fixposition · flipflip8952 · Jul 16, 2026 · Jul 16, 2026
diff --git a/docker/ci.sh b/docker/ci.sh
@@ -69,11 +69,13 @@ function do_step
     echo "----- $func: ${TITLES[$func]} -----"
     ((NSTEPS=${NSTEPS} + 1))
 
+    set -x
     if ! ${func}; then
         res=1
         ((ERROR_COUNT=${ERROR_COUNT} + 1))
         ERROR_NAMES="${ERROR_NAMES} ${func}"
     fi
+    set +x
 
     echo "::endgroup::"
     if [ ${res} -ne 0 ]; then

diff --git a/examples/ros2_fpsdk_demo/CMakeLists.txt b/examples/ros2_fpsdk_demo/CMakeLists.txt
@@ -34,6 +34,11 @@ find_package(std_msgs REQUIRED)
 find_package(fpsdk_common REQUIRED)
 find_package(fpsdk_ros2 REQUIRED)
 find_package(rosbag2_cpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(tf2_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+
 
 # include_directories(include ${rclcpp_INCLUDE_DIRS} ${rmw_INCLUDE_DIRS} ${fpsdk_common_INCLUDE_DIRS})
 

diff --git a/fpsdk_apps/CMakeLists.txt b/fpsdk_apps/CMakeLists.txt
@@ -44,7 +44,13 @@ if(FPSDK_USE_ROS1)
     add_compile_definitions(FPSDK_USE_ROS1)
 elseif(FPSDK_USE_ROS2)
     add_compile_definitions(FPSDK_USE_ROS2)
+    # Why necessary, what are we doing wrong? See fpsdk_ros2/CMakeLists.txt
     find_package(rosbag2_cpp REQUIRED)
+    find_package(std_msgs REQUIRED)
+    find_package(sensor_msgs REQUIRED)
+    find_package(geometry_msgs REQUIRED)
+    find_package(tf2_msgs REQUIRED)
+    find_package(nav_msgs REQUIRED)
     if(NOT TARGET fpsdk_ros2)
         find_package(fpsdk_ros2 REQUIRED)
     endif()

diff --git a/fpsdk_apps/fpltool/fpltool_extract.cpp b/fpsdk_apps/fpltool/fpltool_extract.cpp
@@ -218,10 +218,10 @@ bool DoExtract(const FplToolOptions& opts)
                             !output.WriteStreamMsg(JSONL_NAME, streammsg, parsermsg_helper.GetParserMsg(true))) {
                             ok = false;
                         }
-#if defined(FPSDK_USE_ROS1)  // || defined(FPSDK_USE_ROS2)  // @todo implement for ROS2, s.a. fpltools_utils.hpp
+#if defined(FPSDK_USE_ROS1) || defined(FPSDK_USE_ROS2)
                         if (doRos) {
                             bag.WriteMessage(parsermsg_helper.GetRosMsg(), "/" + streammsg.stream_name_ + "/raw",
-                                streammsg.rec_time_);
+                                parsermsg_helper.GetRosStamp());
                         }
 #endif
                     } else {

diff --git a/fpsdk_apps/fpltool/fpltool_utils.cpp b/fpsdk_apps/fpltool/fpltool_utils.cpp
@@ -34,9 +34,6 @@
 #include <fpsdk_common/to_json/ros1.hpp>
 #include <fpsdk_common/to_json/time.hpp>
 #include <fpsdk_common/types.hpp>
-#if defined(FPSDK_USE_ROS1)
-#  include <fpsdk_ros1/msgs.hpp>
-#endif
 
 /* PACKAGE */
 #include "fpltool_utils.hpp"
@@ -137,6 +134,9 @@ OutputFile* OutputFileHelper::GetOutputFile(const std::string& name)
 
 ParserMsgHelper::ParserMsgHelper()
 {
+#if defined(FPSDK_USE_ROS1) || defined(FPSDK_USE_ROS2)
+    rosmsg_.layout.dim.resize(1);
+#endif
 }
 ParserMsgHelper::~ParserMsgHelper()
 {
@@ -158,27 +158,16 @@ void ParserMsgHelper::UpdateParserMsg(const common::fpl::StreamMsg& streammsg)
     }
     msg_.seq_ = seq->second++;
 
-#if defined(FPSDK_USE_ROS1)
-    rosmsg_.stamp = { streammsg.rec_time_.sec_, streammsg.rec_time_.nsec_ };
-    rosmsg_.name = msg_.name_;
-    rosmsg_.seq++;
-    rosmsg_.data = msg_.data_;
-    switch (msg_.proto_) {  // clang-format off
-        case Protocol::FP_A:   rosmsg_.protocol = fpsdk_ros1::ParserMsg::PROTOCOL_FP_A;   break;
-        case Protocol::FP_B:   rosmsg_.protocol = fpsdk_ros1::ParserMsg::PROTOCOL_FP_B;   break;
-        case Protocol::NMEA:   rosmsg_.protocol = fpsdk_ros1::ParserMsg::PROTOCOL_NMEA;   break;
-        case Protocol::UBX:    rosmsg_.protocol = fpsdk_ros1::ParserMsg::PROTOCOL_UBX;    break;
-        case Protocol::RTCM3:  rosmsg_.protocol = fpsdk_ros1::ParserMsg::PROTOCOL_RTCM3;  break;
-        case Protocol::UNI_B:  rosmsg_.protocol = fpsdk_ros1::ParserMsg::PROTOCOL_UNI_B;  break;
-        case Protocol::NOV_B:  rosmsg_.protocol = fpsdk_ros1::ParserMsg::PROTOCOL_NOV_B;  break;
-        case Protocol::SPARTN: rosmsg_.protocol = fpsdk_ros1::ParserMsg::PROTOCOL_SPARTN; break;
-        case Protocol::SBF:    rosmsg_.protocol = fpsdk_ros1::ParserMsg::PROTOCOL_SBF;    break;
-        case Protocol::QGC:    rosmsg_.protocol = fpsdk_ros1::ParserMsg::PROTOCOL_QGC;    break;
-        case Protocol::OTHER:
-        default:               rosmsg_.protocol = fpsdk_ros1::ParserMsg::PROTOCOL_OTHER;  break;
-    }  // clang-format on
-#elif defined(FPSDK_USE_ROS2)
-    // @todo implement for ROS2
+#if defined(FPSDK_USE_ROS1) || defined(FPSDK_USE_ROS2)
+    rosmsg_.layout.dim[0].label = msg_.name_;
+    rosmsg_.layout.dim[0].size = msg_.data_.size();
+    rosmsg_.layout.dim[0].stride = msg_.data_.size();
+    rosmsg_.data = { msg_.data_.data(), msg_.data_.data() + msg_.data_.size() };
+#  if defined(FPSDK_USE_ROS1)
+    stamp_ = { streammsg.rec_time_.sec_, streammsg.rec_time_.nsec_ };
+#  else
+    stamp_ = { (int)streammsg.rec_time_.sec_, streammsg.rec_time_.nsec_, RCL_ROS_TIME };
+#  endif
 #endif
 }
 
@@ -190,17 +179,6 @@ const ParserMsg& ParserMsgHelper::GetParserMsg(const bool make_info) const
     return msg_;
 }
 
-#if defined(FPSDK_USE_ROS1)
-const fpsdk_ros1::ParserMsg& ParserMsgHelper::GetRosMsg()
-{
-    msg_.MakeInfo();
-    rosmsg_.info = msg_.info_;
-    return rosmsg_;
-}
-#elif defined(FPSDK_USE_ROS2)
-// @todo implement for ROS2
-#endif
-
 // ---------------------------------------------------------------------------------------------------------------------
 
 RosMsgHelper::RosMsgHelper()

diff --git a/fpsdk_apps/fpltool/fpltool_utils.hpp b/fpsdk_apps/fpltool/fpltool_utils.hpp
@@ -20,15 +20,18 @@
 
 /* EXTERNAL */
 #include <nlohmann/json.hpp>
+#if defined(FPSDK_USE_ROS1)
+#  include <fpsdk_ros1/ext/ros_msgs.hpp>
+#elif defined(FPSDK_USE_ROS2)
+#  include <fpsdk_ros2/ext/msgs.hpp>
+#  include <fpsdk_ros2/ext/rclcpp.hpp>
+#endif
 
 /* Fixposition SDK */
 #include <fpsdk_common/fpl.hpp>
 #include <fpsdk_common/parser.hpp>
 #include <fpsdk_common/path.hpp>
 #include <fpsdk_common/time.hpp>
-#if defined(FPSDK_USE_ROS1)
-#  include <fpsdk_ros1/msgs.hpp>
-#endif
 
 /* PACKAGE */
 #include "fpltool_opts.hpp"
@@ -66,16 +69,36 @@ class ParserMsgHelper
     ~ParserMsgHelper();
     void UpdateParserMsg(const common::fpl::StreamMsg& streammsg);
     const common::parser::ParserMsg& GetParserMsg(const bool make_info = false) const;
-#if defined(FPSDK_USE_ROS1)  // || defined(FPSDK_USE_ROS2)  // @todo implement for ROS2
-    const fpsdk_ros1::ParserMsg& GetRosMsg();
+#if defined(FPSDK_USE_ROS1)
+    const std_msgs::ByteMultiArray& GetRosMsg() const
+    {
+        return rosmsg_;
+    }
+    const ros::Time& GetRosStamp() const
+    {
+        return stamp_;
+    }
+#elif defined(FPSDK_USE_ROS2)
+    const std_msgs::msg::ByteMultiArray& GetRosMsg() const
+    {
+        return rosmsg_;
+    }
+    const rclcpp::Time& GetRosStamp() const
+    {
+        return stamp_;
+    }
 #endif
 
    private:
     common::parser::Parser parser_;
     common::parser::ParserMsg msg_;
     std::map<std::string, uint64_t> seq_;
-#if defined(FPSDK_USE_ROS1)  // || defined(FPSDK_USE_ROS2)  // @todo implement for ROS2
-    fpsdk_ros1::ParserMsg rosmsg_;
+#if defined(FPSDK_USE_ROS1)
+    std_msgs::ByteMultiArray rosmsg_;
+    ros::Time stamp_;
+#elif defined(FPSDK_USE_ROS2)
+    std_msgs::msg::ByteMultiArray rosmsg_;
+    rclcpp::Time stamp_;
 #endif
 };
 

diff --git a/fpsdk_ros1/CMakeLists.txt b/fpsdk_ros1/CMakeLists.txt
@@ -45,30 +45,17 @@ fpsdk_cmake_find_ros1_package(geometry_msgs)
 fpsdk_cmake_find_ros1_package(tf2_msgs)
 fpsdk_cmake_find_ros1_package(nav_msgs)
 fpsdk_cmake_find_ros1_package(topic_tools)
-fpsdk_cmake_find_ros1_package(genmsg)
-
-
-# MESSAGES =============================================================================================================
-
-file(GLOB MSG_FILES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} msg/*.msg)
-
-# /opt/ros/noetic/share/genmsg/cmake/genmsg-extras.cmake
-add_message_files(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} FILES ${MSG_FILES})
-generate_messages(LANGS gencpp genpy) # DEPENDENCIES std_msgs sensor_msgs)
 
 
 # SHARED LIBRARY =======================================================================================================
 
 file(GLOB CPP_FILES src/*.cpp)
 add_library(${PROJECT_NAME} SHARED ${CPP_FILES})
 
-add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_generate_messages)
-
 target_include_directories(${PROJECT_NAME}
     PUBLIC
         $<INSTALL_INTERFACE:include>
         $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/../devel/include> # generate_message() puts them here
 )
 
 target_link_libraries(${PROJECT_NAME}
@@ -163,7 +150,6 @@ install(
 include(../fpsdk_common/cmake/testing.cmake)
 
 add_gtest(TARGET bagwriter_test SOURCES test/bagwriter_test.cpp LINK_LIBS ${PROJECT_NAME} ros1::rosconsole ros1::rosbag)
-add_gtest(TARGET msgs_test      SOURCES test/msgs_test.cpp      LINK_LIBS ${PROJECT_NAME} ros1::rosconsole)
 add_gtest(TARGET utils_test     SOURCES test/utils_test.cpp     LINK_LIBS ${PROJECT_NAME} ros1::rosconsole)
 
 

diff --git a/fpsdk_ros1/include/fpsdk_ros1/ext/ros_msgs.hpp b/fpsdk_ros1/include/fpsdk_ros1/ext/ros_msgs.hpp
@@ -5,8 +5,7 @@
 #pragma GCC diagnostic ignored "-Wpedantic"
 #pragma GCC diagnostic ignored "-Wunused-parameter"
 #pragma GCC diagnostic ignored "-Wshadow"
-#include <fpsdk_ros1/ParserMsg.h>
+#include <std_msgs/ByteMultiArray.h>
 #include <std_msgs/String.h>
-#include <std_msgs/UInt8MultiArray.h>
 #pragma GCC diagnostic pop
 #endif  // __FPSDK_ROS1_EXT_ROS_MSGS_HPP__
diff --git a/fpsdk_ros1/include/fpsdk_ros1/msgs.hpp b/fpsdk_ros1/include/fpsdk_ros1/msgs.hpp
diff --git a/fpsdk_ros1/msg/ParserMsg.msg b/fpsdk_ros1/msg/ParserMsg.msg
diff --git a/fpsdk_ros1/test/msgs_test.cpp b/fpsdk_ros1/test/msgs_test.cpp