Revert "humble to ros2 (#311)"

This reverts commit 39cdcf8.

ros_gz/CHANGELOG.rst

@@ -2,11 +2,6 @@
 Changelog for package ros_gz
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.244.7 (2022-10-12)
---------------------
-* Merge branch 'ros2' into ports/galactic_to_ros2
-* Contributors: Michael Carroll
-
 0.244.6 (2022-09-14)
 --------------------
 

ros_gz/package.xml

@@ -4,7 +4,7 @@
   <!-- TODO: Make this a metapackage, see
        https://github.com/ros2/ros2/issues/408 -->
   <name>ros_gz</name>
-  <version>0.244.7</version>
+  <version>0.244.6</version>
   <description>Meta-package containing interfaces for using ROS 2 with <a href="https://gazebosim.org">Gazebo</a> simulation.</description>
   <maintainer email="louise@openrobotics.org">Louise Poubel</maintainer>
   <license>Apache 2.0</license>

ros_gz_bridge/CHANGELOG.rst

@@ -2,20 +2,6 @@
 Changelog for package ros_gz_bridge
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.244.7 (2022-10-12)
---------------------
-* Make sure that ign\_* yaml configs work as well (`#310 <https://github.com/gazebosim/ros_gz/issues/310>`_)
-* Bridge between msgs::Float_V and ros_gz_interfaces/Float32Array msg types (`#306 <https://github.com/gazebosim/ros_gz/issues/306>`_)
-  * bridge float_v and float32_multi_array msg type
-  Co-authored-by: Ian Chen <ichen@openrobotics.org>
-* Bridge between msgs::Pose_V and geometry_msgs/PoseArray msg types (`#305 <https://github.com/gazebosim/ros_gz/issues/305>`_)
-* replace ign with gz in ros_gz_bridge README (`#303 <https://github.com/gazebosim/ros_gz/issues/303>`_)
-* Merge pull request `#275 <https://github.com/gazebosim/ros_gz/issues/275>`_ (Galactic to Humble)
-  Galactic to Humble
-* Fix merge
-* Merge branch 'ros2' into ports/galactic_to_ros2
-* Contributors: Ian Chen, Michael Carroll, Olivier Kermorgant
-
 0.244.6 (2022-09-14)
 --------------------
 

ros_gz_bridge/README.md

@@ -10,7 +10,6 @@ The following message types can be bridged for topics:
 | builtin_interfaces/Time            | gz.msgs.Time                       |
 | geometry_msgs/Point                | gz.msgs.Vector3d                   |
 | geometry_msgs/Pose                 | gz.msgs.Pose                       |
-| geometry_msgs/msg/PoseArray        | gz.msgs.Pose_V                   |
 | geometry_msgs/PoseStamped          | gz.msgs.Pose                       |
 | geometry_msgs/PoseWithCovariance   | gz.msgs.PoseWithCovariance         |
 | geometry_msgs/Quaternion           | gz.msgs.Quaternion                 |
@@ -27,7 +26,6 @@ The following message types can be bridged for topics:
 | ros_gz_interfaces/Contacts         | gz.msgs.Contacts                   |
 | ros_gz_interfaces/Dataframe        | gz.msgs.Dataframe                  |
 | ros_gz_interfaces/Entity           | gz.msgs.Entity                     |
-| ros_gz_interfaces/msg/Float32Array | gz.msgs.Float_V                    |
 | ros_gz_interfaces/GuiCamera        | gz.msgs.GUICamera                  |
 | ros_gz_interfaces/JointWrench      | gz.msgs.JointWrench                |
 | ros_gz_interfaces/Light            | gz.msgs.Light                      |
@@ -233,40 +231,40 @@ bridge may be specified:
  # Set just topic name, applies to both
 - topic_name: "chatter"
   ros_type_name: "std_msgs/msg/String"
-  gz_type_name: "ignition.msgs.StringMsg"
+  ign_type_name: "ignition.msgs.StringMsg"
 
 # Set just ROS topic name, applies to both
 - ros_topic_name: "chatter_ros"
   ros_type_name: "std_msgs/msg/String"
-  gz_type_name: "ignition.msgs.StringMsg"
+  ign_type_name: "ignition.msgs.StringMsg"
 
-# Set just GZ topic name, applies to both
-- gz_topic_name: "chatter_ign"
+# Set just IGN topic name, applies to both
+- ign_topic_name: "chatter_ign"
   ros_type_name: "std_msgs/msg/String"
-  gz_type_name: "ignition.msgs.StringMsg"
+  ign_type_name: "ignition.msgs.StringMsg"
 
 # Set each topic name explicitly
 - ros_topic_name: "chatter_both_ros"
-  gz_topic_name: "chatter_both_ign"
+  ign_topic_name: "chatter_both_ign"
   ros_type_name: "std_msgs/msg/String"
-  gz_type_name: "ignition.msgs.StringMsg"
+  ign_type_name: "ignition.msgs.StringMsg"
 
 # Full set of configurations
 - ros_topic_name: "ros_chatter"
-  gz_topic_name: "ign_chatter"
+  ign_topic_name: "ign_chatter"
   ros_type_name: "std_msgs/msg/String"
-  gz_type_name: "ignition.msgs.StringMsg"
+  ign_type_name: "ignition.msgs.StringMsg"
   subscriber_queue: 5       # Default 10
   publisher_queue: 6        # Default 10
   lazy: true                # Default "false"
   direction: BIDIRECTIONAL  # Default "BIDIRECTIONAL" - Bridge both directions
-                            # "GZ_TO_ROS" - Bridge Ignition topic to ROS
-                            # "ROS_TO_GZ" - Bridge ROS topic to Ignition
+                            # "IGN_TO_ROS" - Bridge Ignition topic to ROS
+                            # "ROS_TO_IGN" - Bridge ROS topic to Ignition
 ```
 
 To run the bridge node with the above configuration:
 ```bash
-ros2 run ros_gz_bridge parameter_bridge --ros-args -p config_file:=$WORKSPACE/ros_gz/ros_gz_bridge/test/config/full.yaml
+ros2 run ros_gz_bridge bridge_node --ros-args -p config_file:=$WORKSPACE/ros_gz/ros_gz_bridge/test/config/full.yaml
 ```
 
 ## API

ros_gz_bridge/include/ros_gz_bridge/convert/geometry_msgs.hpp

@@ -28,7 +28,6 @@
 // ROS 2 messages
 #include <geometry_msgs/msg/point.hpp>
 #include <geometry_msgs/msg/pose.hpp>
-#include <geometry_msgs/msg/pose_array.hpp>
 #include <geometry_msgs/msg/pose_with_covariance.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/quaternion.hpp>
@@ -91,18 +90,6 @@ convert_gz_to_ros(
   const gz::msgs::Pose & gz_msg,
   geometry_msgs::msg::Pose & ros_msg);
 
-template<>
-void
-convert_ros_to_gz(
-  const geometry_msgs::msg::PoseArray & ros_msg,
-  gz::msgs::Pose_V & gz_msg);
-
-template<>
-void
-convert_gz_to_ros(
-  const gz::msgs::Pose_V & gz_msg,
-  geometry_msgs::msg::PoseArray & ros_msg);
-
 template<>
 void
 convert_ros_to_gz(

ros_gz_bridge/include/ros_gz_bridge/convert/rcl_interfaces.hpp

@@ -15,7 +15,7 @@
 #ifndef ROS_GZ_BRIDGE__CONVERT__RCL_INTERFACES_HPP_
 #define ROS_GZ_BRIDGE__CONVERT__RCL_INTERFACES_HPP_
 
-// GZ messages
+// Ignition messages
 #include <gz/msgs/any.pb.h>
 
 // ROS 2 messages

ros_gz_bridge/include/ros_gz_bridge/convert/ros_gz_interfaces.hpp

@@ -21,7 +21,6 @@
 #include <gz/msgs/contact.pb.h>
 #include <gz/msgs/contacts.pb.h>
 #include <gz/msgs/dataframe.pb.h>
-#include <gz/msgs/float_v.pb.h>
 #include <gz/msgs/gui_camera.pb.h>
 #include <gz/msgs/light.pb.h>
 #include <gz/msgs/param.pb.h>
@@ -37,7 +36,6 @@
 #include <ros_gz_interfaces/msg/contact.hpp>
 #include <ros_gz_interfaces/msg/contacts.hpp>
 #include <ros_gz_interfaces/msg/dataframe.hpp>
-#include <ros_gz_interfaces/msg/float32_array.hpp>
 #include <ros_gz_interfaces/msg/gui_camera.hpp>
 #include <ros_gz_interfaces/msg/light.hpp>
 #include <ros_gz_interfaces/msg/param_vec.hpp>
@@ -220,18 +218,6 @@ void
 convert_gz_to_ros(
   const gz::msgs::WorldReset & gz_msg,
   ros_gz_interfaces::msg::WorldReset & ros_msg);
-
-template<>
-void
-convert_ros_to_gz(
-  const ros_gz_interfaces::msg::Float32Array & ros_msg,
-  gz::msgs::Float_V & gz_msg);
-
-template<>
-void
-convert_gz_to_ros(
-  const gz::msgs::Float_V & gz_msg,
-  ros_gz_interfaces::msg::Float32Array & ros_msg);
 }  // namespace ros_gz_bridge
 
 #endif  // ROS_GZ_BRIDGE__CONVERT__ROS_GZ_INTERFACES_HPP_

ros_gz_bridge/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ros_gz_bridge</name>
-  <version>0.244.7</version>
+  <version>0.244.6</version>
   <description>Bridge communication between ROS and Gazebo Transport</description>
   <maintainer email="louise@openrobotics.org">Louise Poubel</maintainer>
 

ros_gz_bridge/ros_gz_bridge/mappings.py

@@ -30,7 +30,6 @@
     'geometry_msgs': [
         Mapping('Point', 'Vector3d'),
         Mapping('Pose', 'Pose'),
-        Mapping('PoseArray', 'Pose_V'),
         Mapping('PoseStamped', 'Pose'),
         Mapping('PoseWithCovariance', 'PoseWithCovariance'),
         Mapping('Quaternion', 'Quaternion'),
@@ -53,7 +52,6 @@
         Mapping('Contacts', 'Contacts'),
         Mapping('Dataframe', 'Dataframe'),
         Mapping('Entity', 'Entity'),
-        Mapping('Float32Array', 'Float_V'),
         Mapping('GuiCamera', 'GUICamera'),
         Mapping('JointWrench', 'JointWrench'),
         Mapping('Light', 'Light'),

ros_gz_bridge/src/bridge_config.cpp

@@ -54,37 +54,21 @@ std::optional<BridgeConfig> parseEntry(const YAML::Node & yaml_node)
     return {};
   }
 
-  auto getValue = [yaml_node](const char * key) -> std::string
-    {
-      if (yaml_node[key]) {
-        return yaml_node[key].as<std::string>();
-      } else {
-        return "";
-      }
-    };
-
-  const auto topic_name = getValue(kTopicName);
-  const auto ros_topic_name = getValue(kRosTopicName);
-  const auto ros_type_name = getValue(kRosTypeName);
-  const auto gz_topic_name = getValue(kGzTopicName);
-  const auto gz_type_name = getValue(kGzTypeName);
-  const auto direction = getValue(kDirection);
-
-  if (!topic_name.empty() && !ros_topic_name.empty()) {
+  if (yaml_node[kTopicName] && yaml_node[kRosTopicName]) {
     RCLCPP_ERROR(
       logger,
       "Could not parse entry: %s and %s are mutually exclusive", kTopicName, kRosTopicName);
     return {};
   }
 
-  if (!topic_name.empty() && !gz_topic_name.empty()) {
+  if (yaml_node[kTopicName] && yaml_node[kGzTopicName]) {
     RCLCPP_ERROR(
       logger,
       "Could not parse entry: %s and %s are mutually exclusive", kTopicName, kGzTopicName);
     return {};
   }
 
-  if (ros_type_name.empty() || gz_type_name.empty()) {
+  if (!yaml_node[kRosTypeName] || !yaml_node[kGzTypeName]) {
     RCLCPP_ERROR(
       logger,
       "Could not parse entry: both %s and %s must be set", kRosTypeName, kGzTypeName);
@@ -96,40 +80,43 @@ std::optional<BridgeConfig> parseEntry(const YAML::Node & yaml_node)
   ret.direction = BridgeDirection::BIDIRECTIONAL;
 
   if (yaml_node[kDirection]) {
-    if (direction == kBidirectional) {
+    auto dirStr = yaml_node[kDirection].as<std::string>();
+
+    if (dirStr == kBidirectional) {
       ret.direction = BridgeDirection::BIDIRECTIONAL;
-    } else if (direction == kGzToRos) {
+    } else if (dirStr == kGzToRos) {
       ret.direction = BridgeDirection::GZ_TO_ROS;
-    } else if (direction == kRosToGz) {
+    } else if (dirStr == kRosToGz) {
       ret.direction = BridgeDirection::ROS_TO_GZ;
     } else {
       RCLCPP_ERROR(
         logger,
-        "Could not parse entry: invalid direction [%s]", direction.c_str());
+        "Could not parse entry: invalid direction [%s]", dirStr.c_str());
       return {};
     }
   }
 
-  if (!topic_name.empty()) {
+
+  if (yaml_node[kTopicName]) {
     // Only "topic_name" is set
-    ret.gz_topic_name = topic_name;
-    ret.ros_topic_name = topic_name;
-  } else if (!ros_topic_name.empty() && gz_topic_name.empty()) {
+    ret.gz_topic_name = yaml_node[kTopicName].as<std::string>();
+    ret.ros_topic_name = yaml_node[kTopicName].as<std::string>();
+  } else if (yaml_node[kRosTopicName] && !yaml_node[kGzTopicName]) {
     // Only "ros_topic_name" is set
-    ret.gz_topic_name = ros_topic_name;
-    ret.ros_topic_name = ros_topic_name;
-  } else if (!gz_topic_name.empty() && ros_topic_name.empty()) {
+    ret.gz_topic_name = yaml_node[kRosTopicName].as<std::string>();
+    ret.ros_topic_name = yaml_node[kRosTopicName].as<std::string>();
+  } else if (yaml_node[kGzTopicName] && !yaml_node[kRosTopicName]) {
     // Only kGzTopicName is set
-    ret.gz_topic_name = gz_topic_name;
-    ret.ros_topic_name = gz_topic_name;
+    ret.gz_topic_name = yaml_node[kGzTopicName].as<std::string>();
+    ret.ros_topic_name = yaml_node[kGzTopicName].as<std::string>();
   } else {
     // Both are set
-    ret.gz_topic_name = gz_topic_name;
-    ret.ros_topic_name = ros_topic_name;
+    ret.gz_topic_name = yaml_node[kGzTopicName].as<std::string>();
+    ret.ros_topic_name = yaml_node[kRosTopicName].as<std::string>();
   }
 
-  ret.gz_type_name = gz_type_name;
-  ret.ros_type_name = ros_type_name;
+  ret.gz_type_name = yaml_node[kGzTypeName].as<std::string>();
+  ret.ros_type_name = yaml_node[kRosTypeName].as<std::string>();
 
   if (yaml_node[kPublisherQueue]) {
     ret.publisher_queue_size = yaml_node[kPublisherQueue].as<size_t>();

ros_gz_bridge/src/convert/geometry_msgs.cpp

@@ -106,35 +106,6 @@ convert_gz_to_ros(
   convert_gz_to_ros(gz_msg.orientation(), ros_msg.orientation);
 }
 
-template<>
-void
-convert_ros_to_gz(
-  const geometry_msgs::msg::PoseArray & ros_msg,
-  gz::msgs::Pose_V & gz_msg)
-{
-  convert_ros_to_gz(ros_msg.header, (*gz_msg.mutable_header()));
-  gz_msg.clear_pose();
-  for (auto const & t : ros_msg.poses) {
-    auto p = gz_msg.add_pose();
-    convert_ros_to_gz(t, *p);
-  }
-}
-
-template<>
-void
-convert_gz_to_ros(
-  const gz::msgs::Pose_V & gz_msg,
-  geometry_msgs::msg::PoseArray & ros_msg)
-{
-  convert_gz_to_ros(gz_msg.header(), ros_msg.header);
-  ros_msg.poses.clear();
-  for (auto const & p : gz_msg.pose()) {
-    geometry_msgs::msg::Pose pose;
-    convert_gz_to_ros(p, pose);
-    ros_msg.poses.push_back(pose);
-  }
-}
-
 template<>
 void
 convert_ros_to_gz(

ros_gz_bridge/src/convert/ros_gz_interfaces.cpp

@@ -574,28 +574,4 @@ convert_gz_to_ros(
   ros_msg.time_only = gz_msg.time_only();
   ros_msg.model_only = gz_msg.model_only();
 }
-
-template<>
-void
-convert_ros_to_gz(
-  const ros_gz_interfaces::msg::Float32Array & ros_msg,
-  gz::msgs::Float_V & gz_msg)
-{
-  gz_msg.clear_data();
-  for (auto const & t : ros_msg.data) {
-    gz_msg.add_data(t);
-  }
-}
-
-template<>
-void
-convert_gz_to_ros(
-  const gz::msgs::Float_V & gz_msg,
-  ros_gz_interfaces::msg::Float32Array & ros_msg)
-{
-  ros_msg.data.clear();
-  for (auto const & p : gz_msg.data()) {
-    ros_msg.data.push_back(p);
-  }
-}
 }  // namespace ros_gz_bridge