ros-geographic-info · mlautman · Feb 27, 2019 · IanTheEngineer · Aug 12, 2019
diff --git a/geodesy/COLCON_IGNORE b/geodesy/COLCON_IGNORE
diff --git a/geographic_info/COLCON_IGNORE b/geographic_info/COLCON_IGNORE
diff --git a/geographic_msgs/CMakeLists.txt b/geographic_msgs/CMakeLists.txt
@@ -9,14 +9,14 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
-find_package(uuid_msgs REQUIRED)
+find_package(unique_identifier_msgs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(builtin_interfaces REQUIRED)
 
-rosidl_generate_interfaces(${PROJECT_NAME} 
+rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/BoundingBox.msg"
-  "msg/GeographicMapChanges.msg" 
-  "msg/GeographicMap.msg" 
+  "msg/GeographicMapChanges.msg"
+  "msg/GeographicMap.msg"
   "msg/GeoPath.msg"
   "msg/GeoPoint.msg"
   "msg/GeoPointStamped.msg"
@@ -32,33 +32,40 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/GetGeoPath.srv"
   "srv/GetRoutePlan.srv"
   "srv/UpdateGeographicMap.srv"
-  DEPENDENCIES 
+  DEPENDENCIES
   builtin_interfaces
   std_msgs
-  geometry_msgs 
-  uuid_msgs
+  geometry_msgs
+  unique_identifier_msgs
 )
 
 set(INCLUDE_DIRS ${ament_cmake_INCLUDE_DIRS} ${std_msgs_INCLUDE_DIRS}
-  ${geometry_msgs_INCLUDE_DIRS} ${uuid_msgs_INCLUDE_DIRS}
+  ${geometry_msgs_INCLUDE_DIRS} ${unique_identifier_msgs_INCLUDE_DIRS}
   ${rosidl_default_generators_INCLUDE_DIRS})
 include_directories(${INCLUDE_DIRS})
 
 set(LIBRARY_DIRS ${ament_cmake_LIBRARY_DIRS} ${std_msgs_LIBRARY_DIRS}
-  ${geometry_msgs_LIBRARY_DIRS} ${uuid_msgs_LIBRARY_DIRS}
+  ${geometry_msgs_LIBRARY_DIRS} ${unique_identifier_msgs_LIBRARY_DIRS}
   ${rosidl_default_generators_LIBRARY_DIRS})
 
 link_directories(${LIBRARY_DIRS})
 
 set(LIBS ${ament_cmake_LIBRARIES} ${std_msgs_LIBRARIES}
-  ${geometry_msgs_LIBRARIES} ${uuid_msgs_LIBRARIES}
+  ${geometry_msgs_LIBRARIES} ${unique_identifier_msgs_LIBRARIES}
   ${rosidl_default_generators_LIBRARIES})
 
 ament_export_dependencies(ament_cmake)
 ament_export_dependencies(std_msgs)
 ament_export_dependencies(geometry_msgs)
-ament_export_dependencies(uuid_msgs)
+ament_export_dependencies(unique_identifier_msgs)
 ament_export_dependencies(rosidl_default_generators)
+ament_export_dependencies(rosidl_default_runtime)
+
 ament_export_include_directories(${INCLUDE_DIRS})
 
+install(
+  FILES geographic_msgs_mapping_rule.yaml
+  DESTINATION share/${PROJECT_NAME}
+)
+
 ament_package()
diff --git a/geographic_msgs/geographic_msgs_mapping_rule.yaml b/geographic_msgs/geographic_msgs_mapping_rule.yaml
@@ -0,0 +1,8 @@
+# This file defines mappings between ROS 1 and ROS 2 interfaces.
+# It is used with the ros1_bridge to allow for communcation between ROS 1 and ROS 2.
+
+-
+  ros1_package_name: 'uuid_msgs'
+  ros1_message_name: 'UniqueID'
+  ros2_package_name: 'unique_identifier_msgs'
+  ros2_message_name: 'UUID'
diff --git a/geographic_msgs/msg/GeographicMap.msg b/geographic_msgs/msg/GeographicMap.msg
@@ -3,7 +3,7 @@
 std_msgs/Header header            # stamp specifies time
                          # frame_id (normally /map)
 
-uuid_msgs/UniqueID id    # identifier for this map
+unique_identifier_msgs/UUID id    # identifier for this map
 BoundingBox  bounds      # 2D bounding box containing map
 
 WayPoint[]   points      # way-points

diff --git a/geographic_msgs/msg/GeographicMapChanges.msg b/geographic_msgs/msg/GeographicMapChanges.msg
@@ -4,4 +4,4 @@ std_msgs/Header header                   # stamp specifies time of change
                                 # frame_id (normally /map)
 
 GeographicMap diffs             # new and changed points and features
-uuid_msgs/UniqueID[] deletes    # deleted map components
+unique_identifier_msgs/UUID[] deletes    # deleted map components
diff --git a/geographic_msgs/msg/MapFeature.msg b/geographic_msgs/msg/MapFeature.msg
@@ -6,6 +6,6 @@
 #
 # Feature lists may also contain other feature lists as members.
 
-uuid_msgs/UniqueID   id         # Unique feature identifier
-uuid_msgs/UniqueID[] components # Sequence of feature components
+unique_identifier_msgs/UUID   id         # Unique feature identifier
+unique_identifier_msgs/UUID[] components # Sequence of feature components
 KeyValue[] props                # Key/value properties for this feature
diff --git a/geographic_msgs/msg/RouteNetwork.msg b/geographic_msgs/msg/RouteNetwork.msg
@@ -7,7 +7,7 @@
 
 std_msgs/Header          header
 
-uuid_msgs/UniqueID id    # This route network identifier
+unique_identifier_msgs/UUID id    # This route network identifier
 BoundingBox     bounds   # 2D bounding box for network
 
 WayPoint[]      points   # Way points in this network

diff --git a/geographic_msgs/msg/RoutePath.msg b/geographic_msgs/msg/RoutePath.msg
@@ -6,6 +6,6 @@
 
 std_msgs/Header header
 
-uuid_msgs/UniqueID   network    # Route network containing this path
-uuid_msgs/UniqueID[] segments   # Sequence of RouteSegment IDs
+unique_identifier_msgs/UUID   network    # Route network containing this path
+unique_identifier_msgs/UUID[] segments   # Sequence of RouteSegment IDs
 KeyValue[]           props      # Key/value properties
diff --git a/geographic_msgs/msg/RouteSegment.msg b/geographic_msgs/msg/RouteSegment.msg
@@ -4,9 +4,9 @@
 # known path from one way point to another.  If the path is two-way,
 # there will be another RouteSegment with "start" and "end" reversed.
 
-uuid_msgs/UniqueID id           # Unique identifier for this segment
+unique_identifier_msgs/UUID id           # Unique identifier for this segment
 
-uuid_msgs/UniqueID start        # beginning way point of segment
-uuid_msgs/UniqueID end          # ending way point of segment
+unique_identifier_msgs/UUID start        # beginning way point of segment
+unique_identifier_msgs/UUID end          # ending way point of segment
 
 KeyValue[] props                # segment properties
diff --git a/geographic_msgs/msg/WayPoint.msg b/geographic_msgs/msg/WayPoint.msg
@@ -1,5 +1,5 @@
 # Way-point element for a geographic map.
 
-uuid_msgs/UniqueID id   # Unique way-point identifier
+unique_identifier_msgs/UUID id   # Unique way-point identifier
 GeoPoint   position     # Position relative to WGS 84 ellipsoid
 KeyValue[] props        # Key/value properties for this point
diff --git a/geographic_msgs/package.xml b/geographic_msgs/package.xml
@@ -15,21 +15,21 @@
   <url type="repository">https://github.com/ros-geographic-info/geographic_info.git</url>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
   <build_depend>geometry_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
-  <build_depend>uuid_msgs</build_depend>
+  <build_depend>unique_identifier_msgs</build_depend>
 
-  <exec_depend>message_runtime</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>std_msgs</exec_depend>
-  <exec_depend>uuid_msgs</exec_depend>
+  <exec_depend>unique_identifier_msgs</exec_depend>
 
   <member_of_group>rosidl_interface_packages</member_of_group>
- <buildtool_depend>rosidl_default_generators</buildtool_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
+    <ros1_bridge mapping_rules="geographic_msgs_mapping_rule.yaml" />
   </export>
 </package>
diff --git a/geographic_msgs/srv/GetGeoPath.srv b/geographic_msgs/srv/GetGeoPath.srv
@@ -11,7 +11,7 @@ string status                         # more details
 
 geographic_msgs/GeoPath plan          # path to follow
 
-uuid_msgs/UniqueID network            # the uuid of the RouteNetwork
-uuid_msgs/UniqueID start_seg          # the uuid of the starting RouteSegment
-uuid_msgs/UniqueID goal_seg           # the uuid of the ending RouteSegment
+unique_identifier_msgs/UUID network            # the uuid of the RouteNetwork
+unique_identifier_msgs/UUID start_seg          # the uuid of the starting RouteSegment
+unique_identifier_msgs/UUID goal_seg           # the uuid of the ending RouteSegment
 float64 distance                      # the length of the plan
diff --git a/geographic_msgs/srv/GetRoutePlan.srv b/geographic_msgs/srv/GetRoutePlan.srv
@@ -2,9 +2,9 @@
 #
 # Similar to nav_msgs/GetPlan, but constrained to use the route network.
 
-uuid_msgs/UniqueID network      # route network to use
-uuid_msgs/UniqueID start        # starting way point
-uuid_msgs/UniqueID goal         # goal way point
+unique_identifier_msgs/UUID network      # route network to use
+unique_identifier_msgs/UUID start        # starting way point
+unique_identifier_msgs/UUID goal         # goal way point
 
 ---