Add yarpidl_rosmsg source files to my code or to a yarp library

[plinioMoreno]

I want to use the classes defined in rosmsg source in order to fill the type of a message.

Using cmake and the variables defined by YARP cmake files, how should I add those files to my code?

It would be possible to add those files to a YARP library?

cc @drdanz

[Tobias-Fischer]

Hi,
did you check out http://www.yarp.it/rostypes_tutorial_portable.html?

Best, Tobias

[plinioMoreno]

@Tobias-Fischer, the tutorial does not fill type anywhere. In the tutorial they are executing the yarpidl_rosmsg externally. Instead of doing that, I want to write a code that given a ros message name, it is able to fill the type void Port::promiseType ( const Type & typ) in my code.

There is a class that deals with that, which is located in the rosmsg source. And I would like to use it in my code.

Plinio

[drdanz]

@plinioMoreno If I understand correctly your issue, I think that you can do something like port.promiseType(Type::byNameOnWire("your_package/your_message"));

[barbalberto]

I'm not sure to understand your issue, can you be more precise on what you are trying to achieve?
Do you want to have a yarp port able to communicate with a ros topic using a specific ros message, and do everything from code?

[plinioMoreno]

@barbalberto, yes, I do. @drdanz, your guess was correct and works properly.

The reason for writing code like this is to get rid of issues on the yarp-bottle-generator, that we use to generate bridging code between ROS and YARP.

Thanks

[barbalberto]

So the best way to do it is to use the Publisher, which is a port already customized for usage with ROS, like the controlBoardWrapper is doing.

yarp::os::Publisher<my_idl_generated_message> rosPublisherPort; // Dedicated ROS topic publisher