WEBVTT 00:00.410 --> 00:06.350 To register the Arduino Bot interface class we have been developing in the previous lesson as a plugin 00:06.380 --> 00:11.360 of the Ros2 Control library and consequently as an hardware interface. 00:11.390 --> 00:14.750 We need to import the plugin lib module. 00:14.750 --> 00:21.230 So still here in the cplusplus file that we have been creating the Arduino bot interface dot cpp. 00:23.120 --> 00:32.630 Let's include from the plugin lib package the class list macros dot php. 00:33.640 --> 00:35.560 And now at the end of our script. 00:36.360 --> 00:40.260 So here after the namespace, let's export this class. 00:40.260 --> 00:49.290 So the Arduino board interface as a plugin within the plugin lib library so we can use the macro plugin 00:49.290 --> 00:54.090 lib export class. 00:55.260 --> 00:59.190 And to this one, we need to pass the Arduino board interface class. 00:59.520 --> 01:05.760 So this is in the Arduino board controller namespace and let's pass the Arduino board interface class. 01:06.030 --> 01:09.360 Then also we need to indicate which is the base class. 01:09.360 --> 01:12.990 So which is the base class of the plugin from which we are inheriting. 01:13.710 --> 01:20.190 And if you remember this is the hardware interface and we are inheriting from the system interface. 01:20.190 --> 01:26.580 So the base class of the Arduino board interface that we have implemented is the system interface. 01:27.430 --> 01:34.330 Additionally, to register this class as a Ros2 control plugin, we need to add a new file, so here 01:34.330 --> 01:36.610 to the Arduino controller package. 01:36.850 --> 01:47.200 And so let's create a new file and let's call this one Arduino bot controller dot XML. 01:47.590 --> 01:53.590 Within this file, let's declare our plugin with the tag library. 01:53.590 --> 01:55.600 So this is an XML file. 01:55.840 --> 02:01.360 And then let's define the path where our library is declared. 02:01.360 --> 02:06.940 And so this is the Arduino bot controller folder. 02:07.120 --> 02:09.340 And then let's define the class name. 02:10.150 --> 02:13.720 So the name of the class which implements the plugin. 02:14.200 --> 02:27.460 So the name is in the Arduino bot controller namespace and is called Arduino Bot Interface. 02:27.460 --> 02:29.530 And then let's also set the type. 02:30.040 --> 02:31.150 So here. 02:32.630 --> 02:35.050 Let's set the type. 02:35.090 --> 02:40.670 And so this is the Arduino board controller. 02:40.670 --> 02:42.950 And from this namespace still. 02:45.310 --> 02:49.030 The Arduino board interface is the type of the class. 02:49.720 --> 02:55.570 Let's also indicate which is the base class, which is the base class from which the Arduino board interface 02:55.570 --> 02:57.280 class is inheriting. 02:57.490 --> 03:03.100 And so let's indicate with base class type. 03:04.090 --> 03:10.360 And this is from the hardware interface. 03:10.390 --> 03:16.480 The base class is the system interface. 03:18.040 --> 03:27.430 Let's also add that description to this plugin so that all the other users will know what is this about. 03:27.430 --> 03:32.830 And so let's simply indicate that this is the Arduino hardware interface. 03:38.280 --> 03:39.810 Let's save this file. 03:39.930 --> 03:41.460 Let's save this file. 03:41.580 --> 03:47.160 And to conclude this lesson, let's declare all the dependencies that we have used within the Arduino 03:47.160 --> 03:51.750 board controller package in order to create the Arduino board interface. 03:51.750 --> 03:53.850 And also let's install this library. 03:53.850 --> 03:57.930 So this hardware interface that we have called Arduino board interface. 03:58.230 --> 04:02.160 To do so, let's open the file Cmakelist here. 04:02.160 --> 04:06.930 Let's remove the commented lines so that it is more readable. 04:12.160 --> 04:14.410 And then let's add the dependency. 04:14.440 --> 04:26.650 So with a new find package instruction from the hardware interface library, then another one from the 04:27.820 --> 04:29.440 plugin lib library. 04:29.980 --> 04:36.280 And then from the SQL CPP life cycle. 04:36.520 --> 04:41.620 Then from the Rql CPP. 04:42.370 --> 04:46.930 And then we need to declare also the dependency from the serial library. 04:46.930 --> 04:48.550 So from the lib serial. 04:49.060 --> 04:58.030 So let's add a dependency from the package config and then let's use this one for using the instruction 04:58.120 --> 05:03.430 package check modules. 05:03.460 --> 05:06.580 So check the serial module. 05:08.410 --> 05:11.680 And this is the lib serial that we have installed. 05:12.630 --> 05:14.940 Let's continue by adding a new library. 05:15.090 --> 05:24.270 So here, after the package check module's instruction, let's add a new library and let's add a new 05:24.270 --> 05:25.890 library to this project. 05:25.890 --> 05:29.610 So this library will have the same name as the package itself. 05:29.610 --> 05:39.030 So the Arduino board controller and we can access to this name through the project name variable and 05:39.030 --> 05:41.820 then the source code of this library. 05:42.690 --> 05:51.120 So is in the SRC folder and is called Arduino board interface dot CPP. 05:51.960 --> 05:57.720 Then let's also use the instruction target include. 06:00.320 --> 06:01.400 Directories. 06:02.030 --> 06:07.490 And so still from the library that we called this one as the package. 06:07.490 --> 06:09.590 So Arduino board controller. 06:10.250 --> 06:17.270 Let's add the private instruction and then let's add the include folder. 06:17.270 --> 06:22.190 So that also the include folder will be added to the build of our package. 06:22.280 --> 06:24.650 And then let's also add the serial library. 06:24.650 --> 06:35.330 So let's use the double quotes and then let's use the variable serial include directories. 06:35.330 --> 06:46.160 So dirs, and then let's also use another instruction that is the target link libraries still for the 06:46.160 --> 06:48.200 Arduino board controller library. 06:48.200 --> 06:53.260 So let's copy this variable here and let's add the lib serial. 06:53.270 --> 07:05.120 So still using the double quotes, let's use the variable this time that is serial l d flex. 07:05.630 --> 07:10.370 Then let's also use the instruction and target 07:12.860 --> 07:17.180 dependencies still for the Arduino board controller library. 07:18.080 --> 07:21.560 And let's add the dependencies that this library is going to need. 07:21.560 --> 07:33.140 So the hardware interface, the plugin lib, the CPP and the CPP life cycle. 07:33.860 --> 07:41.330 Now to compile and register a plugin for the Ros2 control library, we use the instruction. 07:43.130 --> 07:49.460 Login lib export plugin. 07:51.940 --> 07:53.920 Description file. 07:54.490 --> 08:01.240 And so within this instruction, we need to export it as an hardware interface. 08:01.330 --> 08:06.610 And then let's indicate the name of the file which provides the description of the plugin. 08:06.610 --> 08:11.890 And so this is the Arduino board controller dot XML file that we have just created. 08:11.890 --> 08:15.310 So this file contains the definition of the plugin. 08:15.700 --> 08:24.550 And so let's indicate that this is called Arduino board controller dot XML. 08:24.580 --> 08:26.740 Now let's install also this library. 08:27.130 --> 08:31.390 So here let's add a new install instruction. 08:31.510 --> 08:37.160 And so let's install the target that we want to install is the library. 08:37.180 --> 08:39.460 So this one Arduino board controller. 08:39.490 --> 08:44.110 So let's still use the project name variable and the destination. 08:44.830 --> 08:48.340 So we want to install this one within the lib folder. 08:49.170 --> 08:51.420 Let's also install the directory include. 08:51.450 --> 09:00.870 So with a new install instruction and the directory is the include. 09:00.870 --> 09:07.110 So basically this directory here which contains the declaration of the Arduino bot interface. 09:07.110 --> 09:08.310 So the header file. 09:08.910 --> 09:11.040 And so let's install this one. 09:12.930 --> 09:17.970 The destination is still the include folder next. 09:17.970 --> 09:23.260 So here after the install, let's use the instruction amend. 09:24.200 --> 09:25.100 Export. 09:27.040 --> 09:28.000 Include 09:30.790 --> 09:36.070 directories and let's use this one to export the include directories. 09:36.280 --> 09:43.420 And then finally, let's also use the last instruction that is the amend export. 09:44.980 --> 09:50.320 Libraries to export the Arduino board controller library that we have created. 09:50.320 --> 09:52.180 So this one here. 09:54.050 --> 10:00.260 And also we need to amend export. 10:02.690 --> 10:09.170 Dependencies to declare the dependencies that we want to export for this library, which are the hardware 10:09.170 --> 10:16.280 interface, the plugin lib, the RCL, CP and the RCL CP. 10:16.430 --> 10:17.510 Life cycle. 10:17.810 --> 10:24.950 We can save this file and now we can move on to declare the dependencies that we have added to the cmakelist. 10:24.950 --> 10:28.040 Also to the file package dot XML. 10:28.610 --> 10:38.120 So here, let's start by adding a new dependency from the hardware interface library. 10:38.540 --> 10:39.350 Then. 10:41.060 --> 10:43.370 Another one from the CPP 10:46.190 --> 10:48.710 and another one from the CPP. 10:50.240 --> 10:51.350 Life cycle. 10:52.730 --> 10:58.640 And then also another one from the plugin lib library. 10:58.940 --> 11:08.210 And also since we used the lib serial, let's add the dependency from the lib serial dev. 11:08.690 --> 11:11.960 Let's conclude this lesson by building our workspace. 11:11.960 --> 11:18.470 So to compile the new library and to register it as a plugin of the Ros2 Control library and also to 11:18.470 --> 11:22.910 check that actually everything went well and so that there are no errors. 11:23.360 --> 11:28.610 To do so, let's open a new terminal and let's go into the workspace. 11:28.610 --> 11:32.870 And here let's run the command called Build. 11:35.320 --> 11:41.710 We can see that there are no errors, just some warnings about some unused variables. 11:41.710 --> 11:47.710 And in the next lesson, we are going to see how this new hardware interface that we have created is 11:47.710 --> 11:51.010 activated and is used to send comments to the robot.