Halodi-messages
This repository contains custom ROS2/IDL messages from Halodi Robotics. These form the main API for the Halodi controller.
API Quickstart
Using with ROS2
This repository contains the halodi_msgs ROS2 package. Checkout this repository in the 'src/' folder of your ROS2 workspace to compile.
For information to setup the halodi-controller in simulation, go to halodi-controller.
Using with IHMC ROS2 Libraries
This repository builds against the IHMC ROS2 libraries and generates compatible Java files.
Adding as dependency
To add this as a dependency to your Java project, add the following to your build.gradle
repositories {
mavenCentral()
maven { url "http://dl.bintray.com/ihmcrobotics/maven-release" }
maven { url "http://dl.bintray.com/halodirobotics/maven-release" }
mavenLocal()
}
dependencies {
compile group: "us.ihmc", name: "euclid-geometry", version: "0.12.0"
compile group: "us.ihmc", name: "ihmc-pub-sub", version: "0.10.3"
compile group: "us.ihmc", name: "ros2-common-interfaces", version: "0.13.4"
compile group: "com.halodi", name: "halodi-messages", version: "0.0.2"
}
Increasing version number
Before building and publishing the Java and C# libraries, increase the version in the following files
build.gradle
halodi-messages-unity-support/Packages/halodi-messages/package.json
Building and publishing Java libraries
To compile and publishing to your local maven repository, run
rm -r build
gradle jar
gradle publishToMavenLocal -PartifactVersion=[version] -PenvironmentName=release
To upload snapshot to artifacts.halodi.com:
ARTIFACT_USERNAME=[username] ARTIFACT_PASSWORD=[password] ARTIFACT_VERSION=[version] gradle publish
To upload release to artifacts.halodi.com:
ARTIFACT_USERNAME=[username] ARTIFACT_PASSWORD=[password] ARTIFACT_VERSION=[version] gradle publish -PenvironmentName=production
Building and publishing C#/Unity libraries
First, publish the Java library. This regenerates the C# messages.
After that, open the Unity project halodi-messages-unity-support
in Unity. Go to Packages
-> Manage packages in project
and select Publish.