From 4aadb19097fc424f27982615b5816eb1eddc40a8 Mon Sep 17 00:00:00 2001 From: "Marco A. Gutierrez" Date: Mon, 7 Sep 2026 17:12:12 +0800 Subject: [PATCH] Make examples work with ament_nodl 2.0. Signed-off-by: Marco A. Gutierrez --- ros2launch_security_examples/CMakeLists.txt | 10 ++-------- ros2launch_security_examples/fake_imu.nodl.xml | 6 ------ ros2launch_security_examples/imu_sink.nodl.xml | 6 ------ .../nodl/fake_imu.nodl.yaml | 14 ++++++++++++++ .../nodl/imu_sink.nodl.yaml | 14 ++++++++++++++ 5 files changed, 30 insertions(+), 20 deletions(-) delete mode 100644 ros2launch_security_examples/fake_imu.nodl.xml delete mode 100644 ros2launch_security_examples/imu_sink.nodl.xml create mode 100644 ros2launch_security_examples/nodl/fake_imu.nodl.yaml create mode 100644 ros2launch_security_examples/nodl/imu_sink.nodl.yaml diff --git a/ros2launch_security_examples/CMakeLists.txt b/ros2launch_security_examples/CMakeLists.txt index 1a804dc..e1b5136 100644 --- a/ros2launch_security_examples/CMakeLists.txt +++ b/ros2launch_security_examples/CMakeLists.txt @@ -21,10 +21,7 @@ rclcpp_components_register_node(fake_imu_library PLUGIN "ros2launch_security_examples::FakeImu" EXECUTABLE fake_imu ) -# TODO(wjwwood): go back to organizing these into a nodl folder when this is fixed: -# https://github.com/ubuntu-robotics/nodl/issues/41 -# nodl_export_node_description_file(nodl/fake_imu.nodl.xml) -nodl_export_node_description_file(fake_imu.nodl.xml) +ament_nodl_register(fake_imu FILE nodl/fake_imu.nodl.yaml) add_library(imu_sink_library SHARED src/imu_sink.cpp) ament_target_dependencies(imu_sink_library rclcpp rclcpp_components sensor_msgs example_interfaces) @@ -32,10 +29,7 @@ rclcpp_components_register_node(imu_sink_library PLUGIN "ros2launch_security_examples::ImuSink" EXECUTABLE imu_sink ) -# TODO(wjwwood): go back to organizing these into a nodl folder when this is fixed: -# https://github.com/ubuntu-robotics/nodl/issues/41 -# nodl_export_node_description_file(nodl/imu_sink.nodl.xml) -nodl_export_node_description_file(imu_sink.nodl.xml) +ament_nodl_register(imu_sink FILE nodl/imu_sink.nodl.yaml) install( TARGETS diff --git a/ros2launch_security_examples/fake_imu.nodl.xml b/ros2launch_security_examples/fake_imu.nodl.xml deleted file mode 100644 index 7d1eb69..0000000 --- a/ros2launch_security_examples/fake_imu.nodl.xml +++ /dev/null @@ -1,6 +0,0 @@ - - - - - - diff --git a/ros2launch_security_examples/imu_sink.nodl.xml b/ros2launch_security_examples/imu_sink.nodl.xml deleted file mode 100644 index 47cb1b5..0000000 --- a/ros2launch_security_examples/imu_sink.nodl.xml +++ /dev/null @@ -1,6 +0,0 @@ - - - - - - diff --git a/ros2launch_security_examples/nodl/fake_imu.nodl.yaml b/ros2launch_security_examples/nodl/fake_imu.nodl.yaml new file mode 100644 index 0000000..27fd38c --- /dev/null +++ b/ros2launch_security_examples/nodl/fake_imu.nodl.yaml @@ -0,0 +1,14 @@ +--- +nodl_version: 2 +description: Fake IMU node that periodically publishes synthetic IMU messages. +publishers: + - name: imu + type: sensor_msgs/msg/Imu + qos: + history: KEEP_LAST + depth: 10 + reliability: RELIABLE + durability: VOLATILE +service_servers: + - name: reset_imu + type: example_interfaces/srv/Trigger diff --git a/ros2launch_security_examples/nodl/imu_sink.nodl.yaml b/ros2launch_security_examples/nodl/imu_sink.nodl.yaml new file mode 100644 index 0000000..a7058b0 --- /dev/null +++ b/ros2launch_security_examples/nodl/imu_sink.nodl.yaml @@ -0,0 +1,14 @@ +--- +nodl_version: 2 +description: Sink node that subscribes to the fake IMU messages and can reset the IMU. +subscriptions: + - name: imu + type: sensor_msgs/msg/Imu + qos: + history: KEEP_LAST + depth: 10 + reliability: RELIABLE + durability: VOLATILE +service_clients: + - name: reset_imu + type: example_interfaces/srv/Trigger