Replaced action_tutorials_interfaces by example_interfaces.

LOEWE-emergenCITY · Dec 3, 2024 · 4d64100 · 4d64100
1 parent e0ef787
commit 4d64100
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Showing 4 changed files with 7 additions and 8 deletions.
diff --git a/ros_babel_fish/CMakeLists.txt b/ros_babel_fish/CMakeLists.txt
@@ -137,7 +137,6 @@ if (BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 
   find_package(ament_cmake_gtest REQUIRED)
-  find_package(action_tutorials_interfaces REQUIRED)
   find_package(example_interfaces REQUIRED)
   find_package(geometry_msgs REQUIRED)
   find_package(ros_babel_fish_test_msgs REQUIRED)
@@ -160,7 +159,7 @@ if (BUILD_TESTING)
   target_link_libraries(test_service ${PROJECT_NAME})
 
   ament_add_gtest(test_action_client test/action_client.cpp)
-  ament_target_dependencies(test_action_client action_tutorials_interfaces example_interfaces ros_babel_fish_test_msgs)
+  ament_target_dependencies(test_action_client example_interfaces ros_babel_fish_test_msgs)
   target_link_libraries(test_action_client ${PROJECT_NAME})
 
   ament_add_gtest(test_action_server test/action_server.cpp)

diff --git a/ros_babel_fish/examples/action_client.cpp b/ros_babel_fish/examples/action_client.cpp
@@ -14,8 +14,8 @@ int main( int argc, char **argv )
   auto node = rclcpp::Node::make_shared( "action_client" );
   std::thread spin_thread( [node]() { rclcpp::spin( node ); } );
   BabelFish fish;
-  auto client = fish.create_action_client( *node, "fibonacci",
-                                           "action_tutorials_interfaces/action/Fibonacci" );
+  auto client =
+      fish.create_action_client( *node, "fibonacci", "example_interfaces/action/Fibonacci" );
 
   RCLCPP_INFO( node->get_logger(), "Waiting for server to come up." );
   if ( !client->wait_for_action_server( 10s ) ) {
@@ -33,7 +33,7 @@ int main( int argc, char **argv )
               nullptr, // We handle the goal response using the future
               []( BabelFishActionClient::GoalHandle::SharedPtr,
                   const CompoundMessage::ConstSharedPtr msg ) -> void {
-                const auto &sequence = ( *msg )["partial_sequence"].as<ArrayMessage<int32_t>>();
+                const auto &sequence = ( *msg )["sequence"].as<ArrayMessage<int32_t>>();
                 std::cout << "Feedback is an array of length:" << sequence.size() << std::endl;
                 for ( size_t i = 0; i < sequence.size(); ++i ) {
                   std::cout << sequence[i];

diff --git a/ros_babel_fish/package.xml b/ros_babel_fish/package.xml
@@ -22,7 +22,7 @@
   <depend>rosidl_runtime_cpp</depend>
   <depend>rosidl_typesupport_cpp</depend>
   <depend>rosidl_typesupport_introspection_cpp</depend>
-  <build_depend>action_tutorials_interfaces</build_depend>
+  <build_depend>example_interfaces</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_cmake_clang_format</test_depend>

diff --git a/ros_babel_fish/test/action_client.cpp b/ros_babel_fish/test/action_client.cpp
@@ -6,7 +6,7 @@
 #include <ros_babel_fish/babel_fish.hpp>
 
 #include <action_msgs/msg/goal_status_array.h>
-#include <action_tutorials_interfaces/action/fibonacci.hpp>
+#include <example_interfaces/action/fibonacci.hpp>
 #include <ros_babel_fish_test_msgs/action/simple_test.hpp>
 
 #include <rclcpp/rclcpp.hpp>
@@ -49,7 +49,7 @@ TEST( ActionClientTest, actionLookup )
   EXPECT_NE( ts, nullptr );
   EXPECT_TRUE( Equal( type_support->type_support_handle, *ts ) );
 
-  type_support = fish.get_action_type_support( "action_tutorials_interfaces/action/Fibonacci" );
+  type_support = fish.get_action_type_support( "example_interfaces/action/Fibonacci" );
   ASSERT_NE( type_support, nullptr );
 
   const auto *ts_map =