Using simple string instead of std_msgs/String[] in message definitions.

ANYbotics · Dec 17, 2014 · 14c8bd3 · 14c8bd3
1 parent b33d84a
commit 14c8bd3
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Showing 3 changed files with 7 additions and 10 deletions.
diff --git a/grid_map/src/GridMap.cpp b/grid_map/src/GridMap.cpp
@@ -61,11 +61,8 @@ void GridMap::toMessage(const std::vector<std::string>& types, grid_map_msg::Gri
   message.info.positionX = position_.x();
   message.info.positionY = position_.y();
 
-  for (auto& type : types) {
-    std_msgs::String definition;
-    definition.data = type;
-    message.dataDefinition.push_back(definition);
-
+  for (const auto& type : types) {
+    message.dataDefinition.push_back(type);
     std_msgs::Float32MultiArray dataArray;
     matrixEigenCopyToMultiArrayMessage(data_.at(type), dataArray);
     message.data.push_back(dataArray);
@@ -93,8 +90,8 @@ bool GridMap::fromMessage(const grid_map_msg::GridMap& message)
   for (unsigned int i = 0; i < message.dataDefinition.size(); i++) {
     Eigen::MatrixXf dataMatrix;
     multiArrayMessageCopyToMatrixEigen(message.data[i], dataMatrix); // TODO Could we use the data mapping (instead of copying) method here?
-    data_.insert(std::pair<std::string, Eigen::MatrixXf>(message.dataDefinition[i].data, dataMatrix));
-    types_.push_back(message.dataDefinition[i].data);
+    data_.insert(std::pair<std::string, Eigen::MatrixXf>(message.dataDefinition[i], dataMatrix));
+    types_.push_back(message.dataDefinition[i]);
   }
 
   clearTypes_ = types_;

diff --git a/grid_map_msg/msg/GridMap.msg b/grid_map_msg/msg/GridMap.msg
@@ -2,7 +2,7 @@
 GridMapInfo info
 
 # Grid map data definition.
-std_msgs/String[] dataDefinition
+string[] dataDefinition
 
 # Grid map data.
 std_msgs/Float32MultiArray[] data
@@ -11,4 +11,4 @@ std_msgs/Float32MultiArray[] data
 uint16 outerStartIndex
 
 # Column start index (default 0).
-uint16 innerStartIndex
+uint16 innerStartIndex
diff --git a/grid_map_msg/srv/GetGridMap.srv b/grid_map_msg/srv/GetGridMap.srv
@@ -11,7 +11,7 @@ float64 lengthX
 float64 lengthY
 
 # Requested data. If empty, get all available data.
-std_msgs/String[] dataDefinition
+string[] dataDefinition
 
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