From 2948030db09fb50082e77e3068e71ecf03f63184 Mon Sep 17 00:00:00 2001
From: Marcus Grieger <marcus@grieger.xyz>
Date: Tue, 6 Feb 2024 23:09:12 +0100
Subject: [PATCH] Removed cpp ik server from build

---
 CMakeLists.txt      | 35 ++++++++++++++++++-----------------
 msg/HexapodLeg.msg  |  2 ++
 msg/HexapodPose.msg |  2 ++
 3 files changed, 22 insertions(+), 17 deletions(-)
 create mode 100644 msg/HexapodLeg.msg
 create mode 100644 msg/HexapodPose.msg

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 596874d..3d467c9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,7 +18,8 @@ find_package(rosidl_default_generators REQUIRED)
 # Build hexapod_robot_interfaces
 
 set(srv_files
-    "srv/HexapodRobotInverseKinematics.srv"
+    "msg/HexapodLeg.msg"
+    "msg/HexapodPose.msg"
 )
 
 rosidl_generate_interfaces(${PROJECT_NAME}
@@ -28,22 +29,22 @@ rosidl_generate_interfaces(${PROJECT_NAME}
 
 # Build hexapod_robot_ik_server
 
-add_executable(hexapod_robot_ik_server
-    "kinematics/hexapod_robot_ik_service.cpp"
-)
+# add_executable(hexapod_robot_ik_server
+#     "kinematics/hexapod_robot_ik_service.cpp"
+# )
 
-target_compile_features(hexapod_robot_ik_server PUBLIC cxx_std_17)
-target_include_directories(hexapod_robot_ik_server PUBLIC 
-    $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/kinematics/include>
-    $<INSTALL_INTERFACE:include>
-)
+# target_compile_features(hexapod_robot_ik_server PUBLIC cxx_std_17)
+# target_include_directories(hexapod_robot_ik_server PUBLIC 
+#     $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/kinematics/include>
+#     $<INSTALL_INTERFACE:include>
+# )
 
-ament_target_dependencies(
-    hexapod_robot_ik_server
-    rclcpp
-)
+# ament_target_dependencies(
+#     hexapod_robot_ik_server
+#     rclcpp
+# )
 
-rosidl_target_interfaces(hexapod_robot_ik_server ${PROJECT_NAME} "rosidl_typesupport_cpp")
+# rosidl_target_interfaces(hexapod_robot_ik_server ${PROJECT_NAME} "rosidl_typesupport_cpp")
 
 # Build hexapod_robot_hwi
 
@@ -78,9 +79,9 @@ install(
 )
 
 
-install(TARGETS hexapod_robot_ik_server
-    DESTINATION lib/${PROJECT_NAME}
-)
+# install(TARGETS hexapod_robot_ik_server
+#     DESTINATION lib/${PROJECT_NAME}
+# )
 
 install(TARGETS hexapod_robot_hwi
     EXPORT export_hexapod_robot
diff --git a/msg/HexapodLeg.msg b/msg/HexapodLeg.msg
new file mode 100644
index 0000000..ea2f502
--- /dev/null
+++ b/msg/HexapodLeg.msg
@@ -0,0 +1,2 @@
+string label
+geometry_msgs/Point  position
diff --git a/msg/HexapodPose.msg b/msg/HexapodPose.msg
new file mode 100644
index 0000000..209142e
--- /dev/null
+++ b/msg/HexapodPose.msg
@@ -0,0 +1,2 @@
+geometry_msgs/Pose body
+hexapod_robot/HexapodLeg[] legs