Work on smarc interface.

CMakeLists.txt

@@ -146,6 +146,34 @@ include_directories(
 #   ${catkin_LIBRARIES}
 # )
 
+set(fileprefix ${PROJECT_SOURCE_DIR}/../lrs_task_msgs)
+
+add_custom_target(lrs_task_msgs_gen_files
+  ALL DEPENDS
+  ${fileprefix}/msg/NavigateSubTask.msg
+  ${fileprefix}/msg/NavigateSubTaskParams.msg
+#  ${PROJECT_SOURCE_DIR}/srv/getrosjsonvalue.cc
+#  ${PROJECT_SOURCE_DIR}/action/rosjsonparse.h
+  )
+
+set(codegenbin
+  ${PROJECT_SOURCE_DIR}/src/gen_msgs_srvs_acions.py
+  )
+
+set(codegenbindep 
+  ${PROJECT_SOURCE_DIR}/src/gen_msgs_srvs_acions.py
+  )
+
+add_custom_command(
+  OUTPUT
+    ${fileprefix}/msg/NavigateSubTask.msg
+    ${fileprefix}/msg/NavigateSubTaskParams.msg
+  COMMAND ${codegenbin} --outdir ${fileprefix}
+  DEPENDS ${codegenbindep} ${fileprefix}/specs/navigate_sub.json
+  )
+
+
+
 #############
 ## Install ##
 #############

src/gen_msgs_srvs_acions.py

@@ -13,7 +13,7 @@ parser.add_option ("", "--outdir", action="store", type="string", dest="outdir",
 def gen_task_msg(jobj, prefix):
     s = ""
     s += "string name\n"
-    s += f'lrs_task_msgs/{prefix}/TaskParams params'
+    s += f'lrs_task_msgs/{prefix}TaskParams params'
     return s
 
 def gen_task_params_msg(jobj, prefix):