Custom Action Interface not detected when compiling

1

Hi,

Sorry for taking up your time, I’ve really tried solving this problem but couldn’t. Currently my custom action interface is not being detected when compiling and gives this error:

image
image1769×310 19.3 KB

I’ve tried rm -rf ./build ./install ./log and recompiled the actions_quiz_msg package, which has compiled succesfully. I’ve typed ros2 interface list to find that the interface is there, and checked that ros2 interface show actions_quiz_msg/action/Distance outputs the correct result! Good!

I must be missing something small here but can you help check my codes?

actions_quiz_msg package, CMake and XML:

cmake_minimum_required(VERSION 3.8)
project(actions_quiz_msg)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(action_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()
endif()

rosidl_generate_interfaces(${PROJECT_NAME}
  "action/Distance.action"
  DEPENDENCIES action_msgs
)

ament_package()

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>actions_quiz_msg</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="user@todo.todo">user</maintainer>
  <license>TODO: License declaration</license>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <depend>rclcpp</depend>
  <depend>action_msgs</depend>
  <depend>rosidl_default_generators</depend>
  
  <member_of_group>rosidl_interface_packages</member_of_group>

  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

actions_quiz package, CMake and XML:

cmake_minimum_required(VERSION 3.8)
project(actions_quiz)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(actions_quiz_msg REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()
endif()

add_executable(actions_server_node src/actions_quiz_server.cpp)
ament_target_dependencies(actions_server_node rclcpp rclcpp_action geometry_msgs nav_msgs actions_quiz_msg)

add_executable(actions_client_node src/actions_quiz_client.cpp)
ament_target_dependencies(actions_client_node rclcpp rclcpp_action actions_quiz_msg)

install(TARGETS
   actions_server_node
   actions_client_node
   DESTINATION lib/${PROJECT_NAME}
 )

install(DIRECTORY
  launch
  DESTINATION share/${PROJECT_NAME}/
)

ament_package()


<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>actions_quiz</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="user@todo.todo">user</maintainer>
  <license>TODO: License declaration</license>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <depend>rclcpp</depend>
  <depend>rclcpp_action</depend>
  <depend>nav_msgs</depend>
  <depend>geometry_msgs</depend>
  <depend>actions_quiz_msg</depend>

  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

Headers in main cpp server file:

#include "actions_quiz_msg/action/Distance.hpp"
#include "geometry_msgs/msg/twist.hpp"
#include "nav_msgs/msg/odometry.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_action/rclcpp_action.hpp"

#include <chrono>
#include <memory>
#include <thread>
2

Hi,

Nevermind, it seems I found the problem to be the include section at the top.

Instead of

#include "actions_quiz_msg/action/Distance.hpp"

it should be camel-case

#include "actions_quiz_msg/action/distance.hpp"
1 Like