From 88944d72c271cadfb29bd38ade2abb503a771350 Mon Sep 17 00:00:00 2001
From: apoorva <eic.apoorva@gmail.com>
Date: Tue, 28 Mar 2023 17:22:12 +0530
Subject: [PATCH] custom msgs for bounding box for detetcion

---
 ros2_ws/src/pipe_msgs/CMakeLists.txt        | 36 +++++++++++++++++++++
 ros2_ws/src/pipe_msgs/msg/BoundingBox.msg   |  7 ++++
 ros2_ws/src/pipe_msgs/msg/BoundingBoxes.msg |  3 ++
 ros2_ws/src/pipe_msgs/package.xml           | 22 +++++++++++++
 4 files changed, 68 insertions(+)
 create mode 100644 ros2_ws/src/pipe_msgs/CMakeLists.txt
 create mode 100644 ros2_ws/src/pipe_msgs/msg/BoundingBox.msg
 create mode 100644 ros2_ws/src/pipe_msgs/msg/BoundingBoxes.msg
 create mode 100644 ros2_ws/src/pipe_msgs/package.xml

diff --git a/ros2_ws/src/pipe_msgs/CMakeLists.txt b/ros2_ws/src/pipe_msgs/CMakeLists.txt
new file mode 100644
index 00000000..3e85b161
--- /dev/null
+++ b/ros2_ws/src/pipe_msgs/CMakeLists.txt
@@ -0,0 +1,36 @@
+cmake_minimum_required(VERSION 3.8)
+project(pipe_msgs)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+
+find_package(std_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/BoundingBox.msg"
+  "msg/BoundingBoxes.msg"
+  DEPENDENCIES std_msgs # Add packages that above messages depend on, in this case geometry_msgs for Sphere.msg
+)
+
+ament_package()
diff --git a/ros2_ws/src/pipe_msgs/msg/BoundingBox.msg b/ros2_ws/src/pipe_msgs/msg/BoundingBox.msg
new file mode 100644
index 00000000..ff266ed2
--- /dev/null
+++ b/ros2_ws/src/pipe_msgs/msg/BoundingBox.msg
@@ -0,0 +1,7 @@
+float64 probability
+int64 xmin
+int64 ymin
+int64 xmax
+int64 ymax
+int16 id
+string class_id
\ No newline at end of file
diff --git a/ros2_ws/src/pipe_msgs/msg/BoundingBoxes.msg b/ros2_ws/src/pipe_msgs/msg/BoundingBoxes.msg
new file mode 100644
index 00000000..f2f0ee9c
--- /dev/null
+++ b/ros2_ws/src/pipe_msgs/msg/BoundingBoxes.msg
@@ -0,0 +1,3 @@
+std_msgs/Header header
+std_msgs/Header image_header
+BoundingBox[] bounding_boxes
\ No newline at end of file
diff --git a/ros2_ws/src/pipe_msgs/package.xml b/ros2_ws/src/pipe_msgs/package.xml
new file mode 100644
index 00000000..f176cc07
--- /dev/null
+++ b/ros2_ws/src/pipe_msgs/package.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>pipe_msgs</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="eic.apoorva@gmail.com">parallels</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <depend>std_msgs</depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>