_required(VERSION 3.5)
project(talker_cpp_xnode)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(node_registry REQUIRED)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
add_executable(talker src/publisher_member_function.cpp)
ament_target_dependencies(talker rclcpp std_msgs node_registry)
install(TARGETS
talker
DESTINATION lib/${PROJECT_NAME})
ament_package()
Open package.xml
with your text editor.
Add the line:
<depend>node_registry</depend>
This declares the package needs node_registry
when its code is executed.
Open the setup.py
file.
Add the following line within the console_scripts
brackets of the entry_points
field:
entry_points={
'console_scripts': [
'talker = talker_xnode.talk_node_func.py'
],
},