[ros_ign_interfaces] Add GuiCamera, StringVec, TrackVisual, VideoRecord

ros_ign_bridge/README.md

@@ -31,8 +31,12 @@ service calls. Its support is limited to only the following message types:
 | ros_ign_interfaces/msg/Contact       | ignition::msgs::Contact              |
 | ros_ign_interfaces/msg/Contacts      | ignition::msgs::Contacts             |
 | ros_ign_interfaces/msg/Entity        | ignition::msgs::Entity               |
+| ros_ign_interfaces/msg/GuiCamera     | ignition::msgs::GUICamera            |
 | ros_ign_interfaces/msg/JointWrench   | ignition::msgs::JointWrench          |
 | ros_ign_interfaces/msg/Light         | ignition::msgs::Light                |
+| ros_ign_interfaces/msg/StringVec     | ignition::msgs::StringMsg_V          |
+| ros_ign_interfaces/msg/TrackVisual   | ignition::msgs::TrackVisual          |
+| ros_ign_interfaces/msg/VideoRecord   | ignition::msgs::VideoRecord          |
 | rosgraph_msgs/msg/Clock              | ignition::msgs::Clock                |
 | sensor_msgs/msg/BatteryState         | ignition::msgs::BatteryState         |
 | sensor_msgs/msg/CameraInfo           | ignition::msgs::CameraInfo           |

ros_ign_bridge/include/ros_ign_bridge/convert/ros_ign_interfaces.hpp

@@ -20,14 +20,22 @@
 #include <ignition/msgs/joint_wrench.pb.h>
 #include <ignition/msgs/contact.pb.h>
 #include <ignition/msgs/contacts.pb.h>
+#include <ignition/msgs/gui_camera.pb.h>
 #include <ignition/msgs/light.pb.h>
+#include <ignition/msgs/stringmsg_v.pb.h>
+#include <ignition/msgs/track_visual.pb.h>
+#include <ignition/msgs/video_record.pb.h>
 
 // ROS 2 messages
 #include <ros_ign_interfaces/msg/entity.hpp>
 #include <ros_ign_interfaces/msg/joint_wrench.hpp>
 #include <ros_ign_interfaces/msg/contact.hpp>
 #include <ros_ign_interfaces/msg/contacts.hpp>
+#include <ros_ign_interfaces/msg/gui_camera.hpp>
 #include <ros_ign_interfaces/msg/light.hpp>
+#include <ros_ign_interfaces/msg/string_vec.hpp>
+#include <ros_ign_interfaces/msg/track_visual.hpp>
+#include <ros_ign_interfaces/msg/video_record.hpp>
 
 #include <ros_ign_bridge/convert_decl.hpp>
 
@@ -82,6 +90,18 @@ convert_ign_to_ros(
   const ignition::msgs::Contacts & ign_msg,
   ros_ign_interfaces::msg::Contacts & ros_msg);
 
+template<>
+void
+convert_ros_to_ign(
+  const ros_ign_interfaces::msg::GuiCamera & ros_msg,
+  ignition::msgs::GUICamera & ign_msg);
+
+template<>
+void
+convert_ign_to_ros(
+  const ignition::msgs::GUICamera & ign_msg,
+  ros_ign_interfaces::msg::GuiCamera & ros_msg);
+
 template<>
 void
 convert_ros_to_ign(
@@ -94,6 +114,41 @@ convert_ign_to_ros(
   const ignition::msgs::Light & ign_msg,
   ros_ign_interfaces::msg::Light & ros_msg);
 
+template<>
+void
+convert_ros_to_ign(
+  const ros_ign_interfaces::msg::StringVec & ros_msg,
+  ignition::msgs::StringMsg_V & ign_msg);
+
+template<>
+void
+convert_ign_to_ros(
+  const ignition::msgs::StringMsg_V & ign_msg,
+  ros_ign_interfaces::msg::StringVec & ros_msg);
+
+template<>
+void
+convert_ros_to_ign(
+  const ros_ign_interfaces::msg::TrackVisual & ros_msg,
+  ignition::msgs::TrackVisual & ign_msg);
+
+template<>
+void
+convert_ign_to_ros(
+  const ignition::msgs::TrackVisual & ign_msg,
+  ros_ign_interfaces::msg::TrackVisual & ros_msg);
+
+template<>
+void
+convert_ros_to_ign(
+  const ros_ign_interfaces::msg::VideoRecord & ros_msg,
+  ignition::msgs::VideoRecord & ign_msg);
+
+template<>
+void
+convert_ign_to_ros(
+  const ignition::msgs::VideoRecord & ign_msg,
+  ros_ign_interfaces::msg::VideoRecord & ros_msg);
 }  // namespace ros_ign_bridge
 
 #endif  // ROS_IGN_BRIDGE__CONVERT__ROS_IGN_INTERFACES_HPP_

ros_ign_bridge/src/convert/ros_ign_interfaces.cpp

@@ -199,6 +199,34 @@ convert_ign_to_ros(
   }
 }
 
+template<>
+void
+convert_ros_to_ign(
+  const ros_ign_interfaces::msg::GuiCamera & ros_msg,
+  ignition::msgs::GUICamera & ign_msg)
+{
+  convert_ros_to_ign(ros_msg.header, *ign_msg.mutable_header());
+  ign_msg.set_name(ros_msg.name);
+  ign_msg.set_view_controller(ros_msg.view_controller);
+  convert_ros_to_ign(ros_msg.pose, *ign_msg.mutable_pose());
+  convert_ros_to_ign(ros_msg.track, *ign_msg.mutable_track());
+  ign_msg.set_projection_type(ros_msg.projection_type);
+}
+
+template<>
+void
+convert_ign_to_ros(
+  const ignition::msgs::GUICamera & ign_msg,
+  ros_ign_interfaces::msg::GuiCamera & ros_msg)
+{
+  convert_ign_to_ros(ign_msg.header(), ros_msg.header);
+  ros_msg.name = ign_msg.name();
+  ros_msg.view_controller = ign_msg.view_controller();
+  convert_ign_to_ros(ign_msg.pose(), ros_msg.pose);
+  convert_ign_to_ros(ign_msg.track(), ros_msg.track);
+  ros_msg.projection_type = ign_msg.projection_type();
+}
+
 template<>
 void
 convert_ros_to_ign(
@@ -276,4 +304,91 @@ convert_ign_to_ros(
   ros_msg.intensity = ign_msg.intensity();
 }
 
+template<>
+void
+convert_ros_to_ign(
+  const ros_ign_interfaces::msg::StringVec & ros_msg,
+  ignition::msgs::StringMsg_V & ign_msg)
+{
+  convert_ros_to_ign(ros_msg.header, *ign_msg.mutable_header());
+  for (const auto & elem : ros_msg.data) {
+    auto * new_elem = ign_msg.add_data();
+    *new_elem = elem;
+  }
+}
+
+template<>
+void
+convert_ign_to_ros(
+  const ignition::msgs::StringMsg_V & ign_msg,
+  ros_ign_interfaces::msg::StringVec & ros_msg)
+{
+  convert_ign_to_ros(ign_msg.header(), ros_msg.header);
+  for (const auto & elem : ign_msg.data()) {
+    ros_msg.data.emplace_back(elem);
+  }
+}
+
+template<>
+void
+convert_ros_to_ign(
+  const ros_ign_interfaces::msg::TrackVisual & ros_msg,
+  ignition::msgs::TrackVisual & ign_msg)
+{
+  convert_ros_to_ign(ros_msg.header, *ign_msg.mutable_header());
+  ign_msg.set_name(ros_msg.name);
+  ign_msg.set_id(ros_msg.id);
+  ign_msg.set_inherit_orientation(ros_msg.inherit_orientation);
+  ign_msg.set_min_dist(ros_msg.min_dist);
+  ign_msg.set_max_dist(ros_msg.max_dist);
+  ign_msg.set_static_(ros_msg.is_static);
+  ign_msg.set_use_model_frame(ros_msg.use_model_frame);
+  convert_ros_to_ign(ros_msg.xyz, *ign_msg.mutable_xyz());
+  ign_msg.set_inherit_yaw(ros_msg.inherit_yaw);
+}
+
+template<>
+void
+convert_ign_to_ros(
+  const ignition::msgs::TrackVisual & ign_msg,
+  ros_ign_interfaces::msg::TrackVisual & ros_msg)
+{
+  convert_ign_to_ros(ign_msg.header(), ros_msg.header);
+  ros_msg.name = ign_msg.name();
+  ros_msg.id = ign_msg.id();
+  ros_msg.inherit_orientation = ign_msg.inherit_orientation();
+  ros_msg.min_dist = ign_msg.min_dist();
+  ros_msg.max_dist = ign_msg.max_dist();
+  ros_msg.is_static = ign_msg.static_();
+  ros_msg.use_model_frame = ign_msg.use_model_frame();
+  convert_ign_to_ros(ign_msg.xyz(), ros_msg.xyz);
+  ros_msg.inherit_yaw = ign_msg.inherit_yaw();
+}
+
+template<>
+void
+convert_ros_to_ign(
+  const ros_ign_interfaces::msg::VideoRecord & ros_msg,
+  ignition::msgs::VideoRecord & ign_msg)
+{
+  convert_ros_to_ign(ros_msg.header, *ign_msg.mutable_header());
+  ign_msg.set_start(ros_msg.start);
+  ign_msg.set_stop(ros_msg.stop);
+  ign_msg.set_format(ros_msg.format);
+  ign_msg.set_save_filename(ros_msg.save_filename);
+}
+
+template<>
+void
+convert_ign_to_ros(
+  const ignition::msgs::VideoRecord & ign_msg,
+  ros_ign_interfaces::msg::VideoRecord & ros_msg)
+{
+  convert_ign_to_ros(ign_msg.header(), ros_msg.header);
+  ros_msg.start = ign_msg.start();
+  ros_msg.stop = ign_msg.stop();
+  ros_msg.format = ign_msg.format();
+  ros_msg.save_filename = ign_msg.save_filename();
+}
+
 }  // namespace ros_ign_bridge

ros_ign_bridge/src/factories/ros_ign_interfaces.cpp

@@ -72,6 +72,16 @@ get_factory__ros_ign_interfaces(
       >
     >("ros_ign_interfaces/msg/Contacts", ign_type_name);
   }
+  if ((ros_type_name == "ros_ign_interfaces/msg/GuiCamera" ||
+    ros_type_name.empty()) && ign_type_name == "ignition.msgs.GUICamera")
+  {
+    return std::make_shared<
+      Factory<
+        ros_ign_interfaces::msg::GuiCamera,
+        ignition::msgs::GUICamera
+      >
+    >("ros_ign_interfaces/msg/GuiCamera", ign_type_name);
+  }
   if ((ros_type_name == "ros_ign_interfaces/msg/Light" ||
     ros_type_name.empty()) && ign_type_name == "ignition.msgs.Light")
   {
@@ -82,6 +92,36 @@ get_factory__ros_ign_interfaces(
       >
     >("ros_ign_interfaces/msg/Light", ign_type_name);
   }
+  if ((ros_type_name == "ros_ign_interfaces/msg/StringVec" ||
+    ros_type_name.empty()) && ign_type_name == "ignition.msgs.StringMsg_V")
+  {
+    return std::make_shared<
+      Factory<
+        ros_ign_interfaces::msg::StringVec,
+        ignition::msgs::StringMsg_V
+      >
+    >("ros_ign_interfaces/msg/StringVec", ign_type_name);
+  }
+  if ((ros_type_name == "ros_ign_interfaces/msg/TrackVisual" ||
+    ros_type_name.empty()) && ign_type_name == "ignition.msgs.TrackVisual")
+  {
+    return std::make_shared<
+      Factory<
+        ros_ign_interfaces::msg::TrackVisual,
+        ignition::msgs::TrackVisual
+      >
+    >("ros_ign_interfaces/msg/TrackVisual", ign_type_name);
+  }
+  if ((ros_type_name == "ros_ign_interfaces/msg/VideoRecord" ||
+    ros_type_name.empty()) && ign_type_name == "ignition.msgs.VideoRecord")
+  {
+    return std::make_shared<
+      Factory<
+        ros_ign_interfaces::msg::VideoRecord,
+        ignition::msgs::VideoRecord
+      >
+    >("ros_ign_interfaces/msg/VideoRecord", ign_type_name);
+  }
   return nullptr;
 }
 
@@ -181,6 +221,30 @@ Factory<
   ros_ign_bridge::convert_ign_to_ros(ign_msg, ros_msg);
 }
 
+template<>
+void
+Factory<
+  ros_ign_interfaces::msg::GuiCamera,
+  ignition::msgs::GUICamera
+>::convert_ros_to_ign(
+  const ros_ign_interfaces::msg::GuiCamera & ros_msg,
+  ignition::msgs::GUICamera & ign_msg)
+{
+  ros_ign_bridge::convert_ros_to_ign(ros_msg, ign_msg);
+}
+
+template<>
+void
+Factory<
+  ros_ign_interfaces::msg::GuiCamera,
+  ignition::msgs::GUICamera
+>::convert_ign_to_ros(
+  const ignition::msgs::GUICamera & ign_msg,
+  ros_ign_interfaces::msg::GuiCamera & ros_msg)
+{
+  ros_ign_bridge::convert_ign_to_ros(ign_msg, ros_msg);
+}
+
 template<>
 void
 Factory<
@@ -205,4 +269,75 @@ Factory<
   ros_ign_bridge::convert_ign_to_ros(ign_msg, ros_msg);
 }
 
+template<>
+void
+Factory<
+  ros_ign_interfaces::msg::StringVec,
+  ignition::msgs::StringMsg_V
+>::convert_ros_to_ign(
+  const ros_ign_interfaces::msg::StringVec & ros_msg,
+  ignition::msgs::StringMsg_V & ign_msg)
+{
+  ros_ign_bridge::convert_ros_to_ign(ros_msg, ign_msg);
+}
+
+template<>
+void
+Factory<
+  ros_ign_interfaces::msg::StringVec,
+  ignition::msgs::StringMsg_V
+>::convert_ign_to_ros(
+  const ignition::msgs::StringMsg_V & ign_msg,
+  ros_ign_interfaces::msg::StringVec & ros_msg)
+{
+  ros_ign_bridge::convert_ign_to_ros(ign_msg, ros_msg);
+}
+
+template<>
+void
+Factory<
+  ros_ign_interfaces::msg::TrackVisual,
+  ignition::msgs::TrackVisual
+>::convert_ros_to_ign(
+  const ros_ign_interfaces::msg::TrackVisual & ros_msg,
+  ignition::msgs::TrackVisual & ign_msg)
+{
+  ros_ign_bridge::convert_ros_to_ign(ros_msg, ign_msg);
+}
+
+template<>
+void
+Factory<
+  ros_ign_interfaces::msg::TrackVisual,
+  ignition::msgs::TrackVisual
+>::convert_ign_to_ros(
+  const ignition::msgs::TrackVisual & ign_msg,
+  ros_ign_interfaces::msg::TrackVisual & ros_msg)
+{
+  ros_ign_bridge::convert_ign_to_ros(ign_msg, ros_msg);
+}
+
+template<>
+void
+Factory<
+  ros_ign_interfaces::msg::VideoRecord,
+  ignition::msgs::VideoRecord
+>::convert_ros_to_ign(
+  const ros_ign_interfaces::msg::VideoRecord & ros_msg,
+  ignition::msgs::VideoRecord & ign_msg)
+{
+  ros_ign_bridge::convert_ros_to_ign(ros_msg, ign_msg);
+}
+
+template<>
+void
+Factory<
+  ros_ign_interfaces::msg::VideoRecord,
+  ignition::msgs::VideoRecord
+>::convert_ign_to_ros(
+  const ignition::msgs::VideoRecord & ign_msg,
+  ros_ign_interfaces::msg::VideoRecord & ros_msg)
+{
+  ros_ign_bridge::convert_ign_to_ros(ign_msg, ros_msg);
+}
 }  // namespace ros_ign_bridge

ros_ign_bridge/test/launch/test_ign_subscriber.launch.py

@@ -63,6 +63,10 @@ def generate_test_description():
           '/contact@ros_ign_interfaces/msg/Contact@ignition.msgs.Contact',
           '/contacts@ros_ign_interfaces/msg/Contacts@ignition.msgs.Contacts',
           '/light@ros_ign_interfaces/msg/Light@ignition.msgs.Light',
+          '/gui_camera@ros_ign_interfaces/msg/GuiCamera@ignition.msgs.GUICamera',
+          '/stringmsg_v@ros_ign_interfaces/msg/StringVec@ignition.msgs.StringMsg_V',
+          '/track_visual@ros_ign_interfaces/msg/TrackVisual@ignition.msgs.TrackVisual',
+          '/video_record@ros_ign_interfaces/msg/VideoRecord@ignition.msgs.VideoRecord',
           '/image@sensor_msgs/msg/Image@ignition.msgs.Image',
           '/camera_info@sensor_msgs/msg/CameraInfo@ignition.msgs.CameraInfo',
           '/fluid_pressure@sensor_msgs/msg/FluidPressure@ignition.msgs.FluidPressure',