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Add geo_map_msgs for custom messages (#62)
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* Encapsulate grid_map_geo package
* Add gridmap geo messages
* Ported to ROS 2
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Jaeyoung-Lim authored and Ryanf55 committed Nov 29, 2024
1 parent 89d1b86 commit bd4ceb5
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15 changes: 15 additions & 0 deletions grid_map_geo_msgs/CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(grid_map_geo_msgs)

find_package(ament_cmake REQUIRED)
find_package(std_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
"msg/GeographicMapInfo.msg"
DEPENDENCIES std_msgs
)

ament_export_dependencies(rosidl_default_runtime)

ament_package()
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26 changes: 26 additions & 0 deletions grid_map_geo_msgs/msg/GeographicMapInfo.msg
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# Geomap Message
#

std_msgs/Header header


# ESPG of the coordinate the map is in
uint16 geo_coordinate

# Size of the map in pixels
uint16 width
uint16 height


# Resolution of the map
float64 x_resolution
float64 y_resolution

# x value in the specified geocoordinate system
float64 origin_x

# y value in the specified geocoordinate system
float64 origin_y

# Altitude in the specified vertical datum
float64 origin_altitude
23 changes: 23 additions & 0 deletions grid_map_geo_msgs/package.xml
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>grid_map_geo_msgs</name>
<version>0.0.1</version>
<description>
geomap_msgs includes the definition for custom services and messages for the grid_map_geo package.
</description>

<maintainer email="[email protected]">Jaeyoung Lim</maintainer>
<license>BSD</license>

<buildtool_depend>ament_cmake</buildtool_depend>

<depend>std_msgs</depend>
<depend>rosidl_default_generators</depend>

<member_of_group>rosidl_interface_packages</member_of_group>

<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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