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Integer support #91

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merged 4 commits into from
Jul 15, 2020
Merged

Integer support #91

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aae52a4
Int32 support
mohamedsayed18 Jul 12, 2020
21bacd7
working Int32 bridge
mohamedsayed18 Jul 13, 2020
c919169
alphabetic order
mohamedsayed18 Jul 14, 2020
0ad186d
readme update
mohamedsayed18 Jul 14, 2020
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1 change: 1 addition & 0 deletions ros_ign_bridge/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@ service calls. Its support is limited to only the following message types:
| std_msgs/Empty | ignition::msgs::Empty |
| std_msgs/Float32 | ignition::msgs::Float |
| std_msgs/Header | ignition::msgs::Header |
| std_msgs/Int32 | ignition::msgs::Int32 |
| std_msgs/String | ignition::msgs::StringMsg |
| geometry_msgs/Quaternion | ignition::msgs::Quaternion |
| geometry_msgs/Vector3 | ignition::msgs::Vector3d |
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19 changes: 19 additions & 0 deletions ros_ign_bridge/include/ros_ign_bridge/builtin_interfaces_factories.hpp
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Expand Up @@ -37,6 +37,7 @@
#include <std_msgs/msg/bool.hpp>
#include <std_msgs/msg/empty.hpp>
#include <std_msgs/msg/float32.hpp>
#include <std_msgs/msg/int32.hpp>
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#include <std_msgs/msg/string.hpp>

// include Ignition Transport messages
Expand Down Expand Up @@ -135,6 +136,24 @@ Factory<
const ignition::msgs::Header & ign_msg,
std_msgs::msg::Header & ros_msg);

template<>
void
Factory<
std_msgs::msg::Int32,
ignition::msgs::Int32
>::convert_ros_to_ign(
const std_msgs::msg::Int32 & ros_msg,
ignition::msgs::Int32 & ign_msg);

template<>
void
Factory<
std_msgs::msg::Int32,
ignition::msgs::Int32
>::convert_ign_to_ros(
const ignition::msgs::Int32 & ign_msg,
std_msgs::msg::Int32 & ros_msg);

template<>
void
Factory<
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13 changes: 13 additions & 0 deletions ros_ign_bridge/include/ros_ign_bridge/convert_builtin_interfaces.hpp
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Expand Up @@ -39,6 +39,7 @@
#include <std_msgs/msg/bool.hpp>
#include <std_msgs/msg/empty.hpp>
#include <std_msgs/msg/float32.hpp>
#include <std_msgs/msg/int32.hpp>
#include <std_msgs/msg/string.hpp>

// include Ignition builtin messages
Expand Down Expand Up @@ -98,6 +99,18 @@ convert_ign_to_ros(
const ignition::msgs::Header & ign_msg,
std_msgs::msg::Header & ros_msg);

template<>
void
convert_ros_to_ign(
const std_msgs::msg::Int32 & ros_msg,
ignition::msgs::Int32 & ign_msg);

template<>
void
convert_ign_to_ros(
const ignition::msgs::Int32 & ign_msg,
std_msgs::msg::Int32 & ros_msg);

template<>
void
convert_ros_to_ign(
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33 changes: 33 additions & 0 deletions ros_ign_bridge/src/builtin_interfaces_factories.cpp
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Expand Up @@ -68,6 +68,16 @@ get_factory_builtin_interfaces(
>
>("std_msgs/msg/Header", ign_type_name);
}
if ((ros_type_name == "std_msgs/msg/Int32" || ros_type_name.empty()) &&
ign_type_name == "ignition.msgs.Int32")
{
return std::make_shared<
Factory<
std_msgs::msg::Int32,
ignition::msgs::Int32
>
>("std_msgs/msg/Int32", ign_type_name);
}
if ((ros_type_name == "std_msgs/msg/String" || ros_type_name.empty()) &&
ign_type_name == "ignition.msgs.StringMsg")
{
Expand Down Expand Up @@ -372,6 +382,29 @@ Factory<
ros_ign_bridge::convert_ign_to_ros(ign_msg, ros_msg);
}

template<>
void
Factory<
std_msgs::msg::Int32,
ignition::msgs::Int32
>::convert_ros_to_ign(
const std_msgs::msg::Int32 & ros_msg,
ignition::msgs::Int32 & ign_msg)
{
ros_ign_bridge::convert_ros_to_ign(ros_msg, ign_msg);
}

template<>
void
Factory<
std_msgs::msg::Int32,
ignition::msgs::Int32
>::convert_ign_to_ros(
const ignition::msgs::Int32 & ign_msg,
std_msgs::msg::Int32 & ros_msg)
{
ros_ign_bridge::convert_ign_to_ros(ign_msg, ros_msg);
}
template<>
void
Factory<
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18 changes: 18 additions & 0 deletions ros_ign_bridge/src/convert_builtin_interfaces.cpp
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Expand Up @@ -115,6 +115,24 @@ convert_ros_to_ign(
newPair->add_value(ros_msg.frame_id);
}

template<>
void
convert_ros_to_ign(
const std_msgs::msg::Int32 & ros_msg,
ignition::msgs::Int32 & ign_msg)
{
ign_msg.set_data(ros_msg.data);
}

template<>
void
convert_ign_to_ros(
const ignition::msgs::Int32 & ign_msg,
std_msgs::msg::Int32 & ros_msg)
{
ros_msg.data = ign_msg.data();
}

template<>
void
convert_ign_to_ros(
Expand Down