Common interfaces

CMakeLists.txt

@@ -10,8 +10,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra)
 endif()
 
-find_package(rmw REQUIRED)
+set(ROS1_BRIDGE_ONLY "none" CACHE STRING "Compile only these packages and their dependencies. Use semi colon to separate.")
+set(ROS1_BRIDGE_IGNORE "none" CACHE STRING "Ignore these packages and the ones that depend on them. Use semi colon to separate.")
 
+find_package(rmw REQUIRED)
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rmw_implementation_cmake REQUIRED)
@@ -48,20 +50,6 @@ find_ros1_package(std_msgs REQUIRED)
 # system; see https://github.com/ros2/ros1_bridge/pull/331#issuecomment-1188111510)
 find_package(xmlrpcpp REQUIRED)
 
-# find ROS 1 packages with messages / services
-include(cmake/find_ros1_interface_packages.cmake)
-find_ros1_interface_packages(ros1_message_packages)
-
-set(prefixed_ros1_message_packages "")
-foreach(ros1_message_package ${ros1_message_packages})
-  # TODO(karsten1987): This is currently a workaround to work with ROS 2 classloader
-  # rather than ROS 1 classloader.
-  if(NOT "${ros1_message_package}" STREQUAL "nodelet")
-    find_ros1_package(${ros1_message_package} REQUIRED)
-    list(APPEND prefixed_ros1_message_packages "ros1_${ros1_message_package}")
-  endif()
-endforeach()
-
 set(TEST_ROS1_BRIDGE FALSE)
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -131,18 +119,53 @@ set(generated_path "${CMAKE_BINARY_DIR}/generated")
 set(generated_files "${generated_path}/get_factory.cpp")
 list(APPEND generated_files "${generated_path}/get_mappings.cpp")
 
+
+find_package(Python3 REQUIRED COMPONENTS Interpreter)
+
+# get useful ROS 2 packages to FIND and paths to ROS 1 message headers
+execute_process(
+COMMAND bin/ros1_bridge_common_interfaces --only "${ROS1_BRIDGE_ONLY}" --ignore "${ROS1_BRIDGE_IGNORE}"
+OUTPUT_VARIABLE all_interfaces
+WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+)
+
+# parse output to get 2 lists: ROS 1 packages and ROS 2 per-package interfaces
+list(GET all_interfaces 0 ros1_packages)
+string(REPLACE ":" ";" ros1_packages ${ros1_packages})
+list(GET all_interfaces 1 ros2_interfaces)
+string(REPLACE ":" ";" ros2_interfaces ${ros2_interfaces})
+
+# find ROS 1 packages with messages / services
+# deprecated as Python now returns these depending on the only / ignores
+#include(cmake/find_ros1_interface_packages.cmake)
+#find_ros1_interface_packages(ros1_message_packages)
+
+set(prefixed_ros1_message_packages "")
+foreach(ros1_message_package ${ros1_packages})
+  # TODO(karsten1987): This is currently a workaround to work with ROS 2 classloader
+  # rather than ROS 1 classloader.
+  if(NOT "${ros1_message_package}" STREQUAL "nodelet")
+    find_ros1_package(${ros1_message_package} REQUIRED)
+    list(APPEND prefixed_ros1_message_packages "ros1_${ros1_message_package}")
+  endif()
+endforeach()
+
 # generate per interface compilation units to keep the memory usage low
-ament_index_get_resources(ros2_interface_packages "rosidl_interfaces")
-# actionlib_msgs is deprecated, but we will quiet the warning until the bridge has support for
-# ROS actions: https://github.com/ros2/design/issues/195
-set(actionlib_msgs_DEPRECATED_QUIET TRUE)
-foreach(package_name ${ros2_interface_packages})
+foreach(package_interfaces ${ros2_interfaces})
+
+  # get interfaces for this package
+  string(REPLACE "+" ";" package_interfaces ${package_interfaces})
+
+  # extract package name for dependencies
+  list(POP_FRONT package_interfaces package_name)
+  list(APPEND ros2_interface_packages ${package_name})
+
   find_package(${package_name} QUIET REQUIRED)
   message(STATUS "Found ${package_name}: ${${package_name}_VERSION} (${${package_name}_DIR})")
   if(NOT "${package_name}" STREQUAL "builtin_interfaces")
     list(APPEND generated_files "${generated_path}/${package_name}_factories.cpp")
     list(APPEND generated_files "${generated_path}/${package_name}_factories.hpp")
-    foreach(interface_file ${${package_name}_IDL_FILES})
+    foreach(interface_file ${package_interfaces})
       file(TO_CMAKE_PATH "${interface_file}" interface_name)
       get_filename_component(interface_basename "${interface_name}" NAME_WE)
       # skipping actions and request and response messages of services
@@ -172,6 +195,7 @@ add_custom_command(
   COMMAND Python3::Interpreter
   ARGS bin/ros1_bridge_generate_factories
     --output-path "${generated_path}" --template-dir resource
+    --only "${ROS1_BRIDGE_ONLY}" --ignore "${ROS1_BRIDGE_IGNORE}"
   DEPENDS ${target_dependencies}
   WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
   COMMENT "Generating factories for interface types")
@@ -182,7 +206,7 @@ if(NOT WIN32)
     PROPERTIES COMPILE_FLAGS "-Wno-unused-parameter")
 endif()
 
-include_directories(include ${generated_path})
+include_directories(include ${generated_path} ${ros1_includes})
 
 function(custom_executable target)
   cmake_parse_arguments(

README.md

@@ -125,6 +125,16 @@ colcon build --symlink-install --packages-select ros1_bridge --cmake-force-confi
 
 *Note:* If you are building on a memory constrained system you might want to limit the number of parallel jobs by setting e.g. the environment variable `MAKEFLAGS=-j1`.
 
+#### Compilation options
+
+The bridge can be compiled to consider only some ROS 2 packages, or to ignore some. This is set through two CMake variables:
+
+- -DROS1_BRIDGE_ONLY='std_msgs;geometry_msgs'
+- -DROS1_BRIDGE_IGNORE='my_disfunctionning_pkg_msgs;another_undesired_pkg'
+
+
+
+
 
 ## Example 1: run the bridge and the example talker and listener
 

bin/ros1_bridge_common_interfaces

@@ -0,0 +1,55 @@
+#!/usr/bin/env python3
+
+import os
+import sys
+import argparse
+
+# add ros1_bridge to the Python path
+ros1_bridge_root = os.path.join(os.path.dirname(__file__), '..')
+sys.path.insert(0, os.path.abspath(ros1_bridge_root))
+
+from ros1_bridge import generate_bridged_pairs
+
+
+def get_include_path(msg):
+    tail = f'/share/{msg.package_name}/msg'
+    return msg.prefix_path[:-len(tail)] + '/include'
+
+
+def main(argv=sys.argv[1:]):
+
+    parser = argparse.ArgumentParser(description='Get relevant ROS 1 and ROS 2 messages to generate.',
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser.add_argument('--only', type=str, help='Compile only these packages', default='')
+    parser.add_argument('--ignore', type=str, help='Skip these packages', default='')
+    args = parser.parse_args(argv)
+
+    try:
+        pairs = generate_bridged_pairs(args.only, args.ignore)
+
+        # isolate useful ROS 2 idls amongst these packages, to tell CMake what will be generated
+        ros2_pkgs = {pkg: pkg for pkg in pairs['ros2_package_names']}
+        for pkg in ros2_pkgs:
+            for interface in ('msg', 'srv'):
+                interfaces = [f'{interface}/{m.message_name}' for m in pairs[f'all_ros2_{interface}s'] if m.package_name == pkg]
+                if interfaces:
+                    ros2_pkgs[pkg] += '+'+'+'.join(interfaces)
+        ros2_interfaces = ':'.join(ros2_pkgs.values())
+
+        # ROS 1 packages
+        ros1_interfaces = set(m.ros1_msg for m in pairs['mappings'])
+        ros1_srv_pkgs = set(srv['ros1_package'] for srv in pairs['services'])
+        ros1_interfaces.update(srv for srv in pairs['all_ros1_srvs'] if srv.package_name in ros1_srv_pkgs)
+        ros1_pkgs = ':'.join(set(msg.package_name for msg in ros1_interfaces))
+
+        # return as nested list for CMake, no linebreak to avoid passing it to CMake
+        print(f'{ros1_pkgs};{ros2_interfaces}', end='')
+
+        return 0
+    except RuntimeError as e:
+        print(str(e), file=sys.stderr)
+        return 1
+
+
+if __name__ == '__main__':
+    sys.exit(main())

bin/ros1_bridge_generate_factories

@@ -23,13 +23,17 @@ def main(argv=sys.argv[1:]):
         '--template-dir',
         required=True,
         help='The location of the template files')
+    parser.add_argument('--only', type=str, help='Compile only these packages', default='')
+    parser.add_argument('--ignore', type=str, help='Skip these packages', default='')
+
     args = parser.parse_args(argv)
 
     try:
         return generate_cpp(
             args.output_path,
             args.template_dir,
-        )
+            args.only, args.ignore)
+
     except RuntimeError as e:
         print(str(e), file=sys.stderr)
         return 1

resource/interface_factories.cpp.em

@@ -368,6 +368,18 @@ static void streamPrimitiveVector(ros::serialization::OStream & stream, const VE
   memcpy(stream.advance(data_len), &vec.front(), data_len);
 }
 
+// This version is for write vector<bool>
+template<typename VEC_PRIMITIVE_T>
+static void streamPrimitiveVectorBool(ros::serialization::OStream & stream, const VEC_PRIMITIVE_T& vec)
+{
+  const uint32_t step = sizeof(bool);
+  const uint32_t data_len = vec.size() * sizeof(bool);
+  // element-wise copy because of vector<bool>
+  for(uint i = 0; i < vec.size(); ++i)
+    *(stream.getData()+i*step) = vec[i];
+  stream.advance(data_len);
+}
+
 // This version is for length
 template<typename VEC_PRIMITIVE_T>
 static void streamPrimitiveVector(ros::serialization::LStream & stream, const VEC_PRIMITIVE_T& vec)
@@ -376,6 +388,14 @@ static void streamPrimitiveVector(ros::serialization::LStream & stream, const VE
   stream.advance(data_len);
 }
 
+// This version is for length
+template<typename VEC_PRIMITIVE_T>
+static void streamPrimitiveVectorBool(ros::serialization::LStream & stream, const VEC_PRIMITIVE_T& vec)
+{
+  const uint32_t data_len = vec.size() * sizeof(typename VEC_PRIMITIVE_T::value_type);
+  stream.advance(data_len);
+}
+
 // This version is for read
 template<typename VEC_PRIMITIVE_T>
 static void streamPrimitiveVector(ros::serialization::IStream & stream, VEC_PRIMITIVE_T& vec)
@@ -385,6 +405,18 @@ static void streamPrimitiveVector(ros::serialization::IStream & stream, VEC_PRIM
   memcpy(&vec.front(), stream.advance(data_len), data_len);
 }
 
+// This version is for read sector<bool>
+template<typename VEC_PRIMITIVE_T>
+static void streamPrimitiveVectorBool(ros::serialization::IStream & stream, VEC_PRIMITIVE_T& vec)
+{
+  const uint32_t step = sizeof(bool);
+  const uint32_t data_len = vec.size() * sizeof(bool);
+  // element-wise copy because of vector<bool>
+  for(uint i = 0; i < vec.size(); ++i)
+    vec[i] = *(stream.getData() + i*step);
+  stream.advance(data_len);
+}
+
 @[for m in mapped_msgs]@
 
 @[  if m.ros2_msg.package_name=="std_msgs" and m.ros2_msg.message_name=="Header"]
@@ -466,6 +498,9 @@ if isinstance(ros2_fields[-1].type, NamespacedType):
   {
     ros1_bridge::internal_stream_translate_helper(stream, *ros2_it);
   }
+@[            elif ros2_fields[-1].type.value_type.typename == 'boolean']@
+  // write primitive type, specialized
+  streamPrimitiveVectorBool(stream, ros2_msg.@(ros2_field_selection));
 @[            else]@
   // write primitive type
   streamPrimitiveVector(stream, ros2_msg.@(ros2_field_selection));