From d14f7b6d62c00f5402996556bd208b7f9e687581 Mon Sep 17 00:00:00 2001
From: Stefan Scherzinger <stefan.scherzinger@de.schunk.com>
Date: Wed, 17 Apr 2024 17:47:59 +0200
Subject: [PATCH] Update configuration for the interfaces package

---
 .../CMakeLists.txt                            | 54 +++++++++++++++++++
 schunk_egu_egk_gripper_interfaces/README.md   |  1 +
 schunk_egu_egk_gripper_interfaces/package.xml | 29 ++++++++++
 3 files changed, 84 insertions(+)
 create mode 100644 schunk_egu_egk_gripper_interfaces/CMakeLists.txt
 create mode 100644 schunk_egu_egk_gripper_interfaces/README.md
 create mode 100644 schunk_egu_egk_gripper_interfaces/package.xml

diff --git a/schunk_egu_egk_gripper_interfaces/CMakeLists.txt b/schunk_egu_egk_gripper_interfaces/CMakeLists.txt
new file mode 100644
index 0000000..466ca44
--- /dev/null
+++ b/schunk_egu_egk_gripper_interfaces/CMakeLists.txt
@@ -0,0 +1,54 @@
+cmake_minimum_required(VERSION 3.10)
+project(schunk_egu_egk_gripper_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)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(action_msgs REQUIRED)
+find_package(control_msgs REQUIRED)
+find_package(diagnostic_msgs REQUIRED)
+
+rosidl_generate_interfaces(
+  ${PROJECT_NAME}
+    action/Grip.action
+    action/GripWithPosition.action
+    action/GripWithPositionAndVelocity.action
+    action/GripWithVelocity.action
+    action/MoveToAbsolutePosition.action
+    action/MoveToRelativePosition.action
+    action/ReleaseWorkpiece.action
+    msg/State.msg
+    srv/Acknowledge.srv
+    srv/BrakeTest.srv
+    srv/ChangeIp.srv
+    srv/FastStop.srv
+    srv/GripperInfo.srv
+    srv/ParameterGet.srv
+    srv/ParameterSet.srv
+    srv/PrepareForShutdown.srv
+    srv/ReleaseForManualMovement.srv
+    srv/Softreset.srv
+    srv/Stop.srv
+  DEPENDENCIES
+    std_msgs
+    action_msgs
+    control_msgs
+    sensor_msgs
+    diagnostic_msgs
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/schunk_egu_egk_gripper_interfaces/README.md b/schunk_egu_egk_gripper_interfaces/README.md
new file mode 100644
index 0000000..8f3bb7f
--- /dev/null
+++ b/schunk_egu_egk_gripper_interfaces/README.md
@@ -0,0 +1 @@
+# Schunk EGU/EGK Gripper Interfaces
diff --git a/schunk_egu_egk_gripper_interfaces/package.xml b/schunk_egu_egk_gripper_interfaces/package.xml
new file mode 100644
index 0000000..d450417
--- /dev/null
+++ b/schunk_egu_egk_gripper_interfaces/package.xml
@@ -0,0 +1,29 @@
+<?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>schunk_egu_egk_gripper_interfaces</name>
+  <version>1.0.0</version>
+  <description>Provides interface descriptions to communicate with SCHUNK EGU/EGK grippers over ROS 2</description>
+  <maintainer email="stefan.scherzinger@de.schunk.com">Stefan Scherzinger</maintainer>
+  <license>todo</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <depend>std_msgs</depend>
+  <depend>action_msgs</depend>
+  <depend>control_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>diagnostic_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>