timesync 初步做好

2026-03-26 17:19:38 +08:00
parent 1d49ca12e9
commit 5374e2b9d9
11 changed files with 469 additions and 164 deletions
@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 3.8)
+project(fc_interfaces)
+
+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(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/MavPing.srv"
+  "srv/MavCommandLong.srv"
+  )
+
+ament_package()
@@ -0,0 +1,21 @@
+<?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>fc_interfaces</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="chiyu1468@hotmail.com">picars</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
@@ -0,0 +1,18 @@
+# Request
+uint8 target_sysid
+uint8 target_compid
+uint16 command
+uint8 confirmation
+float32 param1
+float32 param2
+float32 param3
+float32 param4
+float32 param5
+float32 param6
+float32 param7
+float32 timeout_sec
+---
+# Response
+bool success
+string message
+uint8 ack_result
@@ -0,0 +1,9 @@
+# Request
+uint8 target_sysid
+uint8 target_compid
+uint8 ping_seq
+---
+# Response
+bool success
+string message
+float32 rtt_ms