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Make the bridge aware of both gz and ignition msgs #349

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merged 3 commits into from
Jan 11, 2023
Merged

Make the bridge aware of both gz and ignition msgs #349

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0a4e48d
Make the bridge aware of both gz and ignition msgs
mjcarroll Jan 10, 2023
7090c2d
Use ignition types where relevant
mjcarroll Jan 10, 2023
ceb9d8a
A few more stray gz_type instances
mjcarroll Jan 10, 2023
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8 changes: 6 additions & 2 deletions ros_gz_bridge/resource/get_mappings.cpp.em
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@ get_gz_to_ros_mapping(const std::string & gz_type_name, std::string & ros_type_n
@[end if]@

@[for m in mappings]@
if (gz_type_name == "@(m.gz_string())")
if (gz_type_name == "@(m.gz_string())" || gz_type_name == "@(m.ign_string())")
{
ros_type_name = "@(m.ros2_string())";
return true;
Expand Down Expand Up @@ -68,7 +68,11 @@ get_all_message_mappings_ros_to_gz()
@[for m in mappings]@
{
"@(m.ros2_string())", // ROS 2
"@(m.gz_string())", // Gazebo
"@(m.gz_string())", // Gazebo
},
{
"@(m.ros2_string())", // ROS 2
"@(m.ign_string())", // Gazebo
},
@[end for]@
};
Expand Down
12 changes: 6 additions & 6 deletions ros_gz_bridge/resource/pkg_factories.cpp.em
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Original file line number Diff line number Diff line change
Expand Up @@ -34,12 +34,12 @@ get_factory__@(ros2_package_name)(
{
@[for m in mappings]@
if ((ros_type_name == "@(m.ros2_string())" || ros_type_name.empty()) &&
gz_type_name == "@(m.gz_string())")
(gz_type_name == "@(m.gz_string())" || gz_type_name == "@(m.ign_string())"))
{
return std::make_shared<
Factory<
@(m.ros2_type()),
@(m.gz_type())
@(m.ign_type())
>
>("@(m.ros2_string())", "@(m.gz_string())");
}
Expand All @@ -52,10 +52,10 @@ template<>
void
Factory<
@(m.ros2_type()),
@(m.gz_type())
@(m.ign_type())
>::convert_ros_to_gz(
const @(m.ros2_type()) & ros_msg,
@(m.gz_type()) & gz_msg)
@(m.ign_type()) & gz_msg)
{
ros_gz_bridge::convert_ros_to_gz(ros_msg, gz_msg);
}
Expand All @@ -64,9 +64,9 @@ template<>
void
Factory<
@(m.ros2_type()),
@(m.gz_type())
@(m.ign_type())
>::convert_gz_to_ros(
const @(m.gz_type()) & gz_msg,
const @(m.ign_type()) & gz_msg,
@(m.ros2_type()) & ros_msg)
{
ros_gz_bridge::convert_gz_to_ros(gz_msg, ros_msg);
Expand Down
2 changes: 1 addition & 1 deletion ros_gz_bridge/resource/pkg_factories.hpp.em
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Expand Up @@ -29,7 +29,7 @@ namespace ros_gz_bridge

std::shared_ptr<FactoryInterface>
get_factory__@(ros2_package_name)(
const std::string & ros_type_name,
const std::string & ros_type_name,
const std::string & gz_type_name);

} // namespace ros_gz_bridge
Expand Down
12 changes: 10 additions & 2 deletions ros_gz_bridge/ros_gz_bridge/__init__.py
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Expand Up @@ -36,14 +36,22 @@ def ros2_type(self):
# Return ROS2 type of a message (eg std_msgs::msg::Bool)
return f'{self.ros2_package_name}::msg::{self.ros2_message_name}'

def gz_string(self):
def ign_string(self):
# Return GZ string version of a message (eg ignition.msgs.Bool)
return f'ignition.msgs.{self.gz_message_name}'

def gz_type(self):
def ign_type(self):
# Return GZ type of a message (eg ignition::msgs::Bool)
return f'ignition::msgs::{self.gz_message_name}'

def gz_string(self):
# Return GZ string version of a message (eg ignition.msgs.Bool)
return f'gz.msgs.{self.gz_message_name}'

def gz_type(self):
# Return GZ type of a message (eg ignition::msgs::Bool)
return f'gz::msgs::{self.gz_message_name}'

def unique(self):
return f'{self.gz_message_name.lower()}_{self.ros2_message_name.lower()}'

Expand Down
4 changes: 2 additions & 2 deletions ros_gz_bridge/test/resource/gz_publisher.cpp.em
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Original file line number Diff line number Diff line change
Expand Up @@ -55,8 +55,8 @@ int main(int /*argc*/, char **/*argv*/)
@[for m in mappings]@
// @(m.gz_string()).
auto @(m.unique())_pub =
node.Advertise<@(m.gz_type())>("@(m.unique())");
@(m.gz_type()) @(m.unique())_msg;
node.Advertise<@(m.ign_type())>("@(m.unique())");
@(m.ign_type()) @(m.unique())_msg;
ros_gz_bridge::testing::createTestMsg(@(m.unique())_msg);

@[end for]@
Expand Down
2 changes: 1 addition & 1 deletion ros_gz_bridge/test/resource/gz_subscriber.cpp.em
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Original file line number Diff line number Diff line change
Expand Up @@ -54,7 +54,7 @@ private: ignition::transport::Node node;
/////////////////////////////////////////////////
TEST(GzSubscriberTest, @(m.unique()))
{
MyTestClass<@(m.gz_type())> client("@(m.unique())");
MyTestClass<@(m.ign_type())> client("@(m.unique())");

using namespace std::chrono_literals;
ros_gz_bridge::testing::waitUntilBoolVar(
Expand Down