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remove duplicate services and msgs #295

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remove duplicate services and msgs #295

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9 changes: 9 additions & 0 deletions ros1_bridge/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -157,11 +157,18 @@ def generate_cpp(output_path, template_dir):
(ros2_package_name, interface_type, interface.message_name))
expand_template(template_file, data_idl_cpp, output_file)

def remove_duplicate_messages(ros1_msgs, ros2_msgs):
# iterate_packages might return ros2 pkgs with the ros1 pkgs
# ros2 pkgs in ros1_msgs appear as /root/msgs/ros2/install/pal_control_msgs/share/pal_control_msgs/msg
# ros2 pkgs in ros2_msgs appear as /root/msgs/ros2/install/pal_control_msgs
for ros2_msg in ros2_msgs:
ros1_msgs[:] = [ros1_msg for ros1_msg in ros1_msgs if ros2_msg.prefix_path not in ros1_msg.prefix_path]

def generate_messages(rospack=None):
ros1_msgs = get_ros1_messages(rospack=rospack)
ros2_package_names, ros2_msgs, mapping_rules = get_ros2_messages()

remove_duplicate_messages(ros1_msgs, ros2_msgs)
package_pairs = determine_package_pairs(ros1_msgs, ros2_msgs, mapping_rules)
message_pairs = determine_message_pairs(ros1_msgs, ros2_msgs, package_pairs, mapping_rules)

Expand Down Expand Up @@ -228,6 +235,8 @@ def generate_messages(rospack=None):
def generate_services(rospack=None, message_string_pairs=None):
ros1_srvs = get_ros1_services(rospack=rospack)
ros2_pkgs, ros2_srvs, mapping_rules = get_ros2_services()

remove_duplicate_messages(ros1_srvs, ros2_srvs)
services = determine_common_services(
ros1_srvs, ros2_srvs, mapping_rules,
message_string_pairs=message_string_pairs)
Expand Down