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Backport: Add conversion for geometry_msgs/msg/TwistStamped <-> gz.msgs.Twist (#468) #470

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Dec 12, 2023
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Backport: Add conversion for geometry_msgs/msg/TwistStamped <-> gz.msgs.Twist (#468) #470

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1 change: 1 addition & 0 deletions ros_gz_bridge/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@ The following message types can be bridged for topics:
| geometry_msgs/msg/Transform | ignition::msgs::Pose |
| geometry_msgs/msg/TransformStamped | ignition::msgs::Pose |
| geometry_msgs/msg/Twist | ignition::msgs::Twist |
| geometry_msgs/msg/TwistStamped | ignition::msgs::Twist |
| geometry_msgs/msg/TwistWithCovariance| ignition::msgs::TwistWithCovariance |
| nav_msgs/msg/Odometry | ignition::msgs::Odometry |
| nav_msgs/msg/Odometry | ignition::msgs::OdometryWithCovariance |
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2 changes: 1 addition & 1 deletion ros_gz_bridge/bin/ros_gz_bridge_markdown_table
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Expand Up @@ -42,7 +42,7 @@ def main(argv=sys.argv[1:]):

for mapping in mappings(msgs_ver):
rows.append('| {:32}| {:32}|'.format(
mapping.ros2_package_name + '/' + mapping.ros2_message_name,
mapping.ros2_package_name + '/msg/' + mapping.ros2_message_name,
mapping.gz_string()))
print('\n'.join(rows))

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13 changes: 13 additions & 0 deletions ros_gz_bridge/include/ros_gz_bridge/convert/geometry_msgs.hpp
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Expand Up @@ -34,6 +34,7 @@
#include <geometry_msgs/msg/quaternion.hpp>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <geometry_msgs/msg/twist.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>
#include <geometry_msgs/msg/twist_with_covariance.hpp>
#include <geometry_msgs/msg/wrench.hpp>
#include <geometry_msgs/msg/wrench_stamped.hpp>
Expand Down Expand Up @@ -164,6 +165,18 @@ convert_gz_to_ros(
const gz::msgs::Twist & gz_msg,
geometry_msgs::msg::Twist & ros_msg);

template<>
void
convert_ros_to_gz(
const geometry_msgs::msg::TwistStamped & ros_msg,
gz::msgs::Twist & gz_msg);

template<>
void
convert_gz_to_ros(
const gz::msgs::Twist & gz_msg,
geometry_msgs::msg::TwistStamped & 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 @@ -40,6 +40,7 @@
Mapping('Transform', 'Pose'),
Mapping('TransformStamped', 'Pose'),
Mapping('Twist', 'Twist'),
Mapping('TwistStamped', 'Twist'),
Mapping('TwistWithCovariance', 'TwistWithCovariance'),
Mapping('Wrench', 'Wrench'),
Mapping('WrenchStamped', 'Wrench'),
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20 changes: 20 additions & 0 deletions ros_gz_bridge/src/convert/geometry_msgs.cpp
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Expand Up @@ -256,6 +256,26 @@ convert_gz_to_ros(
convert_gz_to_ros(gz_msg.angular(), ros_msg.angular);
}

template<>
void
convert_ros_to_gz(
const geometry_msgs::msg::TwistStamped & ros_msg,
gz::msgs::Twist & gz_msg)
{
convert_ros_to_gz(ros_msg.header, (*gz_msg.mutable_header()));
convert_ros_to_gz(ros_msg.twist, gz_msg);
}

template<>
void
convert_gz_to_ros(
const gz::msgs::Twist & gz_msg,
geometry_msgs::msg::TwistStamped & ros_msg)
{
convert_gz_to_ros(gz_msg.header(), ros_msg.header);
convert_gz_to_ros(gz_msg, ros_msg.twist);
}

template<>
void
convert_ros_to_gz(
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3 changes: 3 additions & 0 deletions ros_gz_bridge/test/utils/gz_test_msg.cpp
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Expand Up @@ -417,6 +417,9 @@ void createTestMsg(gz::msgs::Twist & _msg)

void compareTestMsg(const std::shared_ptr<gz::msgs::Twist> & _msg)
{
if (_msg->has_header()) {
compareTestMsg(std::make_shared<gz::msgs::Header>(_msg->header()));
}
compareTestMsg(std::make_shared<gz::msgs::Vector3d>(_msg->linear()));
compareTestMsg(std::make_shared<gz::msgs::Vector3d>(_msg->angular()));
}
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12 changes: 12 additions & 0 deletions ros_gz_bridge/test/utils/ros_test_msg.cpp
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Expand Up @@ -447,6 +447,18 @@ void compareTestMsg(const std::shared_ptr<geometry_msgs::msg::Twist> & _msg)
compareTestMsg(std::make_shared<geometry_msgs::msg::Vector3>(_msg->angular));
}

void createTestMsg(geometry_msgs::msg::TwistStamped & _msg)
{
createTestMsg(_msg.header);
createTestMsg(_msg.twist);
}

void compareTestMsg(const std::shared_ptr<geometry_msgs::msg::TwistStamped> & _msg)
{
compareTestMsg(std::make_shared<geometry_msgs::msg::Twist>(_msg->twist));
compareTestMsg(std::make_shared<std_msgs::msg::Header>(_msg->header));
}

void createTestMsg(geometry_msgs::msg::TwistWithCovariance & _msg)
{
createTestMsg(_msg.twist.linear);
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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 @@ -38,6 +38,7 @@
#include <geometry_msgs/msg/transform.hpp>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <geometry_msgs/msg/twist.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>
#include <geometry_msgs/msg/twist_with_covariance.hpp>
#include <geometry_msgs/msg/quaternion.hpp>
#include <geometry_msgs/msg/vector3.hpp>
Expand Down Expand Up @@ -297,6 +298,14 @@ void createTestMsg(geometry_msgs::msg::Twist & _msg);
/// \param[in] _msg The message to compare.
void compareTestMsg(const std::shared_ptr<geometry_msgs::msg::Twist> & _msg);

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

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

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