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MMarcus95 merged 1 commit into from
Jul 6, 2026
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Improved documentation #9

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10 changes: 4 additions & 6 deletions README.md
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# Messages
This package defines and build off-the-shelf messages for DLS2 and their related wrappers. It also provides you the cmake function that can be used by the user to generate custom messages and wrappers.
# DLS2 messages
Package defining and building off-the-shelf messages for DLS2.


# Message generation
Each message is defined by an idl file inside the [idls](idls) folder. See [here](https://fast-dds.docs.eprosima.com/en/latest/fastddsgen/dataTypes/dataTypes.html) for details about how to define a message in IDL format.

To generate messages for fastdds, the [fastddgen](https://fast-dds.docs.eprosima.com/en/latest/fastddsgen/introduction/introduction.html) tool is used (check the cmake function _dls_add_message_ inside [dls_message.cmake](cmake/dls_message.cmake) file).

# dls_std_msgs
This repository contains the standard messages(.idl files) used by DLS2.
To generate messages for fastdds, the [fastddgen](https://fast-dds.docs.eprosima.com/en/latest/fastddsgen/introduction/introduction.html) tool is used (check the cmake function _generate_msg_library_ inside [generate_msg_library.cmake](cmake/generate_msg_library.cmake) file).

# ROS2 compatibility
For ROS2 communication, message definitions should comply with the following conventions:
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