DEEPRobotics Message

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Overview

This repository provides public ROS 2 message and service interfaces used by DEEPRobotics SDK and DEEPRobotics Simulation to exchange robot state, control commands, and peripheral data.

This repository contains only msg/ and srv/ interface definitions. After being built or installed, these interfaces are available to other projects as the ROS 2 package drdds.

Supported Environments

Ubuntu	ROS 2
20.04	Foxy
22.04	Humble
24.04	Jazzy

Build and Install the Deb Package

cd deep-robotics-msg
source /opt/ros/<ros-distro>/setup.bash
colcon build --cmake-args -DBUILD_DEB=ON
cpack --config build/drdds/CPackConfig.cmake -B build
sudo dpkg -i ./build/deep-robotics-msgs_*.deb
dpkg -l deep-robotics-msgs

The deb package installs the interfaces into /opt/ros/<ros-distro>. After installation, each new terminal only needs to source the ROS 2 environment:

source /opt/ros/<ros-distro>/setup.bash

Source Development and Validation

When modifying, adding, or debugging interfaces, build the source code and source the workspace directly:

cd deep-robotics-msg
source /opt/ros/<ros-distro>/setup.bash
colcon build
source install/setup.bash

This workflow is suitable for quickly validating interfaces during development. The build output can also be used directly, but each new terminal must source both the ROS 2 environment and this workspace's install/setup.bash.

Verify Interfaces

After sourcing the environment for the selected workflow, inspect the ROS 2 interfaces with:

ros2 interface show drdds/msg/Joints
ros2 interface show drdds/srv/StdSrvInt32

Custom Messages and Services

After adding an interface file under msg/ or srv/, rebuild the package:

source /opt/ros/<ros-distro>/setup.bash
colcon build
source install/setup.bash
ros2 interface show drdds/msg/YourMessage

CMake automatically collects .msg and .srv files from the msg/ and srv/ directories. After validating custom interfaces, rebuild and install them by following the "Build and Install the Deb Package" section.

Use in a ROS 2 Project

Declare the dependency in the downstream ROS 2 package's package.xml:

<depend>drdds</depend>

Find the package in CMakeLists.txt and add it as a target dependency:

find_package(drdds REQUIRED)
ament_target_dependencies(<target> drdds)

Use the generated message types in C++ as follows:

#include "drdds/msg/joints.hpp"

drdds::msg::Joints msg;