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fix: use ROS2 interfaces instead of ROS1
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@russkel
russkel committed Aug 5, 2022
1 parent 60b8e38 commit 48c04e0
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Showing 7 changed files with 19 additions and 19 deletions.
22 changes: 11 additions & 11 deletions ros2/test/integration/ros2__test_qos.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -124,7 +124,7 @@ class ROS2QoS : public ::testing::Test
ASSERT_EQ(msg_future.wait_for(0s), std::future_status::ready);
xtypes::DynamicData received_msg = msg_future.get();

EXPECT_EQ(received_msg.type().name(), "std_msgs/String");
EXPECT_EQ(received_msg.type().name(), "std_msgs/msg/String");

xtypes::ReadableDynamicDataRef xtypes_msg = received_msg;
typename std_msgs::msg::String::_data_type ros2_field;
Expand Down Expand Up @@ -165,7 +165,7 @@ TEST_F(ROS2QoS, Durability_Incompatible_QoS)
yaml += " mock_to_ros2: { from: mock, to: ros2 }\n";
yaml += " ros2_to_mock: { from: ros2, to: mock }\n";
yaml += "topics:\n";
yaml += " transmit: { type: 'std_msgs/String', route: ros2_to_mock, ";
yaml += " transmit: { type: 'std_msgs/msg/String', route: ros2_to_mock, ";
yaml += " ros2: { qos: { durability: TRANSIENT_LOCAL } } }\n";

set_up(yaml);
Expand All @@ -188,7 +188,7 @@ TEST_F(ROS2QoS, Durability_Compatible_QoS)
yaml += " mock_to_ros2: { from: mock, to: ros2 }\n";
yaml += " ros2_to_mock: { from: ros2, to: mock }\n";
yaml += "topics:\n";
yaml += " transmit: { type: 'std_msgs/String', route: ros2_to_mock, ";
yaml += " transmit: { type: 'std_msgs/msg/String', route: ros2_to_mock, ";
yaml += " ros2: { qos: { durability: VOLATILE } } }\n";

set_up(yaml);
Expand All @@ -211,7 +211,7 @@ TEST_F(ROS2QoS, Deadline_Incompatible_QoS)
yaml += " mock_to_ros2: { from: mock, to: ros2 }\n";
yaml += " ros2_to_mock: { from: ros2, to: mock }\n";
yaml += "topics:\n";
yaml += " transmit: { type: 'std_msgs/String', route: ros2_to_mock, ";
yaml += " transmit: { type: 'std_msgs/msg/String', route: ros2_to_mock, ";
yaml += " ros2: { qos: { deadline: { sec: 1 } } } }\n";

set_up(yaml);
Expand All @@ -234,7 +234,7 @@ TEST_F(ROS2QoS, Deadline_Compatible_QoS)
yaml += " mock_to_ros2: { from: mock, to: ros2 }\n";
yaml += " ros2_to_mock: { from: ros2, to: mock }\n";
yaml += "topics:\n";
yaml += " transmit: { type: 'std_msgs/String', route: ros2_to_mock, ";
yaml += " transmit: { type: 'std_msgs/msg/String', route: ros2_to_mock, ";
yaml += " ros2: { qos: { deadline: { sec: 2 } } } }\n";

set_up(yaml);
Expand All @@ -257,7 +257,7 @@ TEST_F(ROS2QoS, Liveliness_Incompatible_QoS)
yaml += " mock_to_ros2: { from: mock, to: ros2 }\n";
yaml += " ros2_to_mock: { from: ros2, to: mock }\n";
yaml += "topics:\n";
yaml += " transmit: { type: 'std_msgs/String', route: ros2_to_mock, ";
yaml += " transmit: { type: 'std_msgs/msg/String', route: ros2_to_mock, ";
yaml += " ros2: { qos: { liveliness: { kind: MANUAL_BY_TOPIC } } } }\n";

set_up(yaml);
Expand All @@ -280,7 +280,7 @@ TEST_F(ROS2QoS, Liveliness_Compatible_QoS)
yaml += " mock_to_ros2: { from: mock, to: ros2 }\n";
yaml += " ros2_to_mock: { from: ros2, to: mock }\n";
yaml += "topics:\n";
yaml += " transmit: { type: 'std_msgs/String', route: ros2_to_mock, ";
yaml += " transmit: { type: 'std_msgs/msg/String', route: ros2_to_mock, ";
yaml += " ros2: { qos: { liveliness: { kind: AUTOMATIC } } } }\n";

set_up(yaml);
Expand All @@ -303,7 +303,7 @@ TEST_F(ROS2QoS, Lease_Duration_Incompatible_QoS)
yaml += " mock_to_ros2: { from: mock, to: ros2 }\n";
yaml += " ros2_to_mock: { from: ros2, to: mock }\n";
yaml += "topics:\n";
yaml += " transmit: { type: 'std_msgs/String', route: ros2_to_mock, ";
yaml += " transmit: { type: 'std_msgs/msg/String', route: ros2_to_mock, ";
yaml += " ros2: { qos: { liveliness: { sec: 1 } } } }\n";

set_up(yaml);
Expand All @@ -325,7 +325,7 @@ TEST_F(ROS2QoS, Lease_Duration_Compatible_QoS)
yaml += " mock_to_ros2: { from: mock, to: ros2 }\n";
yaml += " ros2_to_mock: { from: ros2, to: mock }\n";
yaml += "topics:\n";
yaml += " transmit: { type: 'std_msgs/String', route: ros2_to_mock, ";
yaml += " transmit: { type: 'std_msgs/msg/String', route: ros2_to_mock, ";
yaml += " ros2: { qos: { liveliness: { sec: 3 } } } }\n";

set_up(yaml);
Expand All @@ -348,7 +348,7 @@ TEST_F(ROS2QoS, Reliability_Incompatible_QoS)
yaml += " mock_to_ros2: { from: mock, to: ros2 }\n";
yaml += " ros2_to_mock: { from: ros2, to: mock }\n";
yaml += "topics:\n";
yaml += " transmit: { type: 'std_msgs/String', route: ros2_to_mock, ";
yaml += " transmit: { type: 'std_msgs/msg/String', route: ros2_to_mock, ";
yaml += " ros2: { qos: { reliability: RELIABLE } } }\n";

set_up(yaml);
Expand All @@ -371,7 +371,7 @@ TEST_F(ROS2QoS, Reliability_Compatible_QoS)
yaml += " mock_to_ros2: { from: mock, to: ros2 }\n";
yaml += " ros2_to_mock: { from: ros2, to: mock }\n";
yaml += "topics:\n";
yaml += " transmit: { type: 'std_msgs/String', route: ros2_to_mock, ";
yaml += " transmit: { type: 'std_msgs/msg/String', route: ros2_to_mock, ";
yaml += " ros2: { qos: { reliability: BEST_EFFORT } } }\n";

set_up(yaml);
Expand Down
2 changes: 1 addition & 1 deletion ros2/test/resources/ros2__domain_change.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,4 +6,4 @@ routes:
domain_5_to_10: { from: ros2_domain5, to: ros2_domain10 }

topics:
string_topic: { type: "std_msgs/String", route: domain_5_to_10 }
string_topic: { type: "std_msgs/msg/String", route: domain_5_to_10 }
4 changes: 2 additions & 2 deletions ros2/test/resources/ros2__geometry_msgs__pubsub.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,5 +7,5 @@ routes:
ros2_to_mock: { from: ros2, to: mock }

topics:
transmit_pose: { type: "geometry_msgs/Pose", route: ros2_to_mock }
echo_pose: { type: "geometry_msgs/Pose", route: mock_to_ros2 }
transmit_pose: { type: "geometry_msgs/msg/Pose", route: ros2_to_mock }
echo_pose: { type: "geometry_msgs/msg/Pose", route: mock_to_ros2 }
4 changes: 2 additions & 2 deletions ros2/test/resources/ros2__geometry_msgs__services.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,5 +7,5 @@ routes:
ros2_srv: { server: ros2, clients: mock }

services:
get_plan: { type: "nav_msgs/GetPlan:request", route: ros2_srv }
echo_plan: { type: "nav_msgs/GetPlan:response", route: mock_srv }
get_plan: { type: "nav_msgs/srv/GetPlan:request", route: ros2_srv }
echo_plan: { type: "nav_msgs/srv/GetPlan:response", route: mock_srv }
2 changes: 1 addition & 1 deletion ros2/test/resources/ros2__websocket__test.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -14,4 +14,4 @@ routes:
ros2_to_websocket: { from: ros2, to: websocket }

topics:
helloworld: { type: "std_msgs/String", route: websocket_to_ros2, remap: {websocket: {type: std_msgs__String}} }
helloworld: { type: "std_msgs/msg/String", route: websocket_to_ros2, remap: {websocket: {type: std_msgs__String}} }
2 changes: 1 addition & 1 deletion utils/ros2-mix-generator/resources/convert__msg.hpp.em
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@ underscore_msg_type = get_header_filename_from_msg_name(camelcase_msg_type)
cpp_msg_type = '{}::msg::{}'.format(
spec.base_type.pkg_name, camelcase_msg_type)

msg_type_string = '{}/{}'.format(
msg_type_string = '{}/msg/{}'.format(
spec.base_type.pkg_name, camelcase_msg_type)

header_guard_parts = [
Expand Down
2 changes: 1 addition & 1 deletion utils/ros2-mix-generator/resources/convert__srv.cpp.em
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@ underscore_srv_type = get_header_filename_from_msg_name(camelcase_srv_type)

cpp_srv_type = '{}::srv::{}'.format(spec.pkg_name, camelcase_srv_type)

srv_type_string = '{}/{}'.format(spec.pkg_name, camelcase_srv_type)
srv_type_string = '{}/srv/{}'.format(spec.pkg_name, camelcase_srv_type)

namespace_parts_srv = [
'convert', spec.pkg_name, 'srv', underscore_srv_type]
Expand Down

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