fixup cpp package problems as noted in osrf#46

code/cpp/CMakeLists.txt

@@ -1,15 +1,29 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(cpp)
 
-find_package(catkin REQUIRED roscpp)
+find_package(catkin REQUIRED
+  COMPONENTS
+  roscpp
+  message_generation
+  actionlib
+  actionlib_msgs
+  std_msgs)
+
+add_service_files(FILES WordCount.srv)
+
+add_action_files(DIRECTORY action FILES Sample.action)
+
+generate_messages(DEPENDENCIES std_msgs actionlib_msgs)
 
 catkin_package(
 #  INCLUDE_DIRS include
 #  LIBRARIES cpp
-#  CATKIN_DEPENDS other_catkin_pkg
+  CATKIN_DEPENDS message_runtime roscpp std_msgs
 #  DEPENDS system_lib
 )
 
+include_directories(${catkin_INCLUDE_DIRS})
+
 add_executable(minimal src/minimal.cpp)
 add_executable(topic_publisher src/topic_publisher.cpp)
 add_executable(topic_subscriber src/topic_subscriber.cpp)
@@ -34,16 +48,19 @@ target_link_libraries(topic_subscriber
 target_link_libraries(service_server
   ${catkin_LIBRARIES}
 )
+add_dependencies(service_server ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 target_link_libraries(service_client
   ${catkin_LIBRARIES}
 )
+add_dependencies(service_client ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 target_link_libraries(action_server
   ${catkin_LIBRARIES}
 )
+add_dependencies(service_server ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 target_link_libraries(action_client
   ${catkin_LIBRARIES}
 )
-
+add_dependencies(service_server ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

code/cpp/action/Sample.action

@@ -0,0 +1,5 @@
+string foo
+---
+string bar
+---
+string baz

code/cpp/package.xml

@@ -32,18 +32,24 @@
   <!-- Dependencies can be catkin packages or system dependencies -->
   <!-- Examples: -->
   <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
+  <build_depend>message_generation</build_depend>
   <!-- Use buildtool_depend for build tool packages: -->
   <!--   <buildtool_depend>catkin</buildtool_depend> -->
   <!-- Use run_depend for packages you need at runtime: -->
-  <!--   <run_depend>message_runtime</run_depend> -->
+  <run_depend>message_runtime</run_depend>
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>roscpp</build_depend>
   <run_depend>roscpp</run_depend>
 
+  <build_depend>actionlib_msgs</build_depend>
+  <run_depend>actionlib_msgs</run_depend>
+
+  <build_depend>std_msgs</build_depend>
+  <run_depend>std_msgs</run_depend>
+
   <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- Other tools can request additional information be placed here -->

code/cpp/src/action_client.cpp

@@ -1,5 +1,6 @@
 #include <ros/ros.h>
 
+// TODO
 
 int main(int argc, char **argv) {
   return 0;

code/cpp/src/action_server.cpp

@@ -1,16 +1,26 @@
 #include <ros/ros.h>
 #include <actionlib/server/simple_action_server.h>
-#include <cpp/MyAction.h>
+#include <cpp/SampleAction.h>
 
+actionlib::SimpleActionServer<cpp::SampleAction> *g_action_server = NULL;
+
+void sample_action_callback(const cpp::SampleGoalConstPtr &goal)
+{
+  // do stuff
+  cpp::SampleResult result;
+  g_action_server->setSucceeded(result);
+}
 
 int main(int argc, char **argv) {
   ros::init(argc, argv, "action_server");
   ros::NodeHandle node;
 
-  actionlib::SimpleActionServer<cpp::MyAction> server;
-  cpp::MyActionFeedback feedback;
-  cpp::MyActionResult result;
+  actionlib::SimpleActionServer<cpp::SampleAction> server(
+    node, "sample_action", sample_action_callback, false);
+  g_action_server = &server;
+  server.start();
 
+  ros::spin();
 
   return 0;
 }

code/cpp/src/service_client.cpp

@@ -5,7 +5,7 @@
 
 
 int main(int argc, char **argv) {
-  ros::init(argc, char **argv, "count_client");
+  ros::init(argc, argv, "count_client");
   ros::NodeHandle node;
 
   ros::ServiceClient client = node.serviceClient<cpp::WordCount>("count");  // <1>

code/cpp/src/service_server.cpp

@@ -4,30 +4,27 @@
 
 bool count(cpp::WordCount::Request &req,  // <1>
 	   cpp::WordCount::Response &res) {
-  l = strlen(req.words);
+  const size_t l = strlen(req.words.c_str());
   if (l == 0)
-    count = 0;
+    res.count = 0;
   else {
-    count = 1;
-    for(int i = 0; i < l; ++i)
+    res.count = 1;
+    for(size_t i = 0; i < l; ++i)
       if (req.words[i] == ' ')
-	++count;
+        res.count++;
   }
 
-  res.count = count;
-
   return true;
 }
 
 
 int main(int argc, char **argv) {
-  ros::init(int argc, char **argv, "count_server");
+  ros::init(argc, argv, "count_server");
   ros::NodeHandle node;
 
   ros::ServiceServer service = node.advertiseService("count", count);  // <2>
 
   ros::spin();  // <3>
 
-
   return 0;
 }

code/cpp/srv/WordCount.srv

@@ -0,0 +1,3 @@
+string words
+---
+uint32 count