ROS Robotics Projects - Second Edition

Modifying the package files and compiling the package

To make our package understand action definitions and aid in their usage, we need to modify our package.xml and CMakeLists.txt files. In the package.xml file, ensure the following lines of code are available to call the action package. If not, please add them:

<build_depend>actionlib_msgs</build_depend><exec_depend>actionlib_msgs</exec_depend>

In the CMakeLists.txt file, add the action files to the add_action_files() call:

add_action_files(DIRECTORY actionFILES battery_sim.action)

They may be commented. You can either uncomment and add them or simply copy and paste these lines into your CMakeLists.txt file.

Indicate the dependencies in the generate_messages() call:

generate_messages(