Add support for ros1 bridge (#32)

Andrew-Palmer · web-flow · commit 71bc0335c5d0 · 2020-08-14T14:49:59.000-05:00
* Add mapping to ROS gps_common messages for use with ros1_bridge
diff --git a/README.md b/README.md
@@ -34,3 +34,8 @@ The node `fix_translator` converts [sensor_msgs/NavSatFix](http://docs.ros.org/a
 ```
 
 Only adjust the topic names after "to=" in each remap line.
+
+Use with ros1_bridge
+--------------------------------
+
+The [ros1_bridge](https://index.ros.org/p/ros1_bridge/) package must be built from source to enable playback of GPSFix and GPSStatus messages stored in ROS1 bags. This requires that the applicable ROS1 `gps_common` and ROS2 `gps_msgs` packages are first installed.
diff --git a/gps_msgs/CHANGELOG.rst b/gps_msgs/CHANGELOG.rst
@@ -1,6 +1,9 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package gps_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Forthcoming
+------------------
+* Added mappings to the messages in the ROS gps_common package for use with ros1_bridge
 
 1.0.3 (2020-06-10)
 ------------------
diff --git a/gps_msgs/CMakeLists.txt b/gps_msgs/CMakeLists.txt
@@ -21,3 +21,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
 
 ament_export_dependencies(rosidl_default_runtime)
 ament_package()
+
+install(
+  FILES ros1_ros2_mapping.yaml
+  DESTINATION share/${PROJECT_NAME}
+)
diff --git a/gps_msgs/package.xml b/gps_msgs/package.xml
@@ -20,5 +20,6 @@
 
   <export>
     <build_type>ament_cmake</build_type>
+    <ros1_bridge mapping_rules="ros1_ros2_mapping.yaml"/>
   </export>
 </package>
diff --git a/gps_msgs/ros1_ros2_mapping.yaml b/gps_msgs/ros1_ros2_mapping.yaml
@@ -0,0 +1,3 @@
+-
+  ros1_package_name: 'gps_common'
+  ros2_package_name: 'gps_msgs'

Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,3 @@`
	`1`	`+-`
	`2`	`+ ros1_package_name: 'gps_common'`
	`3`	`+ ros2_package_name: 'gps_msgs'`