refac: refactory rslidar_msg

RoboSense-LiDAR · Jan 18, 2022 · 73e470e · 73e470e
1 parent 894853c
commit 73e470e
Show file tree

Hide file tree

Showing 4 changed files with 8 additions and 7 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -21,11 +21,12 @@ find_package(std_msgs REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(builtin_interfaces REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
+
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/RslidarPacket.msg"
-  "msg/RslidarScan.msg"
   DEPENDENCIES builtin_interfaces std_msgs
  )
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   # the following line skips the linter which checks for copyrights

diff --git a/msg/RslidarPacket.msg b/msg/RslidarPacket.msg
@@ -1,2 +1,4 @@
-builtin_interfaces/Time stamp
-uint8[1248] data
+std_msgs/Header header
+uint8 is_difop
+uint8 is_frame_begin
+uint8[] data
diff --git a/msg/RslidarScan.msg b/msg/RslidarScan.msg
diff --git a/package.xml b/package.xml
@@ -3,9 +3,9 @@
 <package format="3">
   <name>rslidar_msg</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
+  <description>ros msgs for the rslidar_sdk project</description>
   <maintainer email="zdxiao@robosense.cn">robosense</maintainer>
-  <license>TODO: License declaration</license>
+  <license>BSD</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>