New Light Message, also bridge Color (#187)

Signed-off-by: William Lew <[email protected]>
Signed-off-by: ahcorde <[email protected]>

Co-authored-by: ahcorde <[email protected]>

ros_ign_bridge/README.md

@@ -9,6 +9,7 @@ service calls. Its support is limited to only the following message types:
 | ROS type                             | Ignition Transport type              |
 |--------------------------------------|:------------------------------------:|
 | 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               |
@@ -31,6 +32,7 @@ service calls. Its support is limited to only the following message types:
 | ros_ign_interfaces/msg/Contacts      | ignition::msgs::Contacts             |
 | ros_ign_interfaces/msg/Entity        | ignition::msgs::Entity               |
 | ros_ign_interfaces/msg/JointWrench   | ignition::msgs::JointWrench          |
+| ros_ign_interfaces/msg/Light         | ignition::msgs::Light                |
 | rosgraph_msgs/msg/Clock              | ignition::msgs::Clock                |
 | sensor_msgs/msg/BatteryState         | ignition::msgs::BatteryState         |
 | sensor_msgs/msg/CameraInfo           | ignition::msgs::CameraInfo           |

ros_ign_bridge/include/ros_ign_bridge/convert/ros_ign_interfaces.hpp

@@ -19,12 +19,14 @@
 #include <ros_ign_interfaces/msg/joint_wrench.hpp>
 #include <ros_ign_interfaces/msg/contact.hpp>
 #include <ros_ign_interfaces/msg/contacts.hpp>
+#include <ros_ign_interfaces/msg/light.hpp>
 
 // Ignition messages
 #include <ignition/msgs/entity.pb.h>
 #include <ignition/msgs/joint_wrench.pb.h>
 #include <ignition/msgs/contact.pb.h>
 #include <ignition/msgs/contacts.pb.h>
+#include <ignition/msgs/light.pb.h>
 
 #include <ros_ign_bridge/convert_decl.hpp>
 
@@ -79,6 +81,18 @@ convert_ign_to_ros(
   const ignition::msgs::Contacts & ign_msg,
   ros_ign_interfaces::msg::Contacts & ros_msg);
 
+template<>
+void
+convert_ros_to_ign(
+  const ros_ign_interfaces::msg::Light & ros_msg,
+  ignition::msgs::Light & ign_msg);
+
+template<>
+void
+convert_ign_to_ros(
+  const ignition::msgs::Light & ign_msg,
+  ros_ign_interfaces::msg::Light & ros_msg);
+
 }  // namespace ros_ign_bridge
 
 #endif  // ROS_IGN_BRIDGE__CONVERT__ROS_IGN_INTERFACES_HPP_

ros_ign_bridge/include/ros_ign_bridge/convert/std_msgs.hpp

@@ -16,6 +16,7 @@
 #define ROS_IGN_BRIDGE__CONVERT__STD_MSGS_HPP_
 
 #include <std_msgs/msg/bool.hpp>
+#include <std_msgs/msg/color_rgba.hpp>
 #include <std_msgs/msg/empty.hpp>
 #include <std_msgs/msg/float32.hpp>
 #include <std_msgs/msg/float64.hpp>
@@ -26,6 +27,7 @@
 
 // Ignition messages
 #include <ignition/msgs/boolean.pb.h>
+#include <ignition/msgs/color.pb.h>
 #include <ignition/msgs/empty.pb.h>
 #include <ignition/msgs/float.pb.h>
 #include <ignition/msgs/double.pb.h>
@@ -51,6 +53,18 @@ convert_ign_to_ros(
   const ignition::msgs::Boolean & ign_msg,
   std_msgs::msg::Bool & ros_msg);
 
+template<>
+void
+convert_ros_to_ign(
+  const std_msgs::msg::ColorRGBA & ros_msg,
+  ignition::msgs::Color & ign_msg);
+
+template<>
+void
+convert_ign_to_ros(
+  const ignition::msgs::Color & ign_msg,
+  std_msgs::msg::ColorRGBA & ros_msg);
+
 template<>
 void
 convert_ros_to_ign(

ros_ign_bridge/src/convert/ros_ign_interfaces.cpp

@@ -199,4 +199,81 @@ convert_ign_to_ros(
   }
 }
 
+template<>
+void
+convert_ros_to_ign(
+  const ros_ign_interfaces::msg::Light & ros_msg,
+  ignition::msgs::Light & ign_msg)
+{
+  convert_ros_to_ign(ros_msg.header, (*ign_msg.mutable_header()));
+
+  ign_msg.set_name(ros_msg.name);
+  if (ros_msg.type == 0) {
+    ign_msg.set_type(ignition::msgs::Light_LightType::Light_LightType_POINT);
+  } else if (ros_msg.type == 1) {
+    ign_msg.set_type(ignition::msgs::Light_LightType::Light_LightType_SPOT);
+  } else if (ros_msg.type == 2) {
+    ign_msg.set_type(
+      ignition::msgs::Light_LightType::Light_LightType_DIRECTIONAL);
+  }
+
+  convert_ros_to_ign(ros_msg.pose, *ign_msg.mutable_pose());
+  convert_ros_to_ign(ros_msg.diffuse, *ign_msg.mutable_diffuse());
+  convert_ros_to_ign(ros_msg.specular, *ign_msg.mutable_specular());
+  ign_msg.set_attenuation_constant(ros_msg.attenuation_constant);
+  ign_msg.set_attenuation_linear(ros_msg.attenuation_linear);
+  ign_msg.set_attenuation_quadratic(ros_msg.attenuation_quadratic);
+  convert_ros_to_ign(ros_msg.direction, *ign_msg.mutable_direction());
+  ign_msg.set_range(ros_msg.range);
+  ign_msg.set_cast_shadows(ros_msg.cast_shadows);
+  ign_msg.set_spot_inner_angle(ros_msg.spot_inner_angle);
+  ign_msg.set_spot_outer_angle(ros_msg.spot_outer_angle);
+  ign_msg.set_spot_falloff(ros_msg.spot_falloff);
+
+  ign_msg.set_id(ros_msg.id);
+
+  ign_msg.set_parent_id(ros_msg.parent_id);
+
+  ign_msg.set_intensity(ros_msg.intensity);
+}
+
+template<>
+void
+convert_ign_to_ros(
+  const ignition::msgs::Light & ign_msg,
+  ros_ign_interfaces::msg::Light & ros_msg)
+{
+  convert_ign_to_ros(ign_msg.header(), ros_msg.header);
+
+  ros_msg.name = ign_msg.name();
+  if (ign_msg.type() ==
+    ignition::msgs::Light_LightType::Light_LightType_POINT)
+  {
+    ros_msg.type = 0;
+  } else if (ign_msg.type() == ignition::msgs::Light_LightType::Light_LightType_SPOT) {
+    ros_msg.type = 1;
+  } else if (ign_msg.type() == ignition::msgs::Light_LightType::Light_LightType_DIRECTIONAL) {
+    ros_msg.type = 2;
+  }
+
+  convert_ign_to_ros(ign_msg.pose(), ros_msg.pose);
+  convert_ign_to_ros(ign_msg.diffuse(), ros_msg.diffuse);
+  convert_ign_to_ros(ign_msg.specular(), ros_msg.specular);
+  ros_msg.attenuation_constant = ign_msg.attenuation_constant();
+  ros_msg.attenuation_linear = ign_msg.attenuation_linear();
+  ros_msg.attenuation_quadratic = ign_msg.attenuation_quadratic();
+  convert_ign_to_ros(ign_msg.direction(), ros_msg.direction);
+  ros_msg.range = ign_msg.range();
+  ros_msg.cast_shadows = ign_msg.cast_shadows();
+  ros_msg.spot_inner_angle = ign_msg.spot_inner_angle();
+  ros_msg.spot_outer_angle = ign_msg.spot_outer_angle();
+  ros_msg.spot_falloff = ign_msg.spot_falloff();
+
+  ros_msg.id = ign_msg.id();
+
+  ros_msg.parent_id = ign_msg.parent_id();
+
+  ros_msg.intensity = ign_msg.intensity();
+}
+
 }  // namespace ros_ign_bridge

ros_ign_bridge/src/convert/std_msgs.cpp

@@ -38,6 +38,30 @@ convert_ign_to_ros(
   ros_msg.data = ign_msg.data();
 }
 
+template<>
+void
+convert_ros_to_ign(
+  const std_msgs::msg::ColorRGBA & ros_msg,
+  ignition::msgs::Color & ign_msg)
+{
+  ign_msg.set_r(ros_msg.r);
+  ign_msg.set_g(ros_msg.g);
+  ign_msg.set_b(ros_msg.b);
+  ign_msg.set_a(ros_msg.a);
+}
+
+template<>
+void
+convert_ign_to_ros(
+  const ignition::msgs::Color & ign_msg,
+  std_msgs::msg::ColorRGBA & ros_msg)
+{
+  ros_msg.r = ign_msg.r();
+  ros_msg.g = ign_msg.g();
+  ros_msg.b = ign_msg.b();
+  ros_msg.a = ign_msg.a();
+}
+
 template<>
 void
 convert_ros_to_ign(

ros_ign_bridge/src/factories/ros_ign_interfaces.cpp

@@ -72,6 +72,16 @@ get_factory__ros_ign_interfaces(
       >
     >("ros_ign_interfaces/msg/Contacts", ign_type_name);
   }
+  if ((ros_type_name == "ros_ign_interfaces/msg/Light" ||
+    ros_type_name.empty()) && ign_type_name == "ignition.msgs.Light")
+  {
+    return std::make_shared<
+      Factory<
+        ros_ign_interfaces::msg::Light,
+        ignition::msgs::Light
+      >
+    >("ros_ign_interfaces/msg/Light", ign_type_name);
+  }
   return nullptr;
 }
 
@@ -171,5 +181,28 @@ Factory<
   ros_ign_bridge::convert_ign_to_ros(ign_msg, ros_msg);
 }
 
+template<>
+void
+Factory<
+  ros_ign_interfaces::msg::Light,
+  ignition::msgs::Light
+>::convert_ros_to_ign(
+  const ros_ign_interfaces::msg::Light & ros_msg,
+  ignition::msgs::Light & ign_msg)
+{
+  ros_ign_bridge::convert_ros_to_ign(ros_msg, ign_msg);
+}
+
+template<>
+void
+Factory<
+  ros_ign_interfaces::msg::Light,
+  ignition::msgs::Light
+>::convert_ign_to_ros(
+  const ignition::msgs::Light & ign_msg,
+  ros_ign_interfaces::msg::Light & ros_msg)
+{
+  ros_ign_bridge::convert_ign_to_ros(ign_msg, ros_msg);
+}
 
 }  // namespace ros_ign_bridge

ros_ign_bridge/src/factories/std_msgs.cpp

@@ -39,6 +39,16 @@ get_factory__std_msgs(
       >
     >("std_msgs/msg/Bool", ign_type_name);
   }
+  if ((ros_type_name == "std_msgs/msg/ColorRGBA" ||
+    ros_type_name.empty()) && ign_type_name == "ignition.msgs.Color")
+  {
+    return std::make_shared<
+      Factory<
+        std_msgs::msg::ColorRGBA,
+        ignition::msgs::Color
+      >
+    >("std_msgs/msg/ColorRGBA", ign_type_name);
+  }
   if ((ros_type_name == "std_msgs/msg/Empty" || ros_type_name.empty()) &&
     ign_type_name == "ignition.msgs.Empty")
   {
@@ -136,6 +146,30 @@ Factory<
   ros_ign_bridge::convert_ign_to_ros(ign_msg, ros_msg);
 }
 
+template<>
+void
+Factory<
+  std_msgs::msg::ColorRGBA,
+  ignition::msgs::Color
+>::convert_ros_to_ign(
+  const std_msgs::msg::ColorRGBA & ros_msg,
+  ignition::msgs::Color & ign_msg)
+{
+  ros_ign_bridge::convert_ros_to_ign(ros_msg, ign_msg);
+}
+
+template<>
+void
+Factory<
+  std_msgs::msg::ColorRGBA,
+  ignition::msgs::Color
+>::convert_ign_to_ros(
+  const ignition::msgs::Color & ign_msg,
+  std_msgs::msg::ColorRGBA & ros_msg)
+{
+  ros_ign_bridge::convert_ign_to_ros(ign_msg, ros_msg);
+}
+
 template<>
 void
 Factory<

ros_ign_bridge/test/launch/test_ign_subscriber.launch.py

@@ -40,6 +40,7 @@ def generate_test_description():
         executable='parameter_bridge',
         arguments=[
           '/bool@std_msgs/msg/[email protected]',
+          '/color@std_msgs/msg/[email protected]',
           '/empty@std_msgs/msg/[email protected]',
           '/float@std_msgs/msg/[email protected]',
           '/double@std_msgs/msg/[email protected]',
@@ -61,6 +62,7 @@ def generate_test_description():
           '/entity@ros_ign_interfaces/msg/[email protected]',
           '/contact@ros_ign_interfaces/msg/[email protected]',
           '/contacts@ros_ign_interfaces/msg/[email protected]',
+          '/light@ros_ign_interfaces/msg/[email protected]',
           '/image@sensor_msgs/msg/[email protected]',
           '/camera_info@sensor_msgs/msg/[email protected]',
           '/fluid_pressure@sensor_msgs/msg/[email protected]',

ros_ign_bridge/test/launch/test_ros_subscriber.launch.py

@@ -40,6 +40,7 @@ def generate_test_description():
         executable='parameter_bridge',
         arguments=[
           '/bool@std_msgs/msg/[email protected]',
+          '/color@std_msgs/msg/[email protected]',
           '/empty@std_msgs/msg/[email protected]',
           '/float@std_msgs/msg/[email protected]',
           '/double@std_msgs/msg/[email protected]',
@@ -61,6 +62,7 @@ def generate_test_description():
           '/entity@ros_ign_interfaces/msg/[email protected]',
           '/contact@ros_ign_interfaces/msg/[email protected]',
           '/contacts@ros_ign_interfaces/msg/[email protected]',
+          '/light@ros_ign_interfaces/msg/[email protected]',
           '/image@sensor_msgs/msg/[email protected]',
           '/camera_info@sensor_msgs/msg/[email protected]',
           '/fluid_pressure@sensor_msgs/msg/[email protected]',

ros_ign_bridge/test/publishers/ign_publisher.cpp

@@ -48,6 +48,16 @@ int main(int /*argc*/, char **/*argv*/)
   // Create a transport node and advertise a topic.
   ignition::transport::Node node;
 
+  // ignition::msgs::Color.
+  auto color_pub = node.Advertise<ignition::msgs::Color>("color");
+  ignition::msgs::Color color_msg;
+  ros_ign_bridge::testing::createTestMsg(color_msg);
+
+  // ignition::msgs::Light.
+  auto light_pub = node.Advertise<ignition::msgs::Light>("light");
+  ignition::msgs::Light light_msg;
+  ros_ign_bridge::testing::createTestMsg(light_msg);
+
   // ignition::msgs::Boolean.
   auto bool_pub = node.Advertise<ignition::msgs::Boolean>("bool");
   ignition::msgs::Boolean bool_msg;
@@ -224,6 +234,8 @@ int main(int /*argc*/, char **/*argv*/)
 
   // Publish messages at 1Hz.
   while (!g_terminatePub) {
+    color_pub.Publish(color_msg);
+    light_pub.Publish(light_msg);
     bool_pub.Publish(bool_msg);
     empty_pub.Publish(empty_msg);
     float_pub.Publish(float_msg);