Merge pull request #1 from azeey/suggestions_486

Suggestions for gazebosim#486
rudislabs · Feb 1, 2024 · c23d136 · c23d136
2 parents e27a19c + 1b8722c
commit c23d136
Showing 1 changed file with 8 additions and 8 deletions.
diff --git a/ros_gz_bridge/src/convert/ros_gz_interfaces.cpp b/ros_gz_bridge/src/convert/ros_gz_interfaces.cpp
@@ -14,10 +14,6 @@
 
 #include "ros_gz_bridge/convert/ros_gz_interfaces.hpp"
 
-#if HAVE_MATERIALCOLOR
-using MCEntityMatch = gz::msgs::MaterialColor::EntityMatch;
-#endif  // HAVE_MATERIALCOLOR
-
 namespace ros_gz_bridge
 {
 
@@ -391,12 +387,14 @@ convert_ros_to_gz(
   const ros_gz_interfaces::msg::MaterialColor & ros_msg,
   gz::msgs::MaterialColor & gz_msg)
 {
+  using EntityMatch = gz::msgs::MaterialColor::EntityMatch;
+
   switch (ros_msg.entity_match) {
     case ros_gz_interfaces::msg::MaterialColor::FIRST:
-      gz_msg.set_entity_match(MCEntityMatch::MaterialColor_EntityMatch_FIRST);
+      gz_msg.set_entity_match(EntityMatch::MaterialColor_EntityMatch_FIRST);
       break;
     case ros_gz_interfaces::msg::MaterialColor::ALL:
-      gz_msg.set_entity_match(MCEntityMatch::MaterialColor_EntityMatch_ALL);
+      gz_msg.set_entity_match(EntityMatch::MaterialColor_EntityMatch_ALL);
       break;
     default:
       std::cerr << "Unsupported entity match type ["
@@ -419,9 +417,11 @@ convert_gz_to_ros(
   const gz::msgs::MaterialColor & gz_msg,
   ros_gz_interfaces::msg::MaterialColor & ros_msg)
 {
-  if (gz_msg.entity_match() == MCEntityMatch::MaterialColor_EntityMatch_FIRST) {
+  using EntityMatch = gz::msgs::MaterialColor::EntityMatch;
+  if (gz_msg.entity_match() == EntityMatch::MaterialColor_EntityMatch_FIRST) {
     ros_msg.entity_match = ros_gz_interfaces::msg::MaterialColor::FIRST;
-  } else if (gz_msg.entity_match() == MCEntityMatch::MaterialColor_EntityMatch_ALL) {
+  } else if (gz_msg.entity_match() ==
+             EntityMatch::MaterialColor_EntityMatch_ALL) {
     ros_msg.entity_match = ros_gz_interfaces::msg::MaterialColor::ALL;
   } else {
     std::cerr << "Unsupported EntityMatch [" <<