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msg: add message translation node for ROS

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This commit is contained in:
Beat Küng
2025-02-11 13:19:25 +01:00
committed by Silvan Fuhrer
parent 975ec30c9c
commit f6bfa9812e
32 changed files with 3200 additions and 0 deletions
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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);