Work on interaction functionality

.gitignore

+*~

CMakeLists.txt

@@ -7,7 +7,10 @@ project(lrs_interaction_msgs)
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
-find_package(catkin REQUIRED)
+find_package(catkin REQUIRED COMPONENTS
+  message_generation
+  lrs_msgs_common
+  )
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
@@ -50,11 +53,10 @@ find_package(catkin REQUIRED)
 # )
 
 ## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
+add_service_files(
+  FILES
+  AddProtocolInstance.srv
+)
 
 ## Generate actions in the 'action' folder
 # add_action_files(
@@ -64,10 +66,10 @@ find_package(catkin REQUIRED)
 # )
 
 ## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
-# )
+generate_messages(
+  DEPENDENCIES
+  lrs_msgs_common  # Or other packages containing msgs
+)
 
 ################################################
 ## Declare ROS dynamic reconfigure parameters ##
@@ -112,8 +114,7 @@ catkin_package(
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
 include_directories(
-# include
-# ${catkin_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
 )
 
 ## Declare a C++ library

package.xml

@@ -49,6 +49,9 @@
   <!-- Use doc_depend for packages you need only for building documentation: -->
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
+  <depend>lrs_msgs_common</depend>
+  <build_depend>message_generation</build_depend>
+  <exec_depend>message_runtime</exec_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->

srv/AddProtocolInstance.srv

+
+string uuid                     # uuid can be used to access possible result of the protocol
+lrs_msgs_common/SimpleAcl acl   # Start message in the protocol
+---
+bool success
+int32 error
+string reason