first push on supporting ROS2 Dashing and IDL 4.2

msg/collision_constraints.msg

@@ -5,4 +5,3 @@ uint64 timestamp	# time since system start (microseconds)
 
 float32[2] original_setpoint   # velocities demanded
 float32[2] adapted_setpoint    # velocities allowed
-

msg/optical_flow.msg

@@ -1,5 +1,5 @@
 # Optical flow in XYZ body frame in SI units.
-# @see http://en.wikipedia.org/wiki/International_System_of_Units
+# http://en.wikipedia.org/wiki/International_System_of_Units
 
 uint64 timestamp		# time since system start (microseconds)
 

msg/sensor_combined.msg

@@ -1,9 +1,6 @@
-#
 # Sensor readings in SI-unit form.
-#
 # These fields are scaled and offset-compensated where possible and do not
 # change with board revisions and sensor updates.
-#
 
 uint64 timestamp				# time since system start (microseconds)
 

msg/templates/urtps/Publisher.cpp.em

@@ -125,7 +125,11 @@ void @(topic)_Publisher::run()
 
     // Publication code
 
+@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
     @(topic)_ st;
+@[else]@
+    @(topic) st;
+@[end if]@
 
     /* Initialize your structure here */
 
@@ -150,7 +154,11 @@ void @(topic)_Publisher::run()
     }while(std::cin >> ch);
 }
 
+@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
 void @(topic)_Publisher::publish(@(topic)_* st)
+@[else]@
+void @(topic)_Publisher::publish(@(topic)* st)
+@[end if]@
 {
     mp_publisher->write(st);
 }

msg/templates/urtps/Publisher.h.em

@@ -64,7 +64,11 @@ topic = alias if alias else spec.short_name
 #include <fastrtps/fastrtps_fwd.h>
 #include <fastrtps/publisher/PublisherListener.h>
 
+@[if float(fastrtps_version) < 1.9]@
 #include "@(topic)_PubSubTypes.h"
+@[else]@
+#include "@(topic)PubSubTypes.h"
+@[end if]@
 
 using namespace eprosima::fastrtps;
 using namespace eprosima::fastrtps::rtps;
@@ -76,7 +80,11 @@ public:
     virtual ~@(topic)_Publisher();
     bool init();
     void run();
+@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
     void publish(@(topic)_* st);
+@[else]@
+    void publish(@(topic)* st);
+@[end if]@
 private:
     Participant *mp_participant;
     Publisher *mp_publisher;
@@ -89,7 +97,11 @@ private:
         void onPublicationMatched(Publisher* pub, MatchingInfo& info);
         int n_matched;
     } m_listener;
+@[if float(fastrtps_version) < 1.9]@
     @(topic)_PubSubType myType;
+@[else]@
+    @(topic)PubSubType myType;
+@[end if]@
 };
 
 #endif // _@(topic)__PUBLISHER_H_

msg/templates/urtps/RtpsTopics.cpp.em

@@ -92,7 +92,11 @@ void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
 @[for topic in send_topics]@
         case @(rtps_message_id(ids, topic)): // @(topic)
         {
+@[    if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
             @(topic)_ st;
+@[    else]@
+            @(topic) st;
+@[    end if]@
             eprosima::fastcdr::FastBuffer cdrbuffer(data_buffer, len);
             eprosima::fastcdr::Cdr cdr_des(cdrbuffer);
             st.deserialize(cdr_des);
@@ -145,7 +149,11 @@ bool RtpsTopics::getMsg(const uint8_t topic_ID, eprosima::fastcdr::Cdr &scdr)
         case @(rtps_message_id(ids, topic)): // @(topic)
             if (_@(topic)_sub.hasMsg())
             {
+@[    if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
                 @(topic)_ msg = _@(topic)_sub.getMsg();
+@[    else]@
+                @(topic) msg = _@(topic)_sub.getMsg();
+@[    end if]@
                 msg.serialize(scdr);
                 ret = true;
             }

msg/templates/urtps/Subscriber.cpp.em

@@ -117,6 +117,13 @@ void @(topic)_Subscriber::SubListener::onNewDataMessage(Subscriber* sub)
 {
         // Take data
         if(sub->takeNextData(&msg, &m_info))
+@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
+        @(topic)_ st;
+@[else]@
+        @(topic) st;
+@[end if]@
+
+        if(sub->takeNextData(&st, &m_info))
         {
             if(m_info.sampleKind == ALIVE)
             {
@@ -141,7 +148,11 @@ bool @(topic)_Subscriber::hasMsg()
     return m_listener.has_msg;
 }
 
+@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
 @(topic)_ @(topic)_Subscriber::getMsg()
+@[else]@
+@(topic) @(topic)_Subscriber::getMsg()
+@[end if]@
 {
     m_listener.has_msg = false;
     return m_listener.msg;

msg/templates/urtps/Subscriber.h.em

@@ -64,7 +64,11 @@ topic = alias if alias else spec.short_name
 #include <fastrtps/fastrtps_fwd.h>
 #include <fastrtps/subscriber/SubscriberListener.h>
 #include <fastrtps/subscriber/SampleInfo.h>
+@[if float(fastrtps_version) < 1.9]@
 #include "@(topic)_PubSubTypes.h"
+@[else]@
+#include "@(topic)PubSubTypes.h"
+@[end if]@
 
 using namespace eprosima::fastrtps;
 using namespace eprosima::fastrtps::rtps;
@@ -77,7 +81,11 @@ public:
     bool init();
     void run();
     bool hasMsg();
+@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
     @(topic)_ getMsg();
+@[else]@
+    @(topic) getMsg();
+@[end if]@
 private:
     Participant *mp_participant;
     Subscriber *mp_subscriber;
@@ -92,11 +100,19 @@ private:
         SampleInfo_t m_info;
         int n_matched;
         int n_msg;
+@[if (ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal") and float(fastrtps_version) < 1.9]@
         @(topic)_ msg;
+@[else]@
+        @(topic) msg;
+@[end if]@
         bool has_msg = false;
 
     } m_listener;
+@[if float(fastrtps_version) < 1.9]@
     @(topic)_PubSubType myType;
+@[else]@
+    @(topic)PubSubType myType;
+@[end if]@
 };
 
 #endif // _@(topic)__SUBSCRIBER_H_

msg/templates/urtps/msg.idl.em

@@ -57,7 +57,11 @@ def get_include_directives(spec):
         if genmsg.msgs.is_valid_constant_type(genmsg.msgs.bare_msg_type(field.type)):
             continue
         builtin_type = str(field.base_type).replace('px4/', '')
+@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
         include_directive = '#include "%s_.idl"' % builtin_type
+@[else]@
+        include_directive = '#include "%s.idl"' % builtin_type
+@[end if]@
         builtin_types.add(builtin_type)
         include_directives.add(include_directive)
     return sorted(include_directives)
@@ -74,10 +78,17 @@ def get_idl_type_name(field_type):
 def add_msg_field(field):
     if (not field.is_header):
         if field.is_array:
+@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
             print('    {0}__{1}_array_{2} {3}_;'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
         else:
             base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
             print('    {0} {1}_;'.format(base_type, field.name))
+@[else]@
+            print('    {0}__{1}_array_{2} {3};'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
+        else:
+            base_type = get_idl_type_name(field.base_type) if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
+            print('    {0} {1};'.format(base_type, field.name))
+@[end if]@
 
 
 def add_msg_fields():
@@ -88,6 +99,11 @@ def add_msg_fields():
 def add_array_typedefs():
     for field in spec.parsed_fields():
         if not field.is_header and field.is_array:
+@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
+            base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else
+@[else]@
+            base_type = get_idl_type_name(field.base_type) if get_idl_type_name(field.base_type) in builtin_types else
+@[end if]@
             base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
             array_type = 'typedef {0} {1}__{2}_array_{3}[{4}];'.format(base_type, topic, get_idl_type_name(field.base_type).replace(" ", "_"), field.array_len, field.array_len)
             if array_type not in array_types:
@@ -109,18 +125,28 @@ def add_msg_constants():
 @#############################
 @# Include dependency messages
 @#############################
-@[for line in get_include_directives(spec)]
+@[for line in get_include_directives(spec)]@
-@(line)
+@(line)@
-@[end for]
+@[end for]@
 @# Constants
 @add_msg_constants()
 @# Array types
 @add_array_typedefs()
+@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
 struct @(topic)_
+@[else]@
+struct @(topic)
+@[end if]@
 {
 @add_msg_fields()
+@[if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal" and float(fastrtps_version) < 1.9]@
 }; // struct @(topic)_
 
 #pragma keylist @(topic)_
+@[else]@
+}; // struct @(topic)
+
+#pragma keylist @(topic)
+@[end if]@
 
 #endif  // __@(topic)__idl__

msg/tools/generate_microRTPS_bridge.py

@@ -187,6 +187,8 @@ parser.add_argument("-f", "--fastrtpsgen-dir", dest='fastrtpsgen', type=str, nar
                     help="fastrtpsgen installation dir, only needed if fastrtpsgen is not in PATH, by default empty", default="")
 parser.add_argument("-g", "--fastrtpsgen-include", dest='fastrtpsgen_include', type=str,
                     help="directory(ies) to add to preprocessor include paths of fastrtpsgen, by default empty", default="")
+parser.add_argument("-r", "--ros2-distro", dest='ros2_distro', type=str, nargs='?',
+                    help="ROS2 distro, only required if generating the agent for usage with ROS2 nodes, by default empty", default="")
 parser.add_argument("--delete-tree", dest='del_tree',
                     action="store_true", help="Delete dir tree output dir(s)")
 
@@ -236,6 +238,8 @@ if fastrtpsgen_include is not None and fastrtpsgen_include != '':
         os.path.abspath(
             args.fastrtpsgen_include) + " "
 
+ros2_distro = "" if args.ros2_distro == None else args.ros2_distro
+
 # If nothing specified it's generated both
 if agent == False and client == False:
     agent = True
@@ -293,19 +297,30 @@ uRTPS_SUBSCRIBER_H_TEMPL_FILE = 'Subscriber.h.em'
 
 
 def generate_agent(out_dir):
+    # get FastRTPSGen version
+    if(os.path.exists(fastrtpsgen_path)):
+        fastrtps_vers = subprocess.check_output(
+            [fastrtpsgen_path, "-version"]).strip()[-5:-2]
+        if not fastrtps_vers:
+            raise Exception(
+                "FastRTPSGen failed with code error %s" % fastrtps_vers)
+    else:
+        raise Exception(
+            "FastRTPSGen not found. Specify the location of fastrtpsgen with the -f flag")
+
     if classifier.msgs_to_send:
         for msg_file in classifier.msgs_to_send:
             if gen_idl:
                 if out_dir != agent_out_dir:
                     px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", os.path.join(out_dir, "/idl"), urtps_templates_dir,
-                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
+                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
                 else:
                     px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", idl_dir, urtps_templates_dir,
-                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
+                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, ros2_distro, fastrtps_vers, classifier.msg_id_map)
             px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
-                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
+                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
             px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
-                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_PUBLISHER_H_TEMPL_FILE)
+                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
 
     if classifier.alias_msgs_to_send:
         for msg_file in classifier.alias_msgs_to_send:
@@ -317,28 +332,28 @@ def generate_agent(out_dir):
             if gen_idl:
                 if out_dir != agent_out_dir:
                     px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, os.path.join(out_dir, "/idl"), urtps_templates_dir,
-                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
+                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
                 else:
                     px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, idl_dir, urtps_templates_dir,
-                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
+                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
             px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
-                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
+                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
             px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
-                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_PUBLISHER_H_TEMPL_FILE)
+                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
 
     if classifier.msgs_to_receive:
         for msg_file in classifier.msgs_to_receive:
             if gen_idl:
                 if out_dir != agent_out_dir:
                     px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", os.path.join(out_dir, "/idl"), urtps_templates_dir,
-                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
+                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
                 else:
                     px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", idl_dir, urtps_templates_dir,
-                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
+                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
             px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
-                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
+                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
             px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
-                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
+                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
 
     if classifier.alias_msgs_to_receive:
         for msg_file in classifier.alias_msgs_to_receive:
@@ -350,24 +365,24 @@ def generate_agent(out_dir):
             if gen_idl:
                 if out_dir != agent_out_dir:
                     px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, os.path.join(out_dir, "/idl"), urtps_templates_dir,
-                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
+                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
                 else:
                     px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, idl_dir, urtps_templates_dir,
-                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
+                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
             px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
-                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
+                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
             px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
-                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
+                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
 
     px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
-                                                        urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_TEMPL_FILE)
+                                                        urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_AGENT_TEMPL_FILE)
     px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
-                                                        urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
+                                                        urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
     px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
-                                                        urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
+                                                        urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
     if cmakelists:
         px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
-                                                            urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
+                                                            urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
 
     # Final steps to install agent
     mkdir_p(os.path.join(out_dir, "fastrtpsgen"))
@@ -375,16 +390,12 @@ 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(os.path.exists(fastrtpsgen_path)):
+    for idl_file in glob.glob(os.path.join(idl_dir, "*.idl")):
-        for idl_file in glob.glob(os.path.join(idl_dir, "*.idl")):
+        ret = subprocess.call(fastrtpsgen_path + " -d " + out_dir +
-            ret = subprocess.call(fastrtpsgen_path + " -d " + out_dir +
+                              "/fastrtpsgen -example x64Linux2.6gcc " + fastrtpsgen_include + idl_file, shell=True)
-                                  "/fastrtpsgen -example x64Linux2.6gcc " + fastrtpsgen_include + idl_file, shell=True)
+        if ret:
-            if ret:
+            raise Exception(
-                raise Exception(
+                "FastRTPSGen failed with code error %s" % ret)
-                    "fastrtpsgen failed with code error %s" % ret)
-    else:
-        raise Exception(
-            "fastrtpsgen not found. Specify the location of fastrtpsgen with the -f flag")
 
     rm_wildcard(os.path.join(out_dir, "fastrtpsgen/*PubSubMain*"))
     rm_wildcard(os.path.join(out_dir, "fastrtpsgen/makefile*"))

msg/tools/px_generate_uorb_topic_files.py

@@ -170,7 +170,7 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
     return generate_by_template(output_file, template_file, em_globals)
 
 
-def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, ids):
+def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, fastrtps_ver, ros2_distro, ids):
     """
     Generates an .idl from .msg file
     """
@@ -178,11 +178,11 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
 
     if (alias != ""):
         em_globals = get_em_globals(
-            msg, alias, package, includepath, ids, MsgScope.NONE)
+            msg, alias, package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.NONE)
         spec_short_name = alias
     else:
         em_globals = get_em_globals(
-            msg, "", package, includepath, ids, MsgScope.NONE)
+            msg, "", package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.NONE)
         spec_short_name = em_globals["spec"].short_name
 
     # Make sure output directory exists:
@@ -190,14 +190,18 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
         os.makedirs(outputdir)
 
     template_file = os.path.join(templatedir, IDL_TEMPLATE_FILE)
-    output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace(
+    if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal":
-        "msg.idl.em", str(spec_short_name + "_.idl")))
+        output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace(
+            "msg.idl.em", str(spec_short_name + "_.idl")))
+    else:
+        output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace(
+            "msg.idl.em", str(spec_short_name + ".idl")))
 
     return generate_by_template(output_file, template_file, em_globals)
 
 
 def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filename_receive_msgs, filename_alias_receive_msgs,
-                           msg_dir, outputdir, templatedir, package, includepath, ids, template_name):
+                           msg_dir, outputdir, templatedir, package, includepath, ids, fastrtps_ver, ros2_distro, template_name):
     """
     Generates source file by msg content
     """
@@ -223,19 +227,19 @@ def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filenam
     em_globals_list = []
     if send_msgs:
         em_globals_list.extend([get_em_globals(
-            f, "", package, includepath, ids, MsgScope.SEND) for f in send_msgs])
+            f, "", package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.SEND) for f in send_msgs])
 
     if alias_send_msgs:
         em_globals_list.extend([get_em_globals(
-            f[0], f[1], package, includepath, ids, MsgScope.SEND) for f in alias_send_msgs])
+            f[0], f[1], package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.SEND) for f in alias_send_msgs])
 
     if receive_msgs:
         em_globals_list.extend([get_em_globals(
-            f, "", package, includepath, ids, MsgScope.RECEIVE) for f in receive_msgs])
+            f, "", package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.RECEIVE) for f in receive_msgs])
 
     if alias_receive_msgs:
         em_globals_list.extend([get_em_globals(
-            f[0], f[1], package, includepath, ids, MsgScope.RECEIVE) for f in alias_receive_msgs])
+            f[0], f[1], package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.RECEIVE) for f in alias_receive_msgs])
 
     merged_em_globals = merge_em_globals_list(em_globals_list)
 
@@ -250,7 +254,7 @@ def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filenam
     return generate_by_template(output_file, template_file, merged_em_globals)
 
 
-def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, ids, template_name):
+def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, ids, fastrtps_ver, ros2_distro, template_name):
     """
     Generates a sources and headers from .msg file
     """
@@ -258,11 +262,11 @@ def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, pa
 
     if (alias):
         em_globals = get_em_globals(
-            msg, alias, package, includepath, ids, MsgScope.NONE)
+            msg, alias, package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.NONE)
         spec_short_name = alias
     else:
         em_globals = get_em_globals(
-            msg, "", package, includepath, ids, MsgScope.NONE)
+            msg, "", package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.NONE)
         spec_short_name = em_globals["spec"].short_name
 
     # Make sure output directory exists:
@@ -276,7 +280,7 @@ def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, pa
     return generate_by_template(output_file, template_file, em_globals)
 
 
-def get_em_globals(filename_msg, alias, package, includepath, ids, scope):
+def get_em_globals(filename_msg, alias, package, includepath, ids, fastrtps_ver, ros2_distro, scope):
     """
     Generates em globals dictionary
     """
@@ -304,7 +308,9 @@ def get_em_globals(filename_msg, alias, package, includepath, ids, scope):
         "ids": ids,
         "scope": scope,
         "package": package,
-        "alias": alias
+        "alias": alias,
+        "fastrtps_version": fastrtps_ver,
+        "ros2_distro": ros2_distro
     }
 
     return em_globals

src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt

@@ -33,6 +33,9 @@
 
 set(msg_out_path ${CMAKE_CURRENT_BINARY_DIR})
 
+#set(ROS2_DISTRO $ENV{ROS_DISTRO})
+set(ROS2_DISTRO "")
+
 if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_topics}" STREQUAL "")
 
 	set(send_topic_files)
@@ -81,7 +84,8 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
 			--agent-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent
 			--client-outdir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_client
 			--idl-dir ${CMAKE_CURRENT_BINARY_DIR}/micrortps_agent/idl
-			>micrortps_bridge.log > /dev/null
+			--ros2-distro ${ROS2_DISTRO}
+			#>micrortps_bridge.log > /dev/null
 		DEPENDS ${send_topic_files} ${receive_topic_files}
 		COMMENT "Generating RTPS topic bridge"
 	)