Merge pull request #1 from pal-robotics-forks/action_bridge

Action bridge
ros2 · Nov 17, 2020 · 469b025 · 469b025
2 parents c4be41c + 6b945fb
commit 469b025
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Showing 3 changed files with 17 additions and 11 deletions.
diff --git a/include/ros1_bridge/action_factory.hpp b/include/ros1_bridge/action_factory.hpp
@@ -136,11 +136,14 @@ class ActionFactory_1_2 : public ActionFactoryInterface
                 return;
             }
 
+            // goal_response_callback signature changed after foxy, this implementation
+            // works with both
+            std::shared_future<ROS2GoalHandle> gh2_future;
             //Changes as per Dashing
             auto send_goal_ops = ROS2SendGoalOptions();
             send_goal_ops.goal_response_callback =
-                [this](auto gh2_future) mutable {
-                    auto goal_handle = gh2_future.get();
+                [this, &gh2_future](auto gh2) mutable {
+		    auto goal_handle = gh2_future.get();
                     if (!goal_handle)
                     {
                         gh1_.setRejected(); // goal was not accepted by remote server
@@ -168,7 +171,7 @@ class ActionFactory_1_2 : public ActionFactoryInterface
                 };
 
             // send goal to ROS2 server, set-up feedback
-            auto gh2_future = client_->async_send_goal(goal2, send_goal_ops);
+            gh2_future = client_->async_send_goal(goal2, send_goal_ops);
 
             auto future_result = client_->async_get_result(gh2_future.get());
             auto res2 = future_result.get();

diff --git a/ros1_bridge/__init__.py b/ros1_bridge/__init__.py
@@ -154,6 +154,7 @@ def generate_cpp(output_path, template_dir):
                     'interface': interface,
                     'mapped_msgs': [],
                     'mapped_services': [],
+                    'mapped_actions': [],
                 }
                 if interface_type == 'msg':
                     data_idl_cpp['mapped_msgs'] += [
@@ -164,12 +165,13 @@ def generate_cpp(output_path, template_dir):
                     data_idl_cpp['mapped_services'] += [
                         s for s in data['services']
                         if s['ros2_package'] == ros2_package_name and
-                        s['ros2_name'] == interface.message_name],
-                    'mapped_actions': [
+                        s['ros2_name'] == interface.message_name]
+                if interface_type == 'action':
+                    data_idl_cpp['mapped_actions'] += [
                         s for s in data['actions']
                         if s['ros2_package'] == ros2_package_name and
-                        s['ros2_name'] == interface.message_name],
-                }
+                        s['ros2_name'] == interface.message_name]
+
                 template_file = os.path.join(
                     template_dir, 'interface_factories.cpp.em')
                 output_file = os.path.join(

diff --git a/src/action_bridge.cpp b/src/action_bridge.cpp
@@ -31,14 +31,15 @@
 
 int main(int argc, char *argv[])
 {
-  // ROS 1 node
-  ros::init(argc, argv, "ros_bridge");
-  ros::NodeHandle ros1_node;
-
   // ROS 2 node
+  // must be before ROS1, because ros::init consumes args like __name and we cannot remap the node
   rclcpp::init(argc, argv);
   auto ros2_node = rclcpp::Node::make_shared("ros_bridge");
 
+  // ROS 1 node
+  ros::init(argc, argv, "ros_bridge");
+  ros::NodeHandle ros1_node;
+
   std::string dir = argv[1];
   std::string package = argv[2];
   std::string type = argv[3];