コメント見て修正した

packet/packet_composed/include/packet_composed/sensorspacket.hpp

@@ -7,15 +7,13 @@
 
 class Composed : public rclcpp::Node {
 private:
- rclcpp::Publisher<std_msgs::msg::String>::SharedPtr _publisher;
  rclcpp::Publisher<packet_interfaces::msg::Composed>::SharedPtr composed_publisher;
-
  rclcpp::Subscription<packet_interfaces::msg::Depth>::SharedPtr depth_subscription;
  rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr imu_subscription;
  rclcpp::Subscription<packet_interfaces::msg::Flex>::SharedPtr flex1_subscription;
  rclcpp::Subscription<packet_interfaces::msg::Flex>::SharedPtr flex2_subscription;
- rclcpp::Subscription<packet_interfaces::msg::current>::SharedPtr current_subscription;
- rclcpp::Subscription<packet_interfaces::msg::voltage>::SharedPtr voltage_subscription;
+ rclcpp::Subscription<packet_interfaces::msg::Current>::SharedPtr current_subscription;
+ rclcpp::Subscription<packet_interfaces::msg::Voltage>::SharedPtr voltage_subscription;
 
  //まとめてpublishするためにタイマーのつもり
  rclcpp::TimerBase::SharedPtr _timer;

packet/packet_composed/package.xml

@@ -12,12 +12,6 @@
  <depend>sensor_msgs</depend>
  <depend>packet_interfaces</depend>
  <depend>packet_interfaces</depend>
-
- <exec_depend>rclcpp</exec_depend>
- <exec_depend>std_msgs</exec_depend>
- <exec_depend>sensor_msgs</exec_depend>
- <exec_depend>packet_interfaces</exec_depend>
-
  <export>
  <build_type>ament_cmake</build_type>
  </export>

packet/packet_composed/src/composed.cpp

@@ -12,26 +12,25 @@ Composed::Composed() :
 {
  //composed_publisherをコンストラクタで初期化した。
  using namespace std::chrono_literals;
- _publisher = this->create_publisher<std_msgs::msg::String>("/sensors_composed", 10);
  composed_publisher = this->create_publisher<packet_interfaces::msg::Composed>("composed_topic", 10);
 
  depth_subscription = this->create_subscription<packet_interfaces::msg::Depth>(
- "depth_topic", 10, std::bind(&Composed::depth_topic_callback, this, std::placeholders::_1));
+ "sensors_depth", 10, std::bind(&Composed::depth_topic_callback, this, std::placeholders::_1));
 
  imu_subscription = this->create_subscription<sensor_msgs::msg::Imu>(
- "imu_topic", 10, std::bind(&Composed::imu_topic_callback, this, std::placeholders::_1));
+ "sensors_imu", 10, std::bind(&Composed::imu_topic_callback, this, std::placeholders::_1));
 
  flex1_subscription = this->create_subscription<packet_interfaces::msg::Flex>(
- "flex1_topic", 10, std::bind(&Composed::flex1_topic_callback, this, std::placeholders::_1));
+ "sensors_flex1", 10, std::bind(&Composed::flex1_topic_callback, this, std::placeholders::_1));
 
  flex2_subscription = this->create_subscription<packet_interfaces::msg::Flex>(
- "flex2_topic", 10, std::bind(&Composed::flex2_topic_callback, this, std::placeholders::_1));
+ "sensors_flex2", 10, std::bind(&Composed::flex2_topic_callback, this, std::placeholders::_1));
 
  current_subscription = this->create_subscription<packet_interfaces::msg::Current>(
- "current_topic", 10, std::bind(&Composed::current_topic_callback, this, std::placeholders::_1));
+ "sensors_current", 10, std::bind(&Composed::current_topic_callback, this, std::placeholders::_1));
 
  voltage_subscription = this->create_subscription<packet_interfaces::msg::Voltage>(
- "voltage_topic", 10, std::bind(&Composed::voltage_topic_callback, this, std::placeholders::_1));
+ "sensors_voltage", 10, std::bind(&Composed::voltage_topic_callback, this, std::placeholders::_1));
 
  auto loop = std::bind(&Composed::_loop, this);
  _timer = this->create_wall_timer(500ms, loop);
@@ -49,7 +48,7 @@ void Composed::_loop() {
 
 void Composed::depth_topic_callback(const packet_interfaces::msg::Depth& msg)
 {
- RCLCPP_INFO(this->get_logger(), "Received Depth message");
+ RCLCPP_DEBUG(this->get_logger(), "Received Depth message");
  // Composedメッセージにデータを追加
  auto composed_msg = packet_interfaces::msg::Composed();
  composed_msg.depth = msg;
@@ -59,7 +58,7 @@ void Composed::depth_topic_callback(const packet_interfaces::msg::Depth& msg)
 
 void Composed::imu_topic_callback(const sensor_msgs::msg::Imu& msg)
 {
- RCLCPP_INFO(this->get_logger(), "Received IMU message");
+ RCLCPP_DEBUG(this->get_logger(), "Received IMU message");
  // Composedメッセージにデータを追加
  auto composed_msg = packet_interfaces::msg::Composed();
  composed_msg.imu = msg;
@@ -69,7 +68,7 @@ void Composed::imu_topic_callback(const sensor_msgs::msg::Imu& msg)
 
 void Composed::flex1_topic_callback(const packet_interfaces::msg::Flex1& msg)
 {
- RCLCPP_INFO(this->get_logger(), "Received Flex1 message");
+ RCLCPP_DEBUG(this->get_logger(), "Received Flex1 message");
  // Composedメッセージにデータを追加
  auto composed_msg = packet_interfaces::msg::Composed();
  composed_msg.flex1 = msg;
@@ -79,7 +78,7 @@ void Composed::flex1_topic_callback(const packet_interfaces::msg::Flex1& msg)
 
 void Composed::flex2_topic_callback(const packet_interfaces::msg::Flex2& msg)
 {
- RCLCPP_INFO(this->get_logger(), "Received Flex2 message");
+ RCLCPP_DEBUG(this->get_logger(), "Received Flex2 message");
  // Composedメッセージにデータを追加
  auto composed_msg = packet_interfaces::msg::Composed();
  composed_msg.flex2 = msg;
@@ -89,7 +88,7 @@ void Composed::flex2_topic_callback(const packet_interfaces::msg::Flex2& msg)
 
 void Composed::current_topic_callback(const packet_interfaces::msg::Current2& msg)
 {
- RCLCPP_INFO(this->get_logger(), "Received Current message");
+ RCLCPP_DEBUG(this->get_logger(), "Received Current message");
  // Composedメッセージにデータを追加
  auto composed_msg = packet_interfaces::msg::Composed();
  composed_msg.Current = msg;
@@ -99,7 +98,7 @@ void Composed::current_topic_callback(const packet_interfaces::msg::Current2& ms
 
 void Composed::voltage_topic_callback(const packet_interfaces::msg::Voltage& msg)
 {
- RCLCPP_INFO(this->get_logger(), "Received Flex2 message");
+ RCLCPP_DEBUG(this->get_logger(), "Received Flex2 message");
  // Composedメッセージにデータを追加
  auto composed_msg = packet_interfaces::msg::Composed();
  composed_msg.voltage = msg;