Mastering ROS for Robotics Programming - Second Edition

Building the ROS action server and client

After creating these two files in the src folder, we have to edit the package.xml and CMakeLists.txt to build the nodes.

The package.xml file should contain message generation and runtime packages, as we did for ROS service and messages.

We have to include the Boost library in CMakeLists.txt to build these nodes. Also, we have to add the action files that we wrote for this example:

find_package(catkin REQUIRED COMPONENTS 
 roscpp 
 rospy 
 std_msgs 
 actionlib  
 actionlib_msgs 
 message_generation 
) 

We should pass actionlib, actionlib_msgs, and message_generation in find_package():

## System dependencies are found with CMake's conventions 
find_package(Boost REQUIRED COMPONENTS system) 

We should add Boost as ...