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Humbly bringing the Joy to gazebo. #353

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Jan 13, 2023
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Humbly bringing the Joy to gazebo. #353

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1 change: 1 addition & 0 deletions .gitignore
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@@ -1 +1,2 @@
**/__pycache__
.vscode
1 change: 1 addition & 0 deletions ros_gz_bridge/README.md
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Expand Up @@ -51,6 +51,7 @@ The following message types can be bridged for topics:
| sensor_msgs/msg/Imu | ignition::msgs::IMU |
| sensor_msgs/msg/Image | ignition::msgs::Image |
| sensor_msgs/msg/JointState | ignition::msgs::Model |
| sensor_msgs/msg/Joy | ignition::msgs::Joy |
| sensor_msgs/msg/LaserScan | ignition::msgs::LaserScan |
| sensor_msgs/msg/MagneticField | ignition::msgs::Magnetometer |
| sensor_msgs/msg/NavSatFixed | ignition::msgs::NavSat |
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14 changes: 14 additions & 0 deletions ros_gz_bridge/include/ros_gz_bridge/convert/sensor_msgs.hpp
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Expand Up @@ -21,6 +21,7 @@
#include <ignition/msgs/fluid_pressure.pb.h>
#include <ignition/msgs/image.pb.h>
#include <ignition/msgs/imu.pb.h>
#include <ignition/msgs/joy.pb.h>
#include <ignition/msgs/laserscan.pb.h>
#include <ignition/msgs/magnetometer.pb.h>
#include <ignition/msgs/model.pb.h>
Expand All @@ -34,6 +35,7 @@
#include <sensor_msgs/msg/image.hpp>
#include <sensor_msgs/msg/imu.hpp>
#include <sensor_msgs/msg/joint_state.hpp>
#include <sensor_msgs/msg/joy.hpp>
#include <sensor_msgs/msg/laser_scan.hpp>
#include <sensor_msgs/msg/magnetic_field.hpp>
#include <sensor_msgs/msg/nav_sat_fix.hpp>
Expand All @@ -45,6 +47,18 @@ namespace ros_gz_bridge
{

// sensor_msgs
template<>
void
convert_ros_to_gz(
const sensor_msgs::msg::Joy & ros_msg,
ignition::msgs::Joy & gz_msg);

template<>
void
convert_gz_to_ros(
const ignition::msgs::Joy & gz_msg,
sensor_msgs::msg::Joy & ros_msg);

template<>
void
convert_ros_to_gz(
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1 change: 1 addition & 0 deletions ros_gz_bridge/ros_gz_bridge/mappings.py
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Expand Up @@ -72,6 +72,7 @@
Mapping('Image', 'Image'),
Mapping('Imu', 'IMU'),
Mapping('JointState', 'Model'),
Mapping('Joy', 'Joy'),
Mapping('LaserScan', 'LaserScan'),
Mapping('MagneticField', 'Magnetometer'),
Mapping('NavSatFix', 'NavSat'),
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34 changes: 34 additions & 0 deletions ros_gz_bridge/src/convert/sensor_msgs.cpp
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Expand Up @@ -323,6 +323,40 @@ convert_gz_to_ros(
}
}

template<>
void
convert_ros_to_gz(
const sensor_msgs::msg::Joy & ros_msg,
ignition::msgs::Joy & gz_msg)
{
convert_ros_to_gz(ros_msg.header, (*gz_msg.mutable_header()));

for (auto i = 0u; i < ros_msg.axes.size(); ++i) {
gz_msg.add_axes(ros_msg.axes[i]);
}

for (auto i = 0u; i < ros_msg.buttons.size(); ++i) {
gz_msg.add_buttons(ros_msg.buttons[i]);
}
}

template<>
void
convert_gz_to_ros(
const ignition::msgs::Joy & gz_msg,
sensor_msgs::msg::Joy & ros_msg)
{
convert_gz_to_ros(gz_msg.header(), ros_msg.header);

for (auto i = 0; i < gz_msg.axes_size(); ++i) {
ros_msg.axes.push_back(gz_msg.axes(i));
}

for (auto i = 0; i < gz_msg.buttons_size(); ++i) {
ros_msg.buttons.push_back(gz_msg.buttons(i));
}
}

template<>
void
convert_ros_to_gz(
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29 changes: 29 additions & 0 deletions ros_gz_bridge/test/utils/gz_test_msg.cpp
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Expand Up @@ -816,6 +816,35 @@ void compareTestMsg(const std::shared_ptr<ignition::msgs::Model> & _msg)
}
}

void createTestMsg(ignition::msgs::Joy & _msg)
{
ignition::msgs::Header header_msg;

createTestMsg(header_msg);
_msg.mutable_header()->CopyFrom(header_msg);

for (int i = 0u; i < 3; ++i) {
_msg.add_axes(0.5);
_msg.add_buttons(0);
}
}

void compareTestMsg(const std::shared_ptr<ignition::msgs::Joy> & _msg)
{
ignition::msgs::Joy expected_msg;
createTestMsg(expected_msg);

compareTestMsg(std::make_shared<ignition::msgs::Header>(_msg->header()));

for (int i = 0; i < expected_msg.axes_size(); ++i) {
EXPECT_FLOAT_EQ(expected_msg.axes(i), _msg->axes(i));
}

for (int i = 0; i < expected_msg.buttons_size(); ++i) {
EXPECT_EQ(expected_msg.buttons(i), _msg->buttons(i));
}
}

void createTestMsg(ignition::msgs::LaserScan & _msg)
{
ignition::msgs::Header header_msg;
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9 changes: 9 additions & 0 deletions ros_gz_bridge/test/utils/gz_test_msg.hpp
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Expand Up @@ -38,6 +38,7 @@
#include <ignition/msgs/int32.pb.h>
#include <ignition/msgs/joint_trajectory.pb.h>
#include <ignition/msgs/joint_wrench.pb.h>
#include <ignition/msgs/joy.pb.h>
#include <ignition/msgs/laserscan.pb.h>
#include <ignition/msgs/light.pb.h>
#include <ignition/msgs/magnetometer.pb.h>
Expand Down Expand Up @@ -257,6 +258,14 @@ void createTestMsg(ignition::msgs::JointWrench & _msg);
/// \param[in] _msg The message to compare.
void compareTestMsg(const std::shared_ptr<ignition::msgs::JointWrench> & _msg);

/// \brief Create a message used for testing.
/// \param[out] _msg The message populated.
void createTestMsg(ignition::msgs::Joy & _msg);

/// \brief Compare a message with the populated for testing.
/// \param[in] _msg The message to compare.
void compareTestMsg(const std::shared_ptr<ignition::msgs::Joy> & _msg);

/// \brief Create a message used for testing.
/// \param[out] _msg The message populated.
void createTestMsg(ignition::msgs::Entity & _msg);
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26 changes: 26 additions & 0 deletions ros_gz_bridge/test/utils/ros_test_msg.cpp
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Expand Up @@ -961,6 +961,32 @@ void compareTestMsg(const std::shared_ptr<sensor_msgs::msg::JointState> & _msg)
}
}

void createTestMsg(sensor_msgs::msg::Joy & _msg)
{
std_msgs::msg::Header header_msg;
createTestMsg(header_msg);

_msg.header = header_msg;
_msg.axes = {0.5, 0.5, 0.5};
_msg.buttons = {0, 0, 0};
}

void compareTestMsg(const std::shared_ptr<sensor_msgs::msg::Joy> & _msg)
{
sensor_msgs::msg::Joy expected_msg;
createTestMsg(expected_msg);

compareTestMsg(_msg->header);

for (auto i = 0u; i < _msg->axes.size(); ++i) {
EXPECT_FLOAT_EQ(expected_msg.buttons[i], _msg->buttons[i]);
}

for (auto i = 0u; i < _msg->buttons.size(); ++i) {
EXPECT_EQ(expected_msg.buttons[i], _msg->buttons[i]);
}
}

void createTestMsg(sensor_msgs::msg::LaserScan & _msg)
{
const unsigned int num_readings = 100u;
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9 changes: 9 additions & 0 deletions ros_gz_bridge/test/utils/ros_test_msg.hpp
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Expand Up @@ -63,6 +63,7 @@
#include <sensor_msgs/msg/image.hpp>
#include <sensor_msgs/msg/imu.hpp>
#include <sensor_msgs/msg/joint_state.hpp>
#include <sensor_msgs/msg/joy.hpp>
#include <sensor_msgs/msg/laser_scan.hpp>
#include <sensor_msgs/msg/magnetic_field.hpp>
#include <sensor_msgs/msg/nav_sat_fix.hpp>
Expand Down Expand Up @@ -459,6 +460,14 @@ void createTestMsg(sensor_msgs::msg::JointState & _msg);
/// \param[in] _msg The message to compare.
void compareTestMsg(const std::shared_ptr<sensor_msgs::msg::JointState> & _msg);

/// \brief Create a message used for testing.
/// \param[out] _msg The message populated.
void createTestMsg(sensor_msgs::msg::Joy & _msg);

/// \brief Compare a message with the populated for testing.
/// \param[in] _msg The message to compare.
void compareTestMsg(const std::shared_ptr<sensor_msgs::msg::Joy> & _msg);

/// \brief Create a message used for testing.
/// \param[out] _msg The message populated.
void createTestMsg(sensor_msgs::msg::LaserScan & _msg);
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2 changes: 1 addition & 1 deletion ros_ign_gazebo_demos/launch/air_pressure.launch.py
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Expand Up @@ -22,7 +22,7 @@


def generate_launch_description():
print("ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!")
print('ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!')

pkg_ros_gz_sim_demos = get_package_share_directory('ros_gz_sim_demos')

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2 changes: 1 addition & 1 deletion ros_ign_gazebo_demos/launch/battery.launch.py
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Expand Up @@ -22,7 +22,7 @@


def generate_launch_description():
print("ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!")
print('ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!')

pkg_ros_gz_sim_demos = get_package_share_directory('ros_gz_sim_demos')

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2 changes: 1 addition & 1 deletion ros_ign_gazebo_demos/launch/camera.launch.py
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Expand Up @@ -22,7 +22,7 @@


def generate_launch_description():
print("ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!")
print('ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!')

pkg_ros_gz_sim_demos = get_package_share_directory('ros_gz_sim_demos')

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2 changes: 1 addition & 1 deletion ros_ign_gazebo_demos/launch/depth_camera.launch.py
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Expand Up @@ -22,7 +22,7 @@


def generate_launch_description():
print("ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!")
print('ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!')

pkg_ros_gz_sim_demos = get_package_share_directory('ros_gz_sim_demos')

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2 changes: 1 addition & 1 deletion ros_ign_gazebo_demos/launch/diff_drive.launch.py
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Expand Up @@ -22,7 +22,7 @@


def generate_launch_description():
print("ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!")
print('ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!')

pkg_ros_gz_sim_demos = get_package_share_directory('ros_gz_sim_demos')

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2 changes: 1 addition & 1 deletion ros_ign_gazebo_demos/launch/gpu_lidar.launch.py
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Expand Up @@ -22,7 +22,7 @@


def generate_launch_description():
print("ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!")
print('ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!')

pkg_ros_gz_sim_demos = get_package_share_directory('ros_gz_sim_demos')

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2 changes: 1 addition & 1 deletion ros_ign_gazebo_demos/launch/gpu_lidar_bridge.launch.py
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Expand Up @@ -22,7 +22,7 @@


def generate_launch_description():
print("ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!")
print('ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!')

pkg_ros_gz_sim_demos = get_package_share_directory('ros_gz_sim_demos')

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2 changes: 1 addition & 1 deletion ros_ign_gazebo_demos/launch/image_bridge.launch.py
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Expand Up @@ -22,7 +22,7 @@


def generate_launch_description():
print("ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!")
print('ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!')

pkg_ros_gz_sim_demos = get_package_share_directory('ros_gz_sim_demos')

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2 changes: 1 addition & 1 deletion ros_ign_gazebo_demos/launch/imu.launch.py
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Expand Up @@ -22,7 +22,7 @@


def generate_launch_description():
print("ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!")
print('ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!')

pkg_ros_gz_sim_demos = get_package_share_directory('ros_gz_sim_demos')

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2 changes: 1 addition & 1 deletion ros_ign_gazebo_demos/launch/joint_states.launch.py
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Expand Up @@ -22,7 +22,7 @@


def generate_launch_description():
print("ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!")
print('ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!')

pkg_ros_gz_sim_demos = get_package_share_directory('ros_gz_sim_demos')

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2 changes: 1 addition & 1 deletion ros_ign_gazebo_demos/launch/magnetometer.launch.py
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Expand Up @@ -22,7 +22,7 @@


def generate_launch_description():
print("ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!")
print('ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!')

pkg_ros_gz_sim_demos = get_package_share_directory('ros_gz_sim_demos')

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2 changes: 1 addition & 1 deletion ros_ign_gazebo_demos/launch/rgbd_camera.launch.py
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Expand Up @@ -22,7 +22,7 @@


def generate_launch_description():
print("ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!")
print('ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!')

pkg_ros_gz_sim_demos = get_package_share_directory('ros_gz_sim_demos')

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2 changes: 1 addition & 1 deletion ros_ign_gazebo_demos/launch/rgbd_camera_bridge.launch.py
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Expand Up @@ -22,7 +22,7 @@


def generate_launch_description():
print("ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!")
print('ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!')

pkg_ros_gz_sim_demos = get_package_share_directory('ros_gz_sim_demos')

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2 changes: 1 addition & 1 deletion ros_ign_gazebo_demos/launch/robot_description_publisher.launch.py
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def generate_launch_description():
print("ros_ign_gazebo_demos is deprecated!Please use ros_gz_sim_demos instead!")
print('ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!')

pkg_ros_gz_sim_demos = get_package_share_directory('ros_gz_sim_demos')

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2 changes: 1 addition & 1 deletion ros_ign_gazebo_demos/launch/tf_bridge.launch.py
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def generate_launch_description():
print("ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!")
print('ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!')

pkg_ros_gz_sim_demos = get_package_share_directory('ros_gz_sim_demos')

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2 changes: 1 addition & 1 deletion ros_ign_gazebo_demos/launch/triggered_camera.launch.py
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Expand Up @@ -22,7 +22,7 @@


def generate_launch_description():
print("ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!")
print('ros_ign_gazebo_demos is deprecated! Please use ros_gz_sim_demos instead!')

pkg_ros_gz_sim_demos = get_package_share_directory('ros_gz_sim_demos')

Expand Down