Add print pairs to parameter bridge

Signed-off-by: LucasHaug <[email protected]>
ros2 · Jul 7, 2023 · e4c511c · e4c511c
1 parent daf83db
commit e4c511c
Showing 1 changed file with 24 additions and 0 deletions.
diff --git a/src/parameter_bridge.cpp b/src/parameter_bridge.cpp
@@ -258,6 +258,8 @@ bool parse_command_options(
     ss << std::endl;
     ss << "Options:" << std::endl;
     ss << " -h, --help: This message." << std::endl;
+    ss << " --print-pairs: Print a list of the supported ROS 2 <=> ROS 1 conversion pairs.";
+    ss << std::endl;
     ss << " --topics: Name of the parameter that contains the list of topics to bridge.";
     ss << std::endl;
     ss << " --services-1-to-2: Name of the parameter that contains the list of services to bridge from ROS 1 to ROS 2.";
@@ -270,6 +272,28 @@ bool parse_command_options(
     return false;
   }
 
+  if (ros1_bridge::get_option_flag(args, "--print-pairs")) {
+    auto mappings_2to1 = ros1_bridge::get_all_message_mappings_2to1();
+    if (mappings_2to1.size() > 0) {
+      printf("Supported ROS 2 <=> ROS 1 message type conversion pairs:\n");
+      for (auto & pair : mappings_2to1) {
+        printf("  - '%s' (ROS 2) <=> '%s' (ROS 1)\n", pair.first.c_str(), pair.second.c_str());
+      }
+    } else {
+      printf("No message type conversion pairs supported.\n");
+    }
+    mappings_2to1 = ros1_bridge::get_all_service_mappings_2to1();
+    if (mappings_2to1.size() > 0) {
+      printf("Supported ROS 2 <=> ROS 1 service type conversion pairs:\n");
+      for (auto & pair : mappings_2to1) {
+        printf("  - '%s' (ROS 2) <=> '%s' (ROS 1)\n", pair.first.c_str(), pair.second.c_str());
+      }
+    } else {
+      printf("No service type conversion pairs supported.\n");
+    }
+    return false;
+  }
+
   if (!ros1_bridge::get_option_value(args, "--topics", topics_parameter_name, true)) {
     printf("Using default topics parameter name: %s\n", topics_parameter_name);
   }