Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

msg: urtps: change the topic Data Type name to match expected on ROS2 #13907

Merged
merged 1 commit into from
Jan 10, 2020
Merged

msg: urtps: change the topic Data Type name to match expected on ROS2 #13907

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
11 changes: 9 additions & 2 deletions msg/templates/urtps/Publisher.cpp.em
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -95,13 +95,20 @@ bool @(topic)_Publisher::init()
if(mp_participant == nullptr)
return false;

@[if ros2_distro and (ros2_distro == "dashing" or ros2_distro == "eloquent")]@
// Type name should match the expected type name on ROS2
// Note: the change is being done here since the 'fastrtpsgen' example
// generator does not allow to change the type naming on the template
@(topic)DataType.setName("@(package)::msg::dds_::@(topic)_");
@[end if]@

// Register the type
Domain::registerType(mp_participant, static_cast<TopicDataType*>(&myType));
Domain::registerType(mp_participant, static_cast<TopicDataType*>(&@(topic)DataType));

// Create Publisher
PublisherAttributes Wparam;
Wparam.topic.topicKind = NO_KEY;
Wparam.topic.topicDataType = myType.getName(); //This type MUST be registered
Wparam.topic.topicDataType = @(topic)DataType.getName();
@[if ros2_distro]@
@[ if ros2_distro == "ardent"]@
Wparam.qos.m_partition.push_back("rt");
Expand Down
8 changes: 4 additions & 4 deletions msg/templates/urtps/Publisher.h.em
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -111,15 +111,15 @@ private:
} m_listener;
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
@[ if ros2_distro]@
@(package)::msg::dds_::@(topic)_PubSubType myType;
@(package)::msg::dds_::@(topic)_PubSubType @(topic)DataType;
@[ else]@
@(topic)_PubSubType myType;
@(topic)_PubSubType @(topic)DataType;
@[ end if]@
@[else]@
@[ if ros2_distro]@
@(package)::msg::@(topic)PubSubType myType;
@(package)::msg::@(topic)PubSubType @(topic)DataType;
@[ else]@
@(topic)PubSubType myType;
@(topic)PubSubType @(topic)DataType;
@[ end if]@
@[end if]@
};
Expand Down
12 changes: 10 additions & 2 deletions msg/templates/urtps/Subscriber.cpp.em
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -94,13 +94,21 @@ bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable* t_send
if(mp_participant == nullptr)
return false;

@[if ros2_distro and (ros2_distro == "dashing" or ros2_distro == "eloquent")]@
// Type name should match the expected type name on ROS2
// Note: the change is being done here since the 'fastrtpsgen' example
// generator does not allow to change the type naming on the template of
// "*PubSubTypes.cpp" file
@(topic)DataType.setName("@(package)::msg::dds_::@(topic)_");
@[end if]@

//Register the type
Domain::registerType(mp_participant, static_cast<TopicDataType*>(&myType));
Domain::registerType(mp_participant, static_cast<TopicDataType*>(&@(topic)DataType));

// Create Subscriber
SubscriberAttributes Rparam;
Rparam.topic.topicKind = NO_KEY;
Rparam.topic.topicDataType = myType.getName(); //Must be registered before the creation of the subscriber
Rparam.topic.topicDataType = @(topic)DataType.getName();
@[if ros2_distro]@
@[ if ros2_distro == "ardent"]@
Rparam.qos.m_partition.push_back("rt");
Expand Down
8 changes: 4 additions & 4 deletions msg/templates/urtps/Subscriber.h.em
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -142,15 +142,15 @@ private:
} m_listener;
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
@[ if ros2_distro]@
@(package)::msg::dds_::@(topic)_PubSubType myType;
@(package)::msg::dds_::@(topic)_PubSubType @(topic)DataType;
@[ else]@
@(topic)_PubSubType myType;
@(topic)_PubSubType @(topic)DataType;
@[ end if]@
@[else]@
@[ if ros2_distro]@
@(package)::msg::@(topic)PubSubType myType;
@(package)::msg::@(topic)PubSubType @(topic)DataType;
@[ else]@
@(topic)PubSubType myType;
@(topic)PubSubType @(topic)DataType;
@[ end if]@
@[end if]@
};
Expand Down