Added support for NonKeyedWithNestedKey.

Signed-off-by: Miguel Company <[email protected]>

Author: MiguelCompany

test_communication/test/subscribe_key_types.cpp

@@ -17,6 +17,7 @@
 
 #include "rclcpp/rclcpp.hpp"
 #include "test_msgs/msg/keyed_string.hpp"
+#include "test_msgs/msg/non_keyed_with_nested_key.hpp"
 
 #include "subscribe_helper.hpp"
 #include "subscribe_key_types.hpp"
@@ -30,3 +31,13 @@ rclcpp::SubscriptionBase::SharedPtr subscribe_keyed_string(
   return subscribe<test_msgs::msg::KeyedString>(
     node, message_type, expected_messages, received_messages);
 }
+
+rclcpp::SubscriptionBase::SharedPtr subscribe_non_keyed_with_nested_key(
+  rclcpp::Node::SharedPtr node,
+  const std::string & message_type,
+  const std::vector<test_msgs::msg::NonKeyedWithNestedKey::SharedPtr> & expected_messages,
+  std::vector<bool> & received_messages)
+{
+  return subscribe<test_msgs::msg::NonKeyedWithNestedKey>(
+    node, message_type, expected_messages, received_messages);
+}

test_communication/test/subscribe_key_types.hpp

@@ -20,11 +20,18 @@
 
 #include "rclcpp/rclcpp.hpp"
 #include "test_msgs/msg/keyed_string.hpp"
+#include "test_msgs/msg/non_keyed_with_nested_key.hpp"
 
 rclcpp::SubscriptionBase::SharedPtr subscribe_keyed_string(
   rclcpp::Node::SharedPtr node,
   const std::string & message_type,
   const std::vector<test_msgs::msg::KeyedString::SharedPtr> & expected_messages,
   std::vector<bool> & received_messages);
 
+rclcpp::SubscriptionBase::SharedPtr subscribe_non_keyed_with_nested_key(
+  rclcpp::Node::SharedPtr node,
+  const std::string & message_type,
+  const std::vector<test_msgs::msg::NonKeyedWithNestedKey::SharedPtr> & expected_messages,
+  std::vector<bool> & received_messages);
+
 #endif  // SUBSCRIBE_KEY_TYPES_HPP_

test_communication/test/test_publisher.cpp

@@ -109,6 +109,9 @@ int main(int argc, char ** argv)
     publish<test_msgs::msg::WStrings>(node, message, get_messages_wstrings());
   } else if (message == "KeyedString") {
     publish<test_msgs::msg::KeyedString>(node, message, get_messages_keyed_string());
+  } else if (message == "NonKeyedWithNestedKey") {
+    publish<test_msgs::msg::NonKeyedWithNestedKey>(
+      node, message, get_messages_non_keyed_with_nested_key());
   } else {
     fprintf(stderr, "Unknown message argument '%s'\n", message.c_str());
     rclcpp::shutdown();

test_communication/test/test_publisher_subscriber.cpp

@@ -100,6 +100,7 @@ int main(int argc, char ** argv)
   auto messages_strings = get_messages_strings();
   auto messages_wstrings = get_messages_wstrings();
   auto messages_keyed_string = get_messages_keyed_string();
+  auto messages_non_keyed_with_nested_key = get_messages_non_keyed_with_nested_key();
 
   std::thread spin_thread([node]() {
       rclcpp::spin(node);
@@ -153,6 +154,11 @@ int main(int argc, char ** argv)
   } else if (message == "KeyedString") {
     subscriber = subscribe_keyed_string(node, message, messages_keyed_string, received_messages);
     publish<test_msgs::msg::KeyedString>(node, message, messages_keyed_string);
+  } else if (message == "NonKeyedWithNestedKey") {
+    subscriber = subscribe_non_keyed_with_nested_key(
+      node, message, messages_non_keyed_with_nested_key, received_messages);
+    publish<test_msgs::msg::NonKeyedWithNestedKey>(
+      node, message, messages_non_keyed_with_nested_key);
   } else {
     fprintf(stderr, "Unknown message argument '%s'\n", message.c_str());
     return 1;

test_communication/test/test_subscriber.cpp

@@ -55,6 +55,7 @@ int main(int argc, char ** argv)
   auto messages_strings = get_messages_strings();
   auto messages_wstrings = get_messages_wstrings();
   auto messages_keyed_string = get_messages_keyed_string();
+  auto messages_non_keyed_with_nested_key = get_messages_non_keyed_with_nested_key();
 
   rclcpp::SubscriptionBase::SharedPtr subscriber;
   std::vector<bool> received_messages;  // collect flags about received messages
@@ -89,6 +90,9 @@ int main(int argc, char ** argv)
     subscriber = subscribe_wstrings(node, message, messages_wstrings, received_messages);
   } else if (message == "KeyedString") {
     subscriber = subscribe_keyed_string(node, message, messages_keyed_string, received_messages);
+  } else if (message == "NonKeyedWithNestedKey") {
+    subscriber = subscribe_non_keyed_with_nested_key(
+      node, message, messages_non_keyed_with_nested_key, received_messages);
   } else {
     fprintf(stderr, "Unknown message argument '%s'\n", message.c_str());
     rclcpp::shutdown();