msg: add message translation node for ROS

msg/translation_node/translations/all_translations.h

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+/****************************************************************************
+ * Copyright (c) 2024 PX4 Development Team.
+ * SPDX-License-Identifier: BSD-3-Clause
+ ****************************************************************************/
+#pragma once
+
+#include <translation_util.h>
+
+//#include "example_translation_direct_v1.h"
+//#include "example_translation_multi_v2.h"
+//#include "example_translation_service_v1.h"

msg/translation_node/translations/example_translation_direct_v1.h

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+/****************************************************************************
+ * Copyright (c) 2024 PX4 Development Team.
+ * SPDX-License-Identifier: BSD-3-Clause
+ ****************************************************************************/
+#pragma once
+
+// Translate ExampleTopic v0 <--> v1
+#include <px4_msgs_old/msg/example_topic_v0.hpp>
+#include <px4_msgs/msg/example_topic.hpp>
+
+class ExampleTopicV1Translation {
+public:
+	using MessageOlder = px4_msgs_old::msg::ExampleTopicV0;
+	static_assert(MessageOlder::MESSAGE_VERSION == 0);
+
+	using MessageNewer = px4_msgs::msg::ExampleTopic;
+	static_assert(MessageNewer::MESSAGE_VERSION == 1);
+
+	static constexpr const char* kTopic = "fmu/out/example_topic";
+
+	static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
+		// Set msg_newer from msg_older
+	}
+
+	static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
+		// Set msg_older from msg_newer
+	}
+};
+
+REGISTER_TOPIC_TRANSLATION_DIRECT(ExampleTopicV1Translation);

msg/translation_node/translations/example_translation_multi_v2.h

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+/****************************************************************************
+ * Copyright (c) 2024 PX4 Development Team.
+ * SPDX-License-Identifier: BSD-3-Clause
+ ****************************************************************************/
+#pragma once
+
+// Translate ExampleTopic and OtherTopic v1 <--> v2
+#include <px4_msgs_old/msg/example_topic_v1.hpp>
+#include <px4_msgs_old/msg/other_topic_v1.hpp>
+#include <px4_msgs/msg/example_topic.hpp>
+#include <px4_msgs/msg/other_topic.hpp>
+
+class ExampleTopicOtherTopicV2Translation {
+public:
+	using MessagesOlder = TypesArray<px4_msgs_old::msg::ExampleTopicV1, px4_msgs_old::msg::OtherTopicV1>;
+	static constexpr const char* kTopicsOlder[] = {
+			"fmu/out/example_topic",
+			"fmu/out/other_topic",
+	};
+	static_assert(px4_msgs_old::msg::ExampleTopicV1::MESSAGE_VERSION == 1);
+	static_assert(px4_msgs_old::msg::OtherTopicV1::MESSAGE_VERSION == 1);
+
+	using MessagesNewer = TypesArray<px4_msgs::msg::ExampleTopic, px4_msgs::msg::OtherTopic>;
+	static constexpr const char* kTopicsNewer[] = {
+			"fmu/out/example_topic",
+			"fmu/out/other_topic",
+	};
+	static_assert(px4_msgs::msg::ExampleTopic::MESSAGE_VERSION == 2);
+	static_assert(px4_msgs::msg::OtherTopic::MESSAGE_VERSION == 2);
+
+	static void fromOlder(const MessagesOlder::Type1 &msg_older1, const MessagesOlder::Type2 &msg_older2,
+						  MessagesNewer::Type1 &msg_newer1, MessagesNewer::Type2 &msg_newer2) {
+		// Set msg_newer1, msg_newer2 from msg_older1, msg_older2
+	}
+
+	static void toOlder(const MessagesNewer::Type1 &msg_newer1, const MessagesNewer::Type2 &msg_newer2,
+						MessagesOlder::Type1 &msg_older1, MessagesOlder::Type2 &msg_older2) {
+		// Set msg_older1, msg_older2 from msg_newer1, msg_newer2
+	}
+};
+
+REGISTER_TOPIC_TRANSLATION(ExampleTopicOtherTopicV2Translation);

msg/translation_node/translations/example_translation_service_v1.h

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+/****************************************************************************
+ * Copyright (c) 2024 PX4 Development Team.
+ * SPDX-License-Identifier: BSD-3-Clause
+ ****************************************************************************/
+#pragma once
+
+// Translate ExampleService v0 <--> v1
+#include <px4_msgs_old/srv/example_service_v0.hpp>
+#include <px4_msgs/srv/example_service.hpp>
+
+class ExampleServiceV1Translation {
+public:
+	using MessageOlder = px4_msgs_old::srv::ExampleServiceV0;
+	static_assert(MessageOlder::Request::MESSAGE_VERSION == 0);
+
+	using MessageNewer = px4_msgs::srv::ExampleService;
+	static_assert(MessageNewer::Request::MESSAGE_VERSION == 1);
+
+	static constexpr const char* kTopic = "fmu/example_service";
+
+	static void fromOlder(const MessageOlder::Request &msg_older, MessageNewer::Request &msg_newer) {
+		// Request: set msg_newer from msg_older
+	}
+
+	static void toOlder(const MessageNewer::Request &msg_newer, MessageOlder::Request &msg_older) {
+		// Request: set msg_older from msg_newer
+	}
+
+	static void fromOlder(const MessageOlder::Response &msg_older, MessageNewer::Response &msg_newer) {
+		// Response: set msg_newer from msg_older
+	}
+
+	static void toOlder(const MessageNewer::Response &msg_newer, MessageOlder::Response &msg_older) {
+		// Response: set msg_older from msg_newer
+	}
+};
+
+REGISTER_SERVICE_TRANSLATION_DIRECT(ExampleServiceV1Translation);