Initial version

.gitignore

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+bin
+build
+lib
+gen/__
+CMakeCache.txt
+CMakeFiles
+cmake_install.cmake
+Makefile
+*~
+**/*~
+*.orig
+**/*.orig
+.kdev4
+*.kdev4
+.kdev_include_paths
+.cproject
+.project

.gitmodules

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+[submodule "roah_rsbb_comm"]
+	path = roah_rsbb_comm
+	url = https://github.com/joaocgreis/roah_rsbb_comm.git

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(roah_rsbb_comm_ros)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  geometry_msgs
+  message_generation
+  std_msgs
+  std_srvs
+)
+
+add_definitions("-Wall")
+add_definitions("-std=c++0x")
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+find_package(Boost REQUIRED)
+
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+# Generate messages in the 'msg' folder
+file(GLOB MESSAGE_FILES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}/msg ${CMAKE_CURRENT_SOURCE_DIR}/msg/*.msg)
+add_message_files(FILES ${MESSAGE_FILES})
+
+## Generate services in the 'srv' folder
+file(GLOB SERVICE_FILES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}/srv ${CMAKE_CURRENT_SOURCE_DIR}/srv/*.srv)
+add_service_files(FILES ${SERVICE_FILES})
+
+# Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  geometry_msgs
+  std_msgs
+  std_srvs
+)
+
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES roah_rsbb_comm_ros
+CATKIN_DEPENDS geometry_msgs message_runtime std_msgs std_srvs # roscpp
+#  DEPENDS system_lib
+)
+
+
+###########
+## Build ##
+###########
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_subdirectory(roah_rsbb_comm/gen/roah_rsbb_msgs/)
+add_subdirectory(roah_rsbb_comm/libs/)
+add_subdirectory(roah_rsbb_comm/include/)
+include_directories(
+  ${INCLUDE_DIRS}
+)
+
+add_executable(comm src/comm.cpp)
+add_dependencies(comm roah_rsbb_comm_ros_generate_messages_cpp)
+target_link_libraries(comm roah_rsbb_msgs protobuf_comm ${catkin_LIBRARIES})
+
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS comm
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+file(GLOB LAUNCH_FILES ${PROJECT_SOURCE_DIR}/launch/*.launch)
+install(FILES ${LAUNCH_FILES}
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_roah_rsbb_comm_ros.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)