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

fix: use ROS2 interfaces instead of ROS1 #36

Open
wants to merge 1 commit into
base: main
Choose a base branch
from
Open

fix: use ROS2 interfaces instead of ROS1 #36

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
22 changes: 11 additions & 11 deletions ros2/test/integration/ros2__test_qos.cpp
View file
Open in desktop
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
View file
Open in desktop
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
View file
Open in desktop
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
View file
Open in desktop
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
View file
Open in desktop
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
View file
Open in desktop
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
View file
Open in desktop
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