14.4. Generating ROS2 Messages

These are the steps to generating ROS2 message files from the juicer generated database.

14.4.1. Edit the config

Edit the file ~/code/brash/src/cfe_ros2_bridge_plugin/cfe_msg_converter/config/cfe_msg_converter.yaml and set the juicer_db to point to your database file that juicer generated.

14.4.2. Compile the ROS2 packages

$ cd ~/code/brash
$ colcon build --symlink-install

14.4.3. Run the converter

$ cd ~/code/brash
$ . install/local_setup.bash
$ ros2 launch cfe_msg_converter cfe_msg_converter.launch.py

The output of this will appear in the directory ~/code/brash/src/cfe_ros2_bridge_plugin/cfe_msgs/msg