Allow latching for ROS1 pub, and custom qos for ROS2 components (ros2…

…#162) Signed-off-by: Dhananjay Sathe <[email protected]>
rapyuta-robotics · Aug 22, 2019 · dd7662b · dd7662b
1 parent 5620435
commit dd7662b
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Showing 2 changed files with 43 additions and 5 deletions.
diff --git a/include/ros1_bridge/factory.hpp b/include/ros1_bridge/factory.hpp
@@ -47,9 +47,10 @@ class Factory : public FactoryInterface
   create_ros1_publisher(
     ros::NodeHandle node,
     const std::string & topic_name,
-    size_t queue_size)
+    size_t queue_size,
+    bool latch = false)
   {
-    return node.advertise<ROS1_T>(topic_name, queue_size);
+    return node.advertise<ROS1_T>(topic_name, queue_size, latch);
   }
 
   rclcpp::PublisherBase::SharedPtr
@@ -63,6 +64,15 @@ class Factory : public FactoryInterface
     return node->create_publisher<ROS2_T>(topic_name, custom_qos_profile);
   }
 
+  rclcpp::PublisherBase::SharedPtr
+  create_ros2_publisher(
+    rclcpp::Node::SharedPtr node,
+    const std::string & topic_name,
+    const rmw_qos_profile_t & qos_profile)
+  {
+    return node->create_publisher<ROS2_T>(topic_name, qos_profile);
+  }
+
   ros::Subscriber
   create_ros1_subscriber(
     ros::NodeHandle node,
@@ -94,6 +104,17 @@ class Factory : public FactoryInterface
   {
     rmw_qos_profile_t custom_qos_profile = rmw_qos_profile_sensor_data;
     custom_qos_profile.depth = queue_size;
+    return create_ros2_subscriber(node, topic_name, custom_qos_profile, ros1_pub, ros2_pub);
+  }
+
+  rclcpp::SubscriptionBase::SharedPtr
+  create_ros2_subscriber(
+    rclcpp::Node::SharedPtr node,
+    const std::string & topic_name,
+    const rmw_qos_profile_t & qos,
+    ros::Publisher ros1_pub,
+    rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr)
+  {
     const std::string & ros1_type_name = ros1_type_name_;
     const std::string & ros2_type_name = ros2_type_name_;
     // TODO(wjwwood): use a lambda until create_subscription supports std/boost::bind.
@@ -104,7 +125,7 @@ class Factory : public FactoryInterface
           msg, msg_info, ros1_pub, ros1_type_name, ros2_type_name, ros2_pub);
       };
     return node->create_subscription<ROS2_T>(
-      topic_name, callback, custom_qos_profile, nullptr, true);
+      topic_name, callback, qos, nullptr, true);
   }
 
   void convert_1_to_2(const void * ros1_msg, void * ros2_msg) override

diff --git a/include/ros1_bridge/factory_interface.hpp b/include/ros1_bridge/factory_interface.hpp
@@ -50,7 +50,8 @@ class FactoryInterface
   create_ros1_publisher(
     ros::NodeHandle node,
     const std::string & topic_name,
-    size_t queue_size) = 0;
+    size_t queue_size,
+    bool latch = false) = 0;
 
   virtual
   rclcpp::PublisherBase::SharedPtr
@@ -59,6 +60,13 @@ class FactoryInterface
     const std::string & topic_name,
     size_t queue_size) = 0;
 
+  virtual
+  rclcpp::PublisherBase::SharedPtr
+  create_ros2_publisher(
+    rclcpp::Node::SharedPtr node,
+    const std::string & topic_name,
+    const rmw_qos_profile_t & qos_profile) = 0;
+
   virtual
   ros::Subscriber
   create_ros1_subscriber(
@@ -74,7 +82,16 @@ class FactoryInterface
     const std::string & topic_name,
     size_t queue_size,
     ros::Publisher ros1_pub,
-    rclcpp::PublisherBase::SharedPtr ros2_pub) = 0;
+    rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr) = 0;
+
+  virtual
+  rclcpp::SubscriptionBase::SharedPtr
+  create_ros2_subscriber(
+    rclcpp::Node::SharedPtr node,
+    const std::string & topic_name,
+    const rmw_qos_profile_t & qos_profile,
+    ros::Publisher ros1_pub,
+    rclcpp::PublisherBase::SharedPtr ros2_pub = nullptr) = 0;
 
   virtual
   void