To build:

1. Go to cFS/sample_defs. Open targets.cmake in a text editor.

2. Locate the line that sets MISSION_GLOBAL_APPLIST (~line 89) your app:

   list(APPEND MISSION_GLOBAL_APPLIST ros_app sbn sbn_udp sbn_f_remap cf robot_sim simple_robot_app)
   

3. Go to cFS/sample_defs. Add the app in cpuX_cfe_es_startup.scr with X=1 or 2 :

   CFE_APP, simple_robot_app,   SimpleRobotAppMain,     SIMPLE_ROBOT_APP,    50,   16384, 0x0, 0; 
   

Build messages

 ros2 launch juicer_util generate_juicer_database.launch.py cfs_path:=~/test_brash/cFS juicer_path:=/test_brash/juicer output_db:=simple_robot_app.sqlite

Convert database to ROS2 messages. Update the db location:

ros2 launch cfe_msg_converter  cfe_msg_converter.launch.py