Finised lidar node

toid_msgs/CMakeLists.txt

@@ -9,11 +9,15 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
+find_package(geometry_msgs REQUIRED)
+
 rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/Rival.msg"
   "srv/SendDouble.srv"
   "action/SimpleMoveCoords.action"
   "action/SimpleRotate.action"
   "action/SimpleTranslateX.action"
+  DEPENDENCIES geometry_msgs
 )
 
 ament_package()

toid_msgs/msg/Rival.msg

@@ -0,0 +1,2 @@
+std_msgs/Header header
+geometry_msgs/Point[] point

toid_msgs/package.xml

@@ -10,6 +10,8 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
   <member_of_group>rosidl_interface_packages</member_of_group>