Light Messages

ros_ign_bridge/CMakeLists.txt

@@ -105,6 +105,10 @@ foreach(bridge ${bridge_executables})
   target_link_libraries(${bridge}
     ignition-msgs${IGN_MSGS_VER}::core
     ignition-transport${IGN_TRANSPORT_VER}::core
+    # ros_ign_interfaces libraries
+    -lros_ign_interfaces__rosidl_typesupport_cpp
+    -lros_ign_interfaces__rosidl_typesupport_fastrtps_cpp
+    -lros_ign_interfaces__rosidl_typesupport_introspection_cpp
   )
   ament_target_dependencies(${bridge}
     "geometry_msgs"

ros_ign_bridge/include/ros_ign_bridge/convert.hpp

@@ -50,9 +50,37 @@
 
 #include <ros_ign_bridge/convert_decl.hpp>
 
+#include <ros_ign_interfaces/msg/color.hpp>
+#include <ros_ign_interfaces/msg/light.hpp>
+
 namespace ros_ign_bridge
 {
 
+// ros_ign_interfaces
+template<>
+void
+convert_ros_to_ign(
+  const ros_ign_interfaces::msg::Color & ros_msg,
+  ignition::msgs::Color & ign_msg);
+
+template<>
+void
+convert_ign_to_ros(
+  const ignition::msgs::Color & ign_msg,
+  ros_ign_interfaces::msg::Color & ros_msg);
+
+template<>
+void
+convert_ros_to_ign(
+  const ros_ign_interfaces::msg::Light & ros_msg,
+  ignition::msgs::Light & ign_msg);
+
+template<>
+void
+convert_ign_to_ros(
+  const ignition::msgs::Light & ign_msg,
+  ros_ign_interfaces::msg::Light & ros_msg);
+
 // std_msgs
 template<>
 void

ros_ign_bridge/src/convert.cpp

@@ -50,6 +50,112 @@ std::string frame_id_ign_to_ros(const std::string & frame_id)
   return replace_delimiter(frame_id, "::", "/");
 }
 
+template<>
+void
+convert_ros_to_ign(
+  const ros_ign_interfaces::msg::Color & ros_msg,
+  ignition::msgs::Color & ign_msg)
+{
+  convert_ros_to_ign(ros_msg.header, (*ign_msg.mutable_header()));
+
+  ign_msg.set_r(ros_msg.r);
+  ign_msg.set_g(ros_msg.g);
+  ign_msg.set_b(ros_msg.b);
+  ign_msg.set_a(ros_msg.a);
+}
+
+template<>
+void
+convert_ign_to_ros(
+  const ignition::msgs::Color & ign_msg,
+  ros_ign_interfaces::msg::Color & ros_msg)
+{
+  convert_ign_to_ros(ign_msg.header(), ros_msg.header);
+
+  ros_msg.r = ign_msg.r();
+  ros_msg.g = ign_msg.g();
+  ros_msg.b = ign_msg.b();
+  ros_msg.a = ign_msg.a();
+}
+
+template<>
+void
+convert_ros_to_ign(
+  const ros_ign_interfaces::msg::Light & ros_msg,
+  ignition::msgs::Light & ign_msg)
+{
+  convert_ros_to_ign(ros_msg.header, (*ign_msg.mutable_header()));
+
+  ign_msg.set_name(ros_msg.name);
+  if (ros_msg.type == 0) {
+    ign_msg.set_type(ignition::msgs::Light_LightType::Light_LightType_POINT);
+  } else if (ros_msg.type == 1) {
+    ign_msg.set_type(ignition::msgs::Light_LightType::Light_LightType_SPOT);
+  } else if (ros_msg.type == 2) {
+    ign_msg.set_type(
+        ignition::msgs::Light_LightType::Light_LightType_DIRECTIONAL);
+  }
+
+  convert_ros_to_ign(ros_msg.pose, *ign_msg.mutable_pose());
+  convert_ros_to_ign(ros_msg.diffuse, *ign_msg.mutable_diffuse());
+  convert_ros_to_ign(ros_msg.specular, *ign_msg.mutable_specular());
+  ign_msg.set_attenuation_constant(ros_msg.attenuation_constant);
+  ign_msg.set_attenuation_linear(ros_msg.attenuation_linear);
+  ign_msg.set_attenuation_quadratic(ros_msg.attenuation_quadratic);
+  convert_ros_to_ign(ros_msg.direction, *ign_msg.mutable_direction());
+  ign_msg.set_range(ros_msg.range);
+  ign_msg.set_cast_shadows(ros_msg.cast_shadows);
+  ign_msg.set_spot_inner_angle(ros_msg.spot_inner_angle);
+  ign_msg.set_spot_outer_angle(ros_msg.spot_outer_angle);
+  ign_msg.set_spot_falloff(ros_msg.spot_falloff);
+
+  ign_msg.set_id(ros_msg.id);
+
+  ign_msg.set_parent_id(ros_msg.parent_id);
+
+  ign_msg.set_intensity(ros_msg.intensity);
+}
+
+template<>
+void
+convert_ign_to_ros(
+  const ignition::msgs::Light & ign_msg,
+  ros_ign_interfaces::msg::Light & ros_msg)
+{
+  convert_ign_to_ros(ign_msg.header(), ros_msg.header);
+
+  ros_msg.name = ign_msg.name();
+  if (ign_msg.type() ==
+      ignition::msgs::Light_LightType::Light_LightType_POINT) {
+    ros_msg.type = 0;
+  } else if (ign_msg.type() ==
+      ignition::msgs::Light_LightType::Light_LightType_SPOT) {
+    ros_msg.type = 1;
+  } else if (ign_msg.type() ==
+      ignition::msgs::Light_LightType::Light_LightType_DIRECTIONAL) {
+    ros_msg.type = 2;
+  }
+
+  convert_ign_to_ros(ign_msg.pose(), ros_msg.pose);
+  convert_ign_to_ros(ign_msg.diffuse(), ros_msg.diffuse);
+  convert_ign_to_ros(ign_msg.specular(), ros_msg.specular);
+  ros_msg.attenuation_constant = ign_msg.attenuation_constant();
+  ros_msg.attenuation_linear = ign_msg.attenuation_linear();
+  ros_msg.attenuation_quadratic = ign_msg.attenuation_quadratic();
+  convert_ign_to_ros(ign_msg.direction(), ros_msg.direction);
+  ros_msg.range = ign_msg.range();
+  ros_msg.cast_shadows = ign_msg.cast_shadows();
+  ros_msg.spot_inner_angle = ign_msg.spot_inner_angle();
+  ros_msg.spot_outer_angle = ign_msg.spot_outer_angle();
+  ros_msg.spot_falloff = ign_msg.spot_falloff();
+
+  ros_msg.id = ign_msg.id();
+
+  ros_msg.parent_id = ign_msg.parent_id();
+
+  ros_msg.intensity = ign_msg.intensity();
+}
+
 template<>
 void
 convert_ros_to_ign(

ros_ign_bridge/src/factories.cpp

@@ -27,6 +27,26 @@ get_factory_impl(
   const std::string & ign_type_name)
 {
   // mapping from string to specialized template
+  if ((ros_type_name == "ros_ign_interfaces/msg/Color" || 
+    ros_type_name.empty()) && ign_type_name == "ignition.msgs.Color")
+  {
+    return std::make_shared<
+      Factory<
+        ros_ign_interfaces::msg::Color,
+        ignition::msgs::Color
+      >
+    >("ros_ign_interfaces/msg/Color", ign_type_name);
+  }
+  if ((ros_type_name == "ros_ign_interfaces/msg/Light" || 
+    ros_type_name.empty()) && ign_type_name == "ignition.msgs.Light")
+  {
+    return std::make_shared<
+      Factory<
+        ros_ign_interfaces::msg::Light,
+        ignition::msgs::Light
+      >
+    >("ros_ign_interfaces/msg/Light", ign_type_name);
+  }
   if ((ros_type_name == "std_msgs/msg/Bool" || ros_type_name.empty()) &&
     ign_type_name == "ignition.msgs.Boolean")
   {
@@ -340,6 +360,55 @@ get_factory(
 
 // conversion functions for available interfaces
 
+// ros_ign_interfaces
+template<>
+void
+Factory<
+  ros_ign_interfaces::msg::Color,
+  ignition::msgs::Color
+>::convert_ros_to_ign(
+  const ros_ign_interfaces::msg::Color & ros_msg,
+  ignition::msgs::Color & ign_msg)
+{
+  ros_ign_bridge::convert_ros_to_ign(ros_msg, ign_msg);
+}
+
+template<>
+void
+Factory<
+  ros_ign_interfaces::msg::Color,
+  ignition::msgs::Color
+>::convert_ign_to_ros(
+  const ignition::msgs::Color & ign_msg,
+  ros_ign_interfaces::msg::Color & ros_msg)
+{
+  ros_ign_bridge::convert_ign_to_ros(ign_msg, ros_msg);
+}
+
+template<>
+void
+Factory<
+  ros_ign_interfaces::msg::Light,
+  ignition::msgs::Light
+>::convert_ros_to_ign(
+  const ros_ign_interfaces::msg::Light & ros_msg,
+  ignition::msgs::Light & ign_msg)
+{
+  ros_ign_bridge::convert_ros_to_ign(ros_msg, ign_msg);
+}
+
+template<>
+void
+Factory<
+  ros_ign_interfaces::msg::Light,
+  ignition::msgs::Light
+>::convert_ign_to_ros(
+  const ignition::msgs::Light & ign_msg,
+  ros_ign_interfaces::msg::Light & ros_msg)
+{
+  ros_ign_bridge::convert_ign_to_ros(ign_msg, ros_msg);
+}
+
 // std_msgs
 template<>
 void

ros_ign_bridge/src/factories.hpp

@@ -46,6 +46,9 @@
 // Ignition messages
 #include <ignition/msgs.hh>
 
+#include <ros_ign_interfaces/msg/color.hpp>
+#include <ros_ign_interfaces/msg/light.hpp>
+
 #include <memory>
 #include <string>
 
@@ -60,6 +63,43 @@ get_factory(
 
 // conversion functions for available interfaces
 
+// ros_ign_interfaces
+template<>
+void
+Factory<
+  ros_ign_interfaces::msg::Color,
+  ignition::msgs::Color
+>::convert_ros_to_ign(
+  const ros_ign_interfaces::msg::Color & ros_msg,
+  ignition::msgs::Color & ign_msg);
+
+template<>
+void
+Factory<
+  ros_ign_interfaces::msg::Color,
+  ignition::msgs::Color
+>::convert_ign_to_ros(
+  const ignition::msgs::Color & ign_msg,
+  ros_ign_interfaces::msg::Color & ros_msg);
+
+template<>
+void
+Factory<
+  ros_ign_interfaces::msg::Light,
+  ignition::msgs::Light
+>::convert_ros_to_ign(
+  const ros_ign_interfaces::msg::Light & ros_msg,
+  ignition::msgs::Light & ign_msg);
+
+template<>
+void
+Factory<
+  ros_ign_interfaces::msg::Light,
+  ignition::msgs::Light
+>::convert_ign_to_ros(
+  const ignition::msgs::Light & ign_msg,
+  ros_ign_interfaces::msg::Light & ros_msg);
+
 // std_msgs
 template<>
 void

ros_ign_interfaces/CMakeLists.txt

@@ -16,10 +16,12 @@ find_package(geometry_msgs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
 set(msg_files
+  "msg/Color.msg"
   "msg/Contact.msg"
   "msg/Contacts.msg"
   "msg/Entity.msg"
   "msg/EntityFactory.msg"
+  "msg/Light.msg"
   "msg/WorldControl.msg"
   "msg/WorldReset.msg"
 )

ros_ign_interfaces/msg/Color.msg

@@ -0,0 +1,6 @@
+std_msgs/Header header
+
+float32 r       # Red component
+float32 g       # Green component
+float32 b       # Blue component
+float32 a       # Alpha component

ros_ign_interfaces/msg/Light.msg

@@ -0,0 +1,29 @@
+std_msgs/Header header
+
+string name
+
+# Light type: constant definition
+uint8 POINT       = 0
+uint8 SPOT        = 1
+uint8 DIRECTIONAL = 2
+
+uint8 type
+
+geometry_msgs/Pose pose
+ros_ign_interfaces/Color diffuse
+ros_ign_interfaces/Color specular
+float32 attenuation_constant
+float32 attenuation_linear
+float32 attenuation_quadratic
+geometry_msgs/Vector3 direction
+float32 range
+bool cast_shadows
+float32 spot_inner_angle
+float32 spot_outer_angle
+float32 spot_falloff
+
+uint32 id
+
+uint32 parent_id
+
+float32 intensity