Created base structure for littlebot_hardware_communication class

littlebot_base/CMakeLists.txt

@@ -20,27 +20,50 @@ find_package(controller_manager REQUIRED)
 find_package(controller_manager_msgs REQUIRED)
 find_package(hardware_interface REQUIRED)
 find_package(pluginlib REQUIRED)
+# find_package(Protobuf REQUIRED)
 
 include_directories(include)
 
+# Print some protobuf info (optional)
+# message(STATUS "Using Protocol Buffers: ${Protobuf_VERSION}")
+# message(STATUS "Protobuf include directory: ${Protobuf_INCLUDE_DIRS}")
+# message(STATUS "Protobuf libraries: ${Protobuf_LIBRARIES}")
+
+# Add your proto file
+# set(PROTO_FILES
+#     src/littlebot_protocol.proto
+# )
+
+# Generate sources and headers from .proto
+# protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS ${PROTO_FILES})
+
+# Add include directories
+# include_directories(
+#   ${Protobuf_INCLUDE_DIRS}
+#   ${CMAKE_CURRENT_BINARY_DIR}  # This is where generated files will be
+# )
 
 # create ament index resource which references the libraries in the binary dir
 set(node_plugins "")
 
 # Hardware interface
-add_library(littlebot_hardware SHARED
-  src/littlebot_hardware.cpp)
+add_library(littlebot_hardware_component SHARED
+  src/littlebot_hardware_component.cpp
+  src/littlebot_hardware_communication.cpp
+  # ${PROTO_SRCS}
+  # ${PROTO_HDRS}
+  )
 
-ament_target_dependencies( littlebot_hardware
+ament_target_dependencies(littlebot_hardware_component
   hardware_interface
   pluginlib
   rclcpp)
 
-pluginlib_export_plugin_description_file(hardware_interface littlebot_hardware.xml)
+pluginlib_export_plugin_description_file(hardware_interface littlebot_hardware_component.xml)
 
 ## INSTALL
 install( TARGETS
-  littlebot_hardware
+  littlebot_hardware_component
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION lib/${PROJECT_NAME}
 )
@@ -60,7 +83,7 @@ ament_export_include_directories(
   include
 )
 ament_export_libraries(
-  littlebot_hardware
+  littlebot_hardware_component
 )
 ament_export_dependencies(
   hardware_interface