Add static bridge for strings

ros2_ign_bridge/CMakeLists.txt

@@ -11,5 +11,47 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+
+find_package(ignition-msgs4 QUIET REQUIRED)
+set(IGN_MSGS_VER ${ignition-msgs4_VERSION_MAJOR})
+
+find_package(ignition-transport7 QUIET REQUIRED)
+set(IGN_TRANSPORT_VER ${ignition-transport7_VERSION_MAJOR})
+
+include_directories(include)
+
+set(common_sources
+  src/convert_builtin_interfaces.cpp
+  src/builtin_interfaces_factories.cpp
+)
+
+set(bridge_executables
+  static_bridge
+)
+
+foreach(bridge ${bridge_executables})
+  add_executable(${bridge}
+    src/${bridge}.cpp
+    ${common_sources}
+  )
+  target_link_libraries(${bridge}
+    ignition-msgs${IGN_MSGS_VER}::core
+    ignition-transport${IGN_TRANSPORT_VER}::core
+  )
+  ament_target_dependencies(${bridge}
+    "rclcpp"
+    "std_msgs"
+  )
+  install(TARGETS ${bridge}
+    DESTINATION lib/${PROJECT_NAME}
+  )
+endforeach()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
 
 ament_package()

ros2_ign_bridge/include/ros2_ign_bridge/bridge.hpp

@@ -0,0 +1,107 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef ROS2_IGN_BRIDGE__BRIDGE_HPP_
+#define ROS2_IGN_BRIDGE__BRIDGE_HPP_
+
+// include Ignition Transport
+#include <ignition/transport/Node.hh>
+
+#include <ros2_ign_bridge/builtin_interfaces_factories.hpp>
+
+#include <memory>
+#include <string>
+
+namespace ros2_ign_bridge
+{
+
+struct BridgeRos2toIgnHandles
+{
+  rclcpp::SubscriptionBase::SharedPtr ros2_subscriber;
+  ignition::transport::Node::Publisher ign_publisher;
+};
+
+struct BridgeIgntoRos2Handles
+{
+  std::shared_ptr<ignition::transport::Node> ign_subscriber;
+  rclcpp::PublisherBase::SharedPtr ros2_publisher;
+};
+
+struct BridgeHandles
+{
+  BridgeRos2toIgnHandles bridgeRos2toIgn;
+  BridgeIgntoRos2Handles bridgeIgntoRos2;
+};
+
+BridgeRos2toIgnHandles
+create_bridge_from_ros2_to_ign(
+  rclcpp::Node::SharedPtr ros2_node,
+  std::shared_ptr<ignition::transport::Node> ign_node,
+  const std::string & ros2_type_name,
+  const std::string & ros2_topic_name,
+  const std::string & ign_type_name,
+  const std::string & ign_topic_name)
+{
+  auto factory = get_factory(ros2_type_name, ign_type_name);
+  auto ign_pub = factory->create_ign_publisher(ign_node, ign_topic_name);
+
+  auto ros2_sub = factory->create_ros2_subscriber(ros2_node, ros2_topic_name, ign_pub);
+
+  BridgeRos2toIgnHandles handles;
+  handles.ros2_subscriber = ros2_sub;
+  handles.ign_publisher = ign_pub;
+  return handles;
+}
+
+BridgeIgntoRos2Handles
+create_bridge_from_ign_to_ros2(
+  std::shared_ptr<ignition::transport::Node> ign_node,
+  rclcpp::Node::SharedPtr ros2_node,
+  const std::string & ign_type_name,
+  const std::string & ign_topic_name,
+  const std::string & ros2_type_name,
+  const std::string & ros2_topic_name)
+{
+  auto factory = get_factory(ros2_type_name, ign_type_name);
+  auto ros2_pub = factory->create_ros2_publisher(ros2_node, ros2_topic_name);
+
+  factory->create_ign_subscriber(ign_node, ign_topic_name, ros2_pub);
+
+  BridgeIgntoRos2Handles handles;
+  handles.ign_subscriber = ign_node;
+  handles.ros2_publisher = ros2_pub;
+  return handles;
+}
+
+BridgeHandles
+create_bidirectional_bridge(
+  rclcpp::Node::SharedPtr ros2_node,
+  std::shared_ptr<ignition::transport::Node> ign_node,
+  const std::string & ros2_type_name,
+  const std::string & ign_type_name,
+  const std::string & topic_name)
+{
+  BridgeHandles handles;
+  handles.bridgeRos2toIgn = create_bridge_from_ros2_to_ign(
+    ros2_node, ign_node,
+    ros2_type_name, topic_name, ign_type_name, topic_name);
+  handles.bridgeIgntoRos2 = create_bridge_from_ign_to_ros2(
+    ign_node, ros2_node,
+    ign_type_name, topic_name, ros2_type_name, topic_name);
+  return handles;
+}
+
+}  // namespace ros2_ign_bridge
+
+#endif  // ROS2_IGN_BRIDGE__BRIDGE_HPP_

ros2_ign_bridge/include/ros2_ign_bridge/builtin_interfaces_factories.hpp

@@ -0,0 +1,65 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef ROS2_IGN_BRIDGE__BUILTIN_INTERFACES_FACTORIES_HPP_
+#define ROS2_IGN_BRIDGE__BUILTIN_INTERFACES_FACTORIES_HPP_
+
+// include ROS 2 messages
+#include <std_msgs/msg/string.hpp>
+
+// include Ignition Transport messages
+#include <ignition/msgs.hh>
+
+#include <ros2_ign_bridge/factory.hpp>
+
+#include <memory>
+#include <string>
+
+namespace ros2_ign_bridge
+{
+
+std::shared_ptr<FactoryInterface>
+get_factory_builtin_interfaces(
+  const std::string & ros2_type_name,
+  const std::string & ign_type_name);
+
+std::shared_ptr<FactoryInterface>
+get_factory(
+  const std::string & ros2_type_name,
+  const std::string & ign_type_name);
+
+// conversion functions for available interfaces
+
+// std_msgs
+template<>
+void
+Factory<
+  std_msgs::msg::String,
+  ignition::msgs::StringMsg
+>::convert_ros2_to_ign(
+  const std_msgs::msg::String & ros2_msg,
+  ignition::msgs::StringMsg & ign_msg);
+
+template<>
+void
+Factory<
+  std_msgs::msg::String,
+  ignition::msgs::StringMsg
+>::convert_ign_to_ros2(
+  const ignition::msgs::StringMsg & ign_msg,
+  std_msgs::msg::String & ros2_msg);
+
+}  // namespace ros2_ign_bridge
+
+#endif  // ROS2_IGN_BRIDGE__BUILTIN_INTERFACES_FACTORIES_HPP_

ros2_ign_bridge/include/ros2_ign_bridge/convert_builtin_interfaces.hpp

@@ -0,0 +1,44 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef ROS2_IGN_BRIDGE__CONVERT_BUILTIN_INTERFACES_HPP_
+#define ROS2_IGN_BRIDGE__CONVERT_BUILTIN_INTERFACES_HPP_
+
+// include ROS 2 builtin messages
+#include <std_msgs/msg/string.hpp>
+
+// include Ignition builtin messages
+#include <ignition/msgs.hh>
+
+#include <ros2_ign_bridge/convert_decl.hpp>
+
+namespace ros2_ign_bridge
+{
+
+// std_msgs
+template<>
+void
+convert_ros2_to_ign(
+  const std_msgs::msg::String & ros2_msg,
+  ignition::msgs::StringMsg & ign_msg);
+
+template<>
+void
+convert_ign_to_ros2(
+  const ignition::msgs::StringMsg & ign_msg,
+  std_msgs::msg::String & ros2_msg);
+
+}  // namespace ros2_ign_bridge
+
+#endif  // ROS2_IGN_BRIDGE__CONVERT_BUILTIN_INTERFACES_HPP_

ros2_ign_bridge/include/ros2_ign_bridge/convert_decl.hpp

@@ -0,0 +1,35 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef ROS2_IGN_BRIDGE__CONVERT_DECL_HPP_
+#define ROS2_IGN_BRIDGE__CONVERT_DECL_HPP_
+
+namespace ros2_ign_bridge
+{
+
+template<typename ROS2_T, typename IGN_T>
+void
+convert_ros2_to_ign(
+  const ROS2_T & ros2_msg,
+  IGN_T & ign_msg);
+
+template<typename ROS2_T, typename IGN_T>
+void
+convert_ign_to_ros2(
+  const IGN_T & ign_msg,
+  ROS2_T & ros2_msg);
+
+}  // namespace ros2_ign_bridge
+
+#endif  // ROS2_IGN_BRIDGE__CONVERT_DECL_HPP_