Bridge between msgs::Pose_V and geometry_msgs/PoseArray msg types

[iche033]

🎉 New feature

Summary

Bridges the gz msgs::Pose_V and ros2 geometry_msgs/PoseArray message types

Test it

Updated test. To run:

 colcon test --merge-install --event-handlers console_direct+ --packages-select ros_gz_bridge

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[caguero]

Are we missing the test in gz_test_msg.cpp?

[iche033]

I think we only need to do that if the gz msg type is new and there are no relevant functions in gz_test_msg to create and compare the msg. In this case, gz_test_msg already has these functions for the Pose_V msg type so I didn't have to add them.

When I ran the test, I see that the new conversions should be covered:

3: [test_ros_subscriber-2] [       OK ] ROSSubscriberTest.pose_v_posearray (11 ms)

4: [test_gz_subscriber-2] [       OK ] GzSubscriberTest.pose_v_posearray (10 ms)

[caguero]

I think we only need to do that if the gz msg type is new and there are no relevant functions in gz_test_msg to create and compare the msg. In this case, gz_test_msg already has these functions for the Pose_V msg type so I didn't have to add them.

When I ran the test, I see that the new conversions should be covered:

3: [test_ros_subscriber-2] [       OK ] ROSSubscriberTest.pose_v_posearray (11 ms)

4: [test_gz_subscriber-2] [       OK ] GzSubscriberTest.pose_v_posearray (10 ms)

Cool, I didn't know that was happening now.