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New Crowdin translations - zh-CN (#24563)
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
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@@ -27,36 +27,36 @@ The following steps describe how to install and run the translation node on your
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1. (Optional) Create a new ROS 2 workspace in which to build the message translation node and its dependencies:
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```sh
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mkdir -p /path/to/ros_ws/src
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```
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```sh
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mkdir -p /path/to/ros_ws/src
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```
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2. Run the following helper script to copy the message definitions and translation node into your ROS workspace directory.
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```sh
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cd /path/to/ros_ws
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/path/to/PX4-Autopilot/Tools/copy_to_ros_ws.sh .
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```
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```sh
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cd /path/to/ros_ws
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/path/to/PX4-Autopilot/Tools/copy_to_ros_ws.sh .
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```
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3. Build and source the workspace.
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```sh
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colcon build
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source /path/to/ros_ws/install/setup.bash
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```
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```sh
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colcon build
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source /path/to/ros_ws/install/setup.bash
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```
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4. Finally, run the translation node.
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```sh
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ros2 run translation_node translation_node_bin
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```
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```sh
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ros2 run translation_node translation_node_bin
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```
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You should see an output similar to:
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You should see an output similar to:
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```sh
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[INFO] [1734525720.729530513] [translation_node]: Registered pub/sub topics and versions:
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[INFO] [1734525720.729594413] [translation_node]: Registered services and versions:
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```
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```sh
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[INFO] [1734525720.729530513] [translation_node]: Registered pub/sub topics and versions:
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[INFO] [1734525720.729594413] [translation_node]: Registered services and versions:
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```
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With the translation node running, any simultaneously running ROS 2 application designed to communicate with PX4 can do so, as long as it uses message versions recognized by the node.
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The translation node will print a warning if it encounters an unknown topic version.
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@@ -295,111 +295,111 @@ The example describes the process of updating the `VehicleAttitude` message defi
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1. **Create an Archived Definition of the Current Versioned Message**
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Copy the versioned `.msg` topic message file (or `.srv` service message file) to `px4_msgs_old/msg/` (or `px4_msgs_old/srv/`), and append its message version to the file name.
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Copy the versioned `.msg` topic message file (or `.srv` service message file) to `px4_msgs_old/msg/` (or `px4_msgs_old/srv/`), and append its message version to the file name.
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For example:<br>
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Copy `msg/versioned/VehicleAttitude.msg` → `msg/versioned/px4_msgs_old/msg/VehicleAttitudeV3.msg`
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For example:<br>
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Copy `msg/versioned/VehicleAttitude.msg` → `msg/versioned/px4_msgs_old/msg/VehicleAttitudeV3.msg`
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2. **Update Translation References to the Archived Definition**
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Update the existing translations header files `msg/translation_node/translations/*.h` to reference the newly archived message definition.
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Update the existing translations header files `msg/translation_node/translations/*.h` to reference the newly archived message definition.
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For example, update references in those files:<br>
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For example, update references in those files:<br>
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- Replace `px4_msgs::msg::VehicleAttitude` → `px4_msgs_old::msg::VehicleAttitudeV3`
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- Replace `#include <px4_msgs/msg/vehicle_attitude.hpp>` → `#include <px4_msgs_old/msg/vehicle_attitude_v3.hpp>`
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- Replace `px4_msgs::msg::VehicleAttitude` → `px4_msgs_old::msg::VehicleAttitudeV3`
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- Replace `#include <px4_msgs/msg/vehicle_attitude.hpp>` → `#include <px4_msgs_old/msg/vehicle_attitude_v3.hpp>`
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3. **Update the Versioned Definition**
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Update the versioned `.msg` topic message file (or `.srv` service message file) with required changes.
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Update the versioned `.msg` topic message file (or `.srv` service message file) with required changes.
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First increment the `MESSAGE_VERSION` field.
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Then update the message fields that prompted the version change.
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First increment the `MESSAGE_VERSION` field.
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Then update the message fields that prompted the version change.
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For example, update `msg/versioned/VehicleAttitude.msg` from:
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For example, update `msg/versioned/VehicleAttitude.msg` from:
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```.msg
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uint32 MESSAGE_VERSION = 3
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uint64 timestamp
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...
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```
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```txt
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uint32 MESSAGE_VERSION = 3
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uint64 timestamp
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...
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```
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to
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to
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```.msg
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uint32 MESSAGE_VERSION = 4 # Increment
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uint64 timestamp
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float32 new_field # Make definition changes
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...
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```
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```txt
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uint32 MESSAGE_VERSION = 4 # Increment
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uint64 timestamp
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float32 new_field # Make definition changes
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...
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```
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4. **Add a New Translation Header**
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Add a new version translation to bridge the archived version and the updated current version, by creating a new translation header.
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Add a new version translation to bridge the archived version and the updated current version, by creating a new translation header.
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For example, create a direct translation header `translation_node/translations/translation_vehicle_attitude_v4.h`:
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For example, create a direct translation header `translation_node/translations/translation_vehicle_attitude_v4.h`:
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```c++
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// Translate VehicleAttitude v3 <--> v4
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#include <px4_msgs_old/msg/vehicle_attitude_v3.hpp>
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#include <px4_msgs/msg/vehicle_attitude.hpp>
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```c++
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// Translate VehicleAttitude v3 <--> v4
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#include <px4_msgs_old/msg/vehicle_attitude_v3.hpp>
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#include <px4_msgs/msg/vehicle_attitude.hpp>
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class VehicleAttitudeV4Translation {
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public:
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using MessageOlder = px4_msgs_old::msg::VehicleAttitudeV3;
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static_assert(MessageOlder::MESSAGE_VERSION == 3);
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class VehicleAttitudeV4Translation {
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public:
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using MessageOlder = px4_msgs_old::msg::VehicleAttitudeV3;
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static_assert(MessageOlder::MESSAGE_VERSION == 3);
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using MessageNewer = px4_msgs::msg::VehicleAttitude;
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static_assert(MessageNewer::MESSAGE_VERSION == 4);
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using MessageNewer = px4_msgs::msg::VehicleAttitude;
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static_assert(MessageNewer::MESSAGE_VERSION == 4);
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static constexpr const char* kTopic = "fmu/out/vehicle_attitude";
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static constexpr const char* kTopic = "fmu/out/vehicle_attitude";
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static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
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msg_newer.timestamp = msg_older.timestamp;
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msg_newer.timestamp_sample = msg_older.timestamp_sample;
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msg_newer.q[0] = msg_older.q[0];
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msg_newer.q[1] = msg_older.q[1];
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msg_newer.q[2] = msg_older.q[2];
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msg_newer.q[3] = msg_older.q[3];
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msg_newer.delta_q_reset = msg_older.delta_q_reset;
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msg_newer.quat_reset_counter = msg_older.quat_reset_counter;
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static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
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msg_newer.timestamp = msg_older.timestamp;
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msg_newer.timestamp_sample = msg_older.timestamp_sample;
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msg_newer.q[0] = msg_older.q[0];
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msg_newer.q[1] = msg_older.q[1];
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msg_newer.q[2] = msg_older.q[2];
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msg_newer.q[3] = msg_older.q[3];
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msg_newer.delta_q_reset = msg_older.delta_q_reset;
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msg_newer.quat_reset_counter = msg_older.quat_reset_counter;
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// Populate `new_field` with some value
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msg_newer.new_field = -1;
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}
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// Populate `new_field` with some value
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msg_newer.new_field = -1;
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}
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static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
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msg_older.timestamp = msg_newer.timestamp;
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msg_older.timestamp_sample = msg_newer.timestamp_sample;
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msg_older.q[0] = msg_newer.q[0];
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msg_older.q[1] = msg_newer.q[1];
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msg_older.q[2] = msg_newer.q[2];
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msg_older.q[3] = msg_newer.q[3];
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msg_older.delta_q_reset = msg_newer.delta_q_reset;
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msg_older.quat_reset_counter = msg_newer.quat_reset_counter;
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static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
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msg_older.timestamp = msg_newer.timestamp;
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msg_older.timestamp_sample = msg_newer.timestamp_sample;
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msg_older.q[0] = msg_newer.q[0];
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msg_older.q[1] = msg_newer.q[1];
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msg_older.q[2] = msg_newer.q[2];
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msg_older.q[3] = msg_newer.q[3];
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msg_older.delta_q_reset = msg_newer.delta_q_reset;
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msg_older.quat_reset_counter = msg_newer.quat_reset_counter;
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// Discards `new_field` from MessageNewer
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}
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};
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// Discards `new_field` from MessageNewer
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}
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};
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REGISTER_TOPIC_TRANSLATION_DIRECT(VehicleAttitudeV4Translation);
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```
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REGISTER_TOPIC_TRANSLATION_DIRECT(VehicleAttitudeV4Translation);
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```
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Version translation templates are provided here:
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Version translation templates are provided here:
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- [Direct Topic Message Translation Template](https://github.com/PX4/PX4-Autopilot/blob/main/msg/translation_node/translations/example_translation_direct_v1.h)
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- [Generic Topic Message Translation Template](https://github.com/PX4/PX4-Autopilot/blob/main/msg/translation_node/translations/example_translation_multi_v2.h)
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- [Direct Service Message Translation Template](https://github.com/PX4/PX4-Autopilot/blob/main/msg/translation_node/translations/example_translation_service_v1.h)
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- [Direct Topic Message Translation Template](https://github.com/PX4/PX4-Autopilot/blob/main/msg/translation_node/translations/example_translation_direct_v1.h)
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- [Generic Topic Message Translation Template](https://github.com/PX4/PX4-Autopilot/blob/main/msg/translation_node/translations/example_translation_multi_v2.h)
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- [Direct Service Message Translation Template](https://github.com/PX4/PX4-Autopilot/blob/main/msg/translation_node/translations/example_translation_service_v1.h)
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5. **Include New Headers in `all_translations.h`**
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Add all newly created headers to [`translations/all_translations.h`](https://github.com/PX4/PX4-Autopilot/blob/main/msg/translation_node/translations/all_translations.h) so that the translation node can find them.
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Add all newly created headers to [`translations/all_translations.h`](https://github.com/PX4/PX4-Autopilot/blob/main/msg/translation_node/translations/all_translations.h) so that the translation node can find them.
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For example, append the following line to `all_translation.h`:
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For example, append the following line to `all_translation.h`:
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```c++
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#include "translation_vehicle_attitude_v4.h"
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```
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```c++
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#include "translation_vehicle_attitude_v4.h"
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```
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Note that in the example above and in most cases, step 4 only requires the developer to create a direct translation for the definition change.
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This is because the changes only involved a single message.
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