From a41cf43545bd37298e9529d60f51093653780372 Mon Sep 17 00:00:00 2001
From: sebastianHi <sebastian.schirmer@dlr.de>
Date: Fri, 13 Jun 2025 13:59:11 +0200
Subject: [PATCH] added ros2 wrapper for compiled monitor to be called ros2 run
 ...

---
 rtlola_node/CMakeLists.txt | 28 ++++++++++++++++++++++++++++
 rtlola_node/package.xml    | 18 ++++++++++++++++++
 2 files changed, 46 insertions(+)
 create mode 100644 rtlola_node/CMakeLists.txt
 create mode 100644 rtlola_node/package.xml

diff --git a/rtlola_node/CMakeLists.txt b/rtlola_node/CMakeLists.txt
new file mode 100644
index 0000000..e2ea54b
--- /dev/null
+++ b/rtlola_node/CMakeLists.txt
@@ -0,0 +1,28 @@
+# SPDX-FileCopyrightText: 2023 German Aerospace Center (DLR)
+# SPDX-License-Identifier: Apache-2.0
+cmake_minimum_required(VERSION 3.5)
+project(rtlola_node)
+
+find_package(ament_cmake REQUIRED)
+
+set(MONITOR_EXECUTABLE ${CMAKE_CURRENT_SOURCE_DIR}/../monitor/target/release/rtlola_ros2_monitor)
+if(EXISTS ${MONITOR_EXECUTABLE})
+  install(
+    PROGRAMS
+      ${MONITOR_EXECUTABLE}
+    DESTINATION lib/${PROJECT_NAME}
+  )
+else()
+  set(MONITOR_EXECUTABLE ${CMAKE_CURRENT_SOURCE_DIR}/../monitor/target/debug/rtlola_ros2_monitor)
+  if(EXISTS ${MONITOR_EXECUTABLE})
+    install(
+      PROGRAMS
+        ${MONITOR_EXECUTABLE}
+      DESTINATION lib/${PROJECT_NAME}
+    )
+  else()
+    message(FATAL_ERROR "Executable not found: ${MONITOR_EXECUTABLE}. Did you run 'cargo build'?")
+  endif()
+endif()
+
+ament_package()
diff --git a/rtlola_node/package.xml b/rtlola_node/package.xml
new file mode 100644
index 0000000..ed7285f
--- /dev/null
+++ b/rtlola_node/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<!-- SPDX-FileCopyrightText: 2023 German Aerospace Center (DLR) -->
+<!-- SPDX-License-Identifier: Apache-2.0 -->
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rtlola_node</name>
+  <version>0.0.0</version>
+  <description>Wrapper for compiled monitor allows to call ros2 run</description>
+  <maintainer email="sebastian.schirmer@dlr.de">root</maintainer>
+  <license> Apache-2.0 </license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>