Add support for std_msgs/Empty (#53)

ros_ign_bridge/README.md

@@ -9,6 +9,7 @@ service calls. Its support is limited to only the following message types:
 | ROS type                       | Ignition Transport type          |
 |--------------------------------|:--------------------------------:|
 | std_msgs/Bool                  | ignition::msgs::Boolean          |
+| std_msgs/Empty                 | ignition::msgs::Empty            |
 | std_msgs/Float32               | ignition::msgs::Float            |
 | std_msgs/Header                | ignition::msgs::Header           |
 | std_msgs/String                | ignition::msgs::StringMsg        |

ros_ign_bridge/include/ros_ign_bridge/builtin_interfaces_factories.hpp

@@ -35,6 +35,7 @@
 #include <sensor_msgs/msg/magnetic_field.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <std_msgs/msg/bool.hpp>
+#include <std_msgs/msg/empty.hpp>
 #include <std_msgs/msg/float32.hpp>
 #include <std_msgs/msg/string.hpp>
 
@@ -80,6 +81,24 @@ Factory<
   const ignition::msgs::Boolean & ign_msg,
   std_msgs::msg::Bool & ros_msg);
 
+template<>
+void
+Factory<
+  std_msgs::msg::Empty,
+  ignition::msgs::Empty
+>::convert_ros_to_ign(
+  const std_msgs::msg::Empty & ros_msg,
+  ignition::msgs::Empty & ign_msg);
+
+template<>
+void
+Factory<
+  std_msgs::msg::Empty,
+  ignition::msgs::Empty
+>::convert_ign_to_ros(
+  const ignition::msgs::Empty & ign_msg,
+  std_msgs::msg::Empty & ros_msg);
+
 template<>
 void
 Factory<

ros_ign_bridge/include/ros_ign_bridge/convert_builtin_interfaces.hpp

@@ -37,6 +37,7 @@
 #include <sensor_msgs/msg/magnetic_field.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <std_msgs/msg/bool.hpp>
+#include <std_msgs/msg/empty.hpp>
 #include <std_msgs/msg/float32.hpp>
 #include <std_msgs/msg/string.hpp>
 
@@ -61,6 +62,18 @@ convert_ign_to_ros(
   const ignition::msgs::Boolean & ign_msg,
   std_msgs::msg::Bool & ros_msg);
 
+template<>
+void
+convert_ros_to_ign(
+  const std_msgs::msg::Empty & ros_msg,
+  ignition::msgs::Empty & ign_msg);
+
+template<>
+void
+convert_ign_to_ros(
+  const ignition::msgs::Empty & ign_msg,
+  std_msgs::msg::Empty & ros_msg);
+
 template<>
 void
 convert_ros_to_ign(

ros_ign_bridge/src/builtin_interfaces_factories.cpp

@@ -38,6 +38,16 @@ get_factory_builtin_interfaces(
       >
     >("std_msgs/msg/Bool", ign_type_name);
   }
+  if ((ros_type_name == "std_msgs/msg/Empty" || ros_type_name.empty()) &&
+    ign_type_name == "ignition.msgs.Empty")
+  {
+    return std::make_shared<
+      Factory<
+        std_msgs::msg::Empty,
+        ignition::msgs::Empty
+      >
+    >("std_msgs/msg/Empty", ign_type_name);
+  }
   if ((ros_type_name == "std_msgs/msg/Float32" || ros_type_name.empty()) &&
     ign_type_name == "ignition.msgs.Float")
   {
@@ -314,6 +324,30 @@ Factory<
   ros_ign_bridge::convert_ign_to_ros(ign_msg, ros_msg);
 }
 
+template<>
+void
+Factory<
+  std_msgs::msg::Empty,
+  ignition::msgs::Empty
+>::convert_ros_to_ign(
+  const std_msgs::msg::Empty & ros_msg,
+  ignition::msgs::Empty & ign_msg)
+{
+  ros_ign_bridge::convert_ros_to_ign(ros_msg, ign_msg);
+}
+
+template<>
+void
+Factory<
+  std_msgs::msg::Empty,
+  ignition::msgs::Empty
+>::convert_ign_to_ros(
+  const ignition::msgs::Empty & ign_msg,
+  std_msgs::msg::Empty & ros_msg)
+{
+  ros_ign_bridge::convert_ign_to_ros(ign_msg, ros_msg);
+}
+
 template<>
 void
 Factory<

ros_ign_bridge/src/convert_builtin_interfaces.cpp

@@ -68,6 +68,22 @@ convert_ign_to_ros(
   ros_msg.data = ign_msg.data();
 }
 
+template<>
+void
+convert_ros_to_ign(
+  const std_msgs::msg::Empty &,
+  ignition::msgs::Empty &)
+{
+}
+
+template<>
+void
+convert_ign_to_ros(
+  const ignition::msgs::Empty &,
+  std_msgs::msg::Empty &)
+{
+}
+
 template<>
 void
 convert_ros_to_ign(

ros_ign_bridge/test/launch/test_ign_subscriber.launch

@@ -3,7 +3,9 @@
   <!-- Launch the bridge -->
   <node name="parameter_bridge_ign_subscriber" pkg="ros_ign_bridge"
         type="parameter_bridge"
-        args="/float@std_msgs/Float32@ignition.msgs.Float
+        args="/bool@std_msgs/Bool@ignition.msgs.Boolean
+              /empty@std_msgs/Empty@ignition.msgs.Empty
+              /float@std_msgs/Float32@ignition.msgs.Float
               /header@std_msgs/Header@ignition.msgs.Header
               /string@std_msgs/String@ignition.msgs.StringMsg
               /quaternion@geometry_msgs/Quaternion@ignition.msgs.Quaternion

ros_ign_bridge/test/launch/test_ros_subscriber.launch

@@ -3,7 +3,9 @@
   <!-- Launch the bridge -->
   <node name="parameter_bridge_ros_subscriber" pkg="ros_ign_bridge"
         type="parameter_bridge"
-        args="/float@std_msgs/Float32@ignition.msgs.Float
+        args="/bool@std_msgs/Bool@ignition.msgs.Boolean
+              /empty@std_msgs/Empty@ignition.msgs.Empty
+              /float@std_msgs/Float32@ignition.msgs.Float
               /header@std_msgs/Header@ignition.msgs.Header
               /string@std_msgs/String@ignition.msgs.StringMsg
               /quaternion@geometry_msgs/Quaternion@ignition.msgs.Quaternion

ros_ign_bridge/test/publishers/ign_publisher.cpp

@@ -48,6 +48,15 @@ int main(int /*argc*/, char **/*argv*/)
   // Create a transport node and advertise a topic.
   ignition::transport::Node node;
 
+  // ignition::msgs::Boolean.
+  auto bool_pub = node.Advertise<ignition::msgs::Boolean>("bool");
+  ignition::msgs::Boolean bool_msg;
+  ros_ign_bridge::testing::createTestMsg(bool_msg);
+
+  // ignition::msgs::Empty.
+  auto empty_pub = node.Advertise<ignition::msgs::Empty>("empty");
+  ignition::msgs::Empty empty_msg;
+
   // ignition::msgs::Float.
   auto float_pub = node.Advertise<ignition::msgs::Float>("float");
   ignition::msgs::Float float_msg;
@@ -170,6 +179,8 @@ int main(int /*argc*/, char **/*argv*/)
   // Publish messages at 1Hz.
   while (!g_terminatePub)
   {
+    bool_pub.Publish(bool_msg);
+    empty_pub.Publish(empty_msg);
     float_pub.Publish(float_msg);
     header_pub.Publish(header_msg);
     string_pub.Publish(string_msg);

ros_ign_bridge/test/publishers/ros_publisher.cpp

@@ -15,6 +15,7 @@
 #include <thread>
 
 #include <ros/ros.h>
+#include <std_msgs/Bool.h>
 #include <std_msgs/Float32.h>
 #include <std_msgs/Header.h>
 #include <std_msgs/String.h>
@@ -46,6 +47,15 @@ int main(int argc, char ** argv)
   ros::NodeHandle n;
   ros::Rate loop_rate(1);
 
+  // std_msgs::Bool.
+  ros::Publisher bool_pub = n.advertise<std_msgs::Bool>("bool", 1000);
+  std_msgs::Bool bool_msg;
+  ros_ign_bridge::testing::createTestMsg(bool_msg);
+
+  // std_msgs::Empty.
+  ros::Publisher empty_pub = n.advertise<std_msgs::Empty>("empty", 1000);
+  std_msgs::Empty empty_msg;
+
   // std_msgs::Float32.
   ros::Publisher float_pub = n.advertise<std_msgs::Float32>("float", 1000);
   std_msgs::Float32 float_msg;
@@ -184,6 +194,8 @@ int main(int argc, char ** argv)
   while (ros::ok())
   {
     // Publish all messages.
+    bool_pub.publish(bool_msg);
+    empty_pub.publish(empty_msg);
     float_pub.publish(float_msg);
     header_pub.publish(header_msg);
     string_pub.publish(string_msg);

ros_ign_bridge/test/subscribers/ign_subscriber.cpp

@@ -47,6 +47,30 @@ class MyTestClass
   private: ignition::transport::Node node;
 };
 
+/////////////////////////////////////////////////
+TEST(IgnSubscriberTest, Boolean)
+{
+  MyTestClass<ignition::msgs::Boolean> client("bool");
+
+  using namespace std::chrono_literals;
+  ros_ign_bridge::testing::waitUntilBoolVar(
+    client.callbackExecuted, 10ms, 200);
+
+  EXPECT_TRUE(client.callbackExecuted);
+}
+
+/////////////////////////////////////////////////
+TEST(IgnSubscriberTest, Empty)
+{
+  MyTestClass<ignition::msgs::Empty> client("empty");
+
+  using namespace std::chrono_literals;
+  ros_ign_bridge::testing::waitUntilBoolVar(
+    client.callbackExecuted, 10ms, 200);
+
+  EXPECT_TRUE(client.callbackExecuted);
+}
+
 /////////////////////////////////////////////////
 TEST(IgnSubscriberTest, Float)
 {

ros_ign_bridge/test/subscribers/ros_subscriber.cpp

@@ -17,6 +17,7 @@
 
 #include <gtest/gtest.h>
 #include <ros/ros.h>
+#include <std_msgs/Bool.h>
 #include <std_msgs/Float32.h>
 #include <std_msgs/Header.h>
 #include <std_msgs/String.h>
@@ -70,6 +71,30 @@ class MyTestClass
   private: ros::Subscriber sub;
 };
 
+/////////////////////////////////////////////////
+TEST(ROSSubscriberTest, Bool)
+{
+  MyTestClass<std_msgs::Bool> client("bool");
+
+  using namespace std::chrono_literals;
+  ros_ign_bridge::testing::waitUntilBoolVarAndSpin(
+    client.callbackExecuted, 10ms, 200);
+
+  EXPECT_TRUE(client.callbackExecuted);
+}
+
+/////////////////////////////////////////////////
+TEST(ROSSubscriberTest, Empty)
+{
+  MyTestClass<std_msgs::Empty> client("empty");
+
+  using namespace std::chrono_literals;
+  ros_ign_bridge::testing::waitUntilBoolVarAndSpin(
+    client.callbackExecuted, 10ms, 200);
+
+  EXPECT_TRUE(client.callbackExecuted);
+}
+
 /////////////////////////////////////////////////
 TEST(ROSSubscriberTest, Float)
 {

ros_ign_bridge/test/test_utils.h

@@ -20,6 +20,8 @@
 
 #include <gtest/gtest.h>
 #include <ros/ros.h>
+#include <std_msgs/Bool.h>
+#include <std_msgs/Empty.h>
 #include <std_msgs/Float32.h>
 #include <std_msgs/Header.h>
 #include <std_msgs/String.h>
@@ -104,6 +106,29 @@ namespace testing
   /// ROS test utils
   //////////////////////////////////////////////////
 
+  /// \brief Create a message used for testing.
+  /// \param[out] _msg The message populated.
+  void createTestMsg(std_msgs::Bool &_msg)
+  {
+    _msg.data = true;
+  }
+
+  /// \brief Compare a message with the populated for testing.
+  /// \param[in] _msg The message to compare.
+  void compareTestMsg(const std_msgs::Bool &_msg)
+  {
+    std_msgs::Bool expected_msg;
+    createTestMsg(expected_msg);
+
+    EXPECT_EQ(expected_msg.data, _msg.data);
+  }
+
+  /// \brief Compare a message with the populated for testing. Noop for Empty
+  /// \param[in] _msg The message to compare.
+  void compareTestMsg(const std_msgs::Empty &)
+  {
+  }
+
   /// \brief Create a message used for testing.
   /// \param[out] _msg The message populated.
   void createTestMsg(std_msgs::Float32 &_msg)
@@ -772,6 +797,29 @@ namespace testing
   /// Ignition::msgs test utils
   //////////////////////////////////////////////////
 
+  /// \brief Create a message used for testing.
+  /// \param[out] _msg The message populated.
+  void createTestMsg(ignition::msgs::Boolean &_msg)
+  {
+    _msg.set_data(true);
+  }
+
+  /// \brief Compare a message with the populated for testing.
+  /// \param[in] _msg The message to compare.
+  void compareTestMsg(const ignition::msgs::Boolean &_msg)
+  {
+    ignition::msgs::Boolean expected_msg;
+    createTestMsg(expected_msg);
+
+    EXPECT_EQ(expected_msg.data(), _msg.data());
+  }
+
+  /// \brief Compare a message with the populated for testing. Noop for Empty
+  /// \param[in] _msg The message to compare.
+  void compareTestMsg(const ignition::msgs::Empty &)
+  {
+  }
+
   /// \brief Create a message used for testing.
   /// \param[out] _msg The message populated.
   void createTestMsg(ignition::msgs::Float &_msg)