support std_msgs/Empty (fix #924)

facontidavide · Jan 26, 2024 · d6f18b0 · d6f18b0
1 parent 0931800
commit d6f18b0
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Showing 5 changed files with 17 additions and 11 deletions.
diff --git a/plotjuggler_plugins/ParserROS/ros1_parser.h b/plotjuggler_plugins/ParserROS/ros1_parser.h
@@ -32,11 +32,6 @@ class ParserFactoryROS1 : public ParserFactoryPlugin
                                 const std::string& type_name, const std::string& schema,
                                 PlotDataMapRef& data) override
   {
-    if (schema.empty())
-    {
-      throw std::runtime_error("ParserFactoryROS1 requires a schema (message "
-                               "definition)");
-    }
     return std::make_shared<ParserROS>(topic_name, type_name, schema,
                                        new RosMsgParser::ROS_Deserializer(), data);
   }

diff --git a/plotjuggler_plugins/ParserROS/ros2_parser.h b/plotjuggler_plugins/ParserROS/ros2_parser.h
@@ -32,11 +32,6 @@ class ParserFactoryROS2 : public ParserFactoryPlugin
                                 const std::string& type_name, const std::string& schema,
                                 PlotDataMapRef& data) override
   {
-    if (schema.empty())
-    {
-      throw std::runtime_error("ParserFactoryROS2 requires a schema (message "
-                               "definition)");
-    }
     std::string msg_type =
         QString::fromStdString(type_name).replace("/msg/", "/").toStdString();
 

diff --git a/plotjuggler_plugins/ParserROS/ros_parser.cpp b/plotjuggler_plugins/ParserROS/ros_parser.cpp
@@ -28,7 +28,11 @@ ParserROS::ParserROS(const std::string& topic_name, const std::string& type_name
 
   using std::placeholders::_1;
   using std::placeholders::_2;
-  if (Msg::DiagnosticArray::id() == type_name)
+  if(Msg::Empty::id() == type_name)
+  {
+    _customized_parser = std::bind(&ParserROS::parseEmpty, this, _1, _2);
+  }
+  else if (Msg::DiagnosticArray::id() == type_name)
   {
     _customized_parser = std::bind(&ParserROS::parseDiagnosticMsg, this, _1, _2);
   }
@@ -174,6 +178,11 @@ void ParserROS::parseHeader(const std::string& prefix, double& timestamp)
   }
 }
 
+void ParserROS::parseEmpty(const std::string &prefix, double &timestamp)
+{
+  getSeries(prefix).pushBack({ timestamp, 0 });
+}
+
 
 void ParserROS::parseVector3(const std::string& prefix, double& timestamp)
 {

diff --git a/plotjuggler_plugins/ParserROS/ros_parser.h b/plotjuggler_plugins/ParserROS/ros_parser.h
@@ -25,6 +25,7 @@ class ParserROS : public PJ::MessageParser
 
   PJ::Msg::Header readHeader(double& timestamp);
   void parseHeader(const std::string& prefix, double& timestamp);
+  void parseEmpty(const std::string& prefix, double& timestamp);
 
   template <size_t N>
   void parseCovariance(const std::string& prefix, double& timestamp);

diff --git a/plotjuggler_plugins/ParserROS/special_messages.h b/plotjuggler_plugins/ParserROS/special_messages.h
@@ -28,6 +28,12 @@ struct Header
   PJ::Msg::Time stamp;
   std::string frame_id;
 };
+
+struct Empty
+{
+  static const char* id() { return "std_msgs/Empty"; }
+};
+
 //--------------------
 struct DiagnosticStatus
 {