microRTPS: use FastRTPSGen '-typeros2' option to generate the typenaming required to interface the bridge with ROS2 topics

msg/templates/urtps/Publisher.cpp.em

@@ -101,13 +101,6 @@ bool @(topic)_Publisher::init()
     if(mp_participant == nullptr)
         return false;
 
-@[if ros2_distro and (ros2_distro == "dashing" or ros2_distro == "eloquent")]@
-    // Type name should match the expected type name on ROS2
-    // Note: the change is being done here since the 'fastrtpsgen' example
-    // generator does not allow to change the type naming on the template
-    @(topic)DataType.setName("@(package)::msg::dds_::@(topic)_");
-@[end if]@
-
     // Register the type
     Domain::registerType(mp_participant, static_cast<TopicDataType*>(&@(topic)DataType));
 

msg/templates/urtps/Subscriber.cpp.em

@@ -101,14 +101,6 @@ bool @(topic)_Subscriber::init(uint8_t topic_ID, std::condition_variable* t_send
     if(mp_participant == nullptr)
             return false;
 
-@[if ros2_distro and (ros2_distro == "dashing" or ros2_distro == "eloquent")]@
-    // Type name should match the expected type name on ROS2
-    // Note: the change is being done here since the 'fastrtpsgen' example
-    // generator does not allow to change the type naming on the template of
-    // "*PubSubTypes.cpp" file
-    @(topic)DataType.setName("@(package)::msg::dds_::@(topic)_");
-@[end if]@
-
     //Register the type
     Domain::registerType(mp_participant, static_cast<TopicDataType*>(&@(topic)DataType));
 

msg/tools/generate_microRTPS_bridge.py

@@ -58,6 +58,16 @@ except ImportError as e:
     print("")
     sys.exit(1)
 
+try:
+    from packaging import version
+except ImportError as e:
+    print("Failed to import packaging: " + str(e))
+    print("")
+    print("You may need to install it using:")
+    print("    pip3 install --user packaging")
+    print("")
+    sys.exit(1)
+
 
 def check_rtps_id_uniqueness(classifier):
     """
@@ -227,6 +237,28 @@ if fastrtpsgen_include is not None and fastrtpsgen_include != '':
         os.path.abspath(
             args.fastrtpsgen_include) + " "
 
+# get FastRTPSGen version
+# .. note:: since Fast-RTPS 1.8.0 release, FastRTPSGen is a separated repository
+# and not included in the Fast-RTPS project.
+# The starting version since this separation is 1.0.0, which follows its own
+# versioning
+fastrtpsgen_version = version.Version("1.0.0")
+if(os.path.exists(fastrtpsgen_path)):
+    try:
+        fastrtpsgen_version_out = subprocess.check_output(
+            [fastrtpsgen_path, "-version"]).decode("utf-8").strip()[-5:]
+    except OSError:
+        raise
+
+    try:
+        fastrtpsgen_version = version.parse(fastrtpsgen_version_out)
+    except version.InvalidVersion:
+        raise Exception(
+            "'fastrtpsgen -version' returned None or an invalid version")
+else:
+    raise Exception(
+        "FastRTPSGen not found. Specify the location of fastrtpsgen with the -f flag")
+
 # get FastRTPS version
 fastrtps_version = subprocess.check_output(
     "ldconfig -v | grep libfastrtps", shell=True).decode("utf-8").strip().split('so.')[-1]
@@ -386,10 +418,18 @@ def generate_agent(out_dir):
     os.chdir(os.path.join(out_dir, "fastrtpsgen"))
     if not glob.glob(os.path.join(idl_dir, "*.idl")):
         raise Exception("No IDL files found in %s" % idl_dir)
+
+    # If it is generating the bridge code for interfacing with ROS2, then set
+    # the '-typeros2' option in fastrtpsgen.
+    # .. note:: This is only available in FastRTPSGen 1.0.4 and above
+    gen_ros2_typename = ""
+    if ros2_distro and fastrtpsgen_version >= version.Version("1.0.4"):
+        gen_ros2_typename = "-typeros2 "
+
     for idl_file in glob.glob(os.path.join(idl_dir, "*.idl")):
         try:
             ret = subprocess.check_call(fastrtpsgen_path + " -d " + out_dir +
-                                        "/fastrtpsgen -example x64Linux2.6gcc " + fastrtpsgen_include + idl_file, shell=True)
+                                        "/fastrtpsgen -example x64Linux2.6gcc " + gen_ros2_typename + fastrtpsgen_include + idl_file, shell=True)
         except OSError:
             raise