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Backport pr (#374) to humble #489

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Jan 23, 2024
Merged

Backport pr (#374) to humble #489

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115 changes: 58 additions & 57 deletions ros_gz_bridge/README.md
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Expand Up @@ -5,63 +5,64 @@ between ROS and Gazebo Transport.

The following message types can be bridged for topics:

| ROS type | Gazebo type |
|--------------------------------------|:--------------------------------------:|
| builtin_interfaces/msg/Time | ignition::msgs::Time |
| std_msgs/msg/Bool | ignition::msgs::Boolean |
| std_msgs/msg/ColorRGBA | ignition::msgs::Color |
| std_msgs/msg/Empty | ignition::msgs::Empty |
| std_msgs/msg/Float32 | ignition::msgs::Float |
| std_msgs/msg/Float64 | ignition::msgs::Double |
| std_msgs/msg/Header | ignition::msgs::Header |
| std_msgs/msg/Int32 | ignition::msgs::Int32 |
| std_msgs/msg/UInt32 | ignition::msgs::UInt32 |
| std_msgs/msg/String | ignition::msgs::StringMsg |
| geometry_msgs/msg/Wrench | ignition::msgs::Wrench |
| geometry_msgs/msg/WrenchStamped | ignition::msgs::Wrench |
| geometry_msgs/msg/Quaternion | ignition::msgs::Quaternion |
| geometry_msgs/msg/Vector3 | ignition::msgs::Vector3d |
| geometry_msgs/msg/Point | ignition::msgs::Vector3d |
| geometry_msgs/msg/Pose | ignition::msgs::Pose |
| geometry_msgs/msg/PoseArray | ignition::msgs::Pose_V |
| geometry_msgs/msg/PoseWithCovariance | ignition::msgs::PoseWithCovariance |
| geometry_msgs/msg/PoseStamped | ignition::msgs::Pose |
| geometry_msgs/msg/Transform | ignition::msgs::Pose |
| geometry_msgs/msg/TransformStamped | ignition::msgs::Pose |
| geometry_msgs/msg/Twist | ignition::msgs::Twist |
| geometry_msgs/msg/TwistStamped | ignition::msgs::Twist |
| geometry_msgs/msg/TwistWithCovariance| ignition::msgs::TwistWithCovariance |
| nav_msgs/msg/Odometry | ignition::msgs::Odometry |
| nav_msgs/msg/Odometry | ignition::msgs::OdometryWithCovariance |
| rcl_interfaces/msg/ParameterValue | ignition::msgs::Any |
| ros_gz_interfaces/msg/Altimeter | ignition::msgs::Altimeter |
| ros_gz_interfaces/msg/Contact | ignition::msgs::Contact |
| ros_gz_interfaces/msg/Contacts | ignition::msgs::Contacts |
| ros_gz_interfaces/msg/Dataframe | ignition::msgs::Dataframe |
| ros_gz_interfaces/msg/Entity | ignition::msgs::Entity |
| ros_gz_interfaces/msg/Float32Array | ignition::msgs::Float_V |
| ros_gz_interfaces/msg/GuiCamera | ignition::msgs::GUICamera |
| ros_gz_interfaces/msg/JointWrench | ignition::msgs::JointWrench |
| ros_gz_interfaces/msg/Light | ignition::msgs::Light |
| ros_gz_interfaces/msg/SensorNoise | ignition::msgs::SensorNoise |
| ros_gz_interfaces/msg/StringVec | ignition::msgs::StringMsg_V |
| ros_gz_interfaces/msg/TrackVisual | ignition::msgs::TrackVisual |
| ros_gz_interfaces/msg/VideoRecord | ignition::msgs::VideoRecord |
| ros_gz_interfaces/msg/WorldControl | ignition::msgs::WorldControl |
| rosgraph_msgs/msg/Clock | ignition::msgs::Clock |
| sensor_msgs/msg/BatteryState | ignition::msgs::BatteryState |
| sensor_msgs/msg/CameraInfo | ignition::msgs::CameraInfo |
| sensor_msgs/msg/FluidPressure | ignition::msgs::FluidPressure |
| sensor_msgs/msg/Imu | ignition::msgs::IMU |
| sensor_msgs/msg/Image | ignition::msgs::Image |
| sensor_msgs/msg/JointState | ignition::msgs::Model |
| sensor_msgs/msg/Joy | ignition::msgs::Joy |
| sensor_msgs/msg/LaserScan | ignition::msgs::LaserScan |
| sensor_msgs/msg/MagneticField | ignition::msgs::Magnetometer |
| sensor_msgs/msg/NavSatFix | ignition::msgs::NavSat |
| sensor_msgs/msg/PointCloud2 | ignition::msgs::PointCloudPacked |
| tf2_msgs/msg/TFMessage | ignition::msgs::Pose_V |
| trajectory_msgs/msg/JointTrajectory | ignition::msgs::JointTrajectory |
| ROS type | Gazebo type |
|---------------------------------------------|:--------------------------------------:|
| builtin_interfaces/msg/Time | ignition::msgs::Time |
| std_msgs/msg/Bool | ignition::msgs::Boolean |
| std_msgs/msg/ColorRGBA | ignition::msgs::Color |
| std_msgs/msg/Empty | ignition::msgs::Empty |
| std_msgs/msg/Float32 | ignition::msgs::Float |
| std_msgs/msg/Float64 | ignition::msgs::Double |
| std_msgs/msg/Header | ignition::msgs::Header |
| std_msgs/msg/Int32 | ignition::msgs::Int32 |
| std_msgs/msg/UInt32 | ignition::msgs::UInt32 |
| std_msgs/msg/String | ignition::msgs::StringMsg |
| geometry_msgs/msg/Wrench | ignition::msgs::Wrench |
| geometry_msgs/msg/WrenchStamped | ignition::msgs::Wrench |
| geometry_msgs/msg/Quaternion | ignition::msgs::Quaternion |
| geometry_msgs/msg/Vector3 | ignition::msgs::Vector3d |
| geometry_msgs/msg/Point | ignition::msgs::Vector3d |
| geometry_msgs/msg/Pose | ignition::msgs::Pose |
| geometry_msgs/msg/PoseArray | ignition::msgs::Pose_V |
| geometry_msgs/msg/PoseWithCovariance | ignition::msgs::PoseWithCovariance |
| geometry_msgs/msg/PoseStamped | ignition::msgs::Pose |
| geometry_msgs/msg/Transform | ignition::msgs::Pose |
| geometry_msgs/msg/TransformStamped | ignition::msgs::Pose |
| geometry_msgs/msg/Twist | ignition::msgs::Twist |
| geometry_msgs/msg/TwistStamped | ignition::msgs::Twist |
| geometry_msgs/msg/TwistWithCovariance | ignition::msgs::TwistWithCovariance |
| geometry_msgs/msg/TwistWithCovarianceStamped| ignition::msgs::TwistWithCovariance |
| nav_msgs/msg/Odometry | ignition::msgs::Odometry |
| nav_msgs/msg/Odometry | ignition::msgs::OdometryWithCovariance |
| rcl_interfaces/msg/ParameterValue | ignition::msgs::Any |
| ros_gz_interfaces/msg/Altimeter | ignition::msgs::Altimeter |
| ros_gz_interfaces/msg/Contact | ignition::msgs::Contact |
| ros_gz_interfaces/msg/Contacts | ignition::msgs::Contacts |
| ros_gz_interfaces/msg/Dataframe | ignition::msgs::Dataframe |
| ros_gz_interfaces/msg/Entity | ignition::msgs::Entity |
| ros_gz_interfaces/msg/Float32Array | ignition::msgs::Float_V |
| ros_gz_interfaces/msg/GuiCamera | ignition::msgs::GUICamera |
| ros_gz_interfaces/msg/JointWrench | ignition::msgs::JointWrench |
| ros_gz_interfaces/msg/Light | ignition::msgs::Light |
| ros_gz_interfaces/msg/SensorNoise | ignition::msgs::SensorNoise |
| ros_gz_interfaces/msg/StringVec | ignition::msgs::StringMsg_V |
| ros_gz_interfaces/msg/TrackVisual | ignition::msgs::TrackVisual |
| ros_gz_interfaces/msg/VideoRecord | ignition::msgs::VideoRecord |
| ros_gz_interfaces/msg/WorldControl | ignition::msgs::WorldControl |
| rosgraph_msgs/msg/Clock | ignition::msgs::Clock |
| sensor_msgs/msg/BatteryState | ignition::msgs::BatteryState |
| sensor_msgs/msg/CameraInfo | ignition::msgs::CameraInfo |
| sensor_msgs/msg/FluidPressure | ignition::msgs::FluidPressure |
| sensor_msgs/msg/Imu | ignition::msgs::IMU |
| sensor_msgs/msg/Image | ignition::msgs::Image |
| sensor_msgs/msg/JointState | ignition::msgs::Model |
| sensor_msgs/msg/Joy | ignition::msgs::Joy |
| sensor_msgs/msg/LaserScan | ignition::msgs::LaserScan |
| sensor_msgs/msg/MagneticField | ignition::msgs::Magnetometer |
| sensor_msgs/msg/NavSatFix | ignition::msgs::NavSat |
| sensor_msgs/msg/PointCloud2 | ignition::msgs::PointCloudPacked |
| tf2_msgs/msg/TFMessage | ignition::msgs::Pose_V |
| trajectory_msgs/msg/JointTrajectory | ignition::msgs::JointTrajectory |

And the following for services:

Expand Down
13 changes: 13 additions & 0 deletions ros_gz_bridge/include/ros_gz_bridge/convert/geometry_msgs.hpp
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Expand Up @@ -36,6 +36,7 @@
#include <geometry_msgs/msg/twist.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>
#include <geometry_msgs/msg/twist_with_covariance.hpp>
#include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>
#include <geometry_msgs/msg/wrench.hpp>
#include <geometry_msgs/msg/wrench_stamped.hpp>

Expand Down Expand Up @@ -189,6 +190,18 @@ convert_gz_to_ros(
const gz::msgs::TwistWithCovariance & gz_msg,
geometry_msgs::msg::TwistWithCovariance & ros_msg);

template<>
void
convert_ros_to_gz(
const geometry_msgs::msg::TwistWithCovarianceStamped & ros_msg,
gz::msgs::TwistWithCovariance & gz_msg);

template<>
void
convert_gz_to_ros(
const gz::msgs::TwistWithCovariance & gz_msg,
geometry_msgs::msg::TwistWithCovarianceStamped & ros_msg);

template<>
void
convert_ros_to_gz(
Expand Down
1 change: 1 addition & 0 deletions ros_gz_bridge/ros_gz_bridge/mappings.py
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Expand Up @@ -42,6 +42,7 @@
Mapping('Twist', 'Twist'),
Mapping('TwistStamped', 'Twist'),
Mapping('TwistWithCovariance', 'TwistWithCovariance'),
Mapping('TwistWithCovarianceStamped', 'TwistWithCovariance'),
Mapping('Wrench', 'Wrench'),
Mapping('WrenchStamped', 'Wrench'),
Mapping('Vector3', 'Vector3d'),
Expand Down
20 changes: 20 additions & 0 deletions ros_gz_bridge/src/convert/geometry_msgs.cpp
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Expand Up @@ -306,6 +306,26 @@ convert_gz_to_ros(
}
}

template<>
void
convert_ros_to_gz(
const geometry_msgs::msg::TwistWithCovarianceStamped & ros_msg,
gz::msgs::TwistWithCovariance & gz_msg)
{
convert_ros_to_gz(ros_msg.header, (*gz_msg.mutable_twist()->mutable_header()));
convert_ros_to_gz(ros_msg.twist, gz_msg);
}

template<>
void
convert_gz_to_ros(
const gz::msgs::TwistWithCovariance & gz_msg,
geometry_msgs::msg::TwistWithCovarianceStamped & ros_msg)
{
convert_gz_to_ros(gz_msg.twist().header(), ros_msg.header);
convert_gz_to_ros(gz_msg, ros_msg.twist);
}

template<>
void
convert_ros_to_gz(
Expand Down
3 changes: 3 additions & 0 deletions ros_gz_bridge/test/utils/gz_test_msg.cpp
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Expand Up @@ -428,12 +428,15 @@ void createTestMsg(gz::msgs::TwistWithCovariance & _msg)
{
gz::msgs::Vector3d linear_msg;
gz::msgs::Vector3d angular_msg;
gz::msgs::Header header_msg;

createTestMsg(linear_msg);
createTestMsg(angular_msg);
createTestMsg(header_msg);

_msg.mutable_twist()->mutable_linear()->CopyFrom(linear_msg);
_msg.mutable_twist()->mutable_angular()->CopyFrom(angular_msg);
_msg.mutable_twist()->mutable_header()->CopyFrom(header_msg);
for (int i = 0; i < 36; i++) {
_msg.mutable_covariance()->add_data(i);
}
Expand Down
12 changes: 12 additions & 0 deletions ros_gz_bridge/test/utils/ros_test_msg.cpp
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Expand Up @@ -477,6 +477,18 @@ void compareTestMsg(const std::shared_ptr<geometry_msgs::msg::TwistWithCovarianc
}
}

void createTestMsg(geometry_msgs::msg::TwistWithCovarianceStamped & _msg)
{
createTestMsg(_msg.header);
createTestMsg(_msg.twist);
}

void compareTestMsg(const std::shared_ptr<geometry_msgs::msg::TwistWithCovarianceStamped> & _msg)
{
compareTestMsg(std::make_shared<geometry_msgs::msg::TwistWithCovariance>(_msg->twist));
compareTestMsg(std::make_shared<std_msgs::msg::Header>(_msg->header));
}

void createTestMsg(geometry_msgs::msg::Wrench & _msg)
{
createTestMsg(_msg.force);
Expand Down
9 changes: 9 additions & 0 deletions ros_gz_bridge/test/utils/ros_test_msg.hpp
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Expand Up @@ -40,6 +40,7 @@
#include <geometry_msgs/msg/twist.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>
#include <geometry_msgs/msg/twist_with_covariance.hpp>
#include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>
#include <geometry_msgs/msg/quaternion.hpp>
#include <geometry_msgs/msg/vector3.hpp>
#include <geometry_msgs/msg/wrench.hpp>
Expand Down Expand Up @@ -314,6 +315,14 @@ void createTestMsg(geometry_msgs::msg::TwistWithCovariance & _msg);
/// \param[in] _msg The message to compare.
void compareTestMsg(const std::shared_ptr<geometry_msgs::msg::TwistWithCovariance> & _msg);

/// \brief Create a message used for testing.
/// \param[out] _msg The message populated.
void createTestMsg(geometry_msgs::msg::TwistWithCovarianceStamped & _msg);

/// \brief Compare a message with the populated for testing.
/// \param[in] _msg The message to compare
void compareTestMsg(const std::shared_ptr<geometry_msgs::msg::TwistWithCovarianceStamped> & _msg);

/// \brief Create a message used for testing.
/// \param[out] _msg The message populated.
void createTestMsg(geometry_msgs::msg::Wrench & _msg);
Expand Down
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