Support field selection by juanrh · Pull Request #174 · ros2/ros1_bridge

juanrh · 2019-03-20T17:26:54Z

Signed-off-by: Juan Rodriguez Hortala hortala@amazon.com

This change extends the mapping file format to supported selecting sub-fields for the ROS 1 part of the entries of the fields_1_to_2 section. Before the change only field names can be used, after the change the user can specify a . separated list of fields, corresponding to a sequence of field selection.

For example that allows using header.stamp: 'stamp' in the mapping from rosgraph_msgs.Log to rcl_interfaces.Log, which would help fixing #159 by adding a new mapping file for rcl_interfaces

This is a work in progress pull request, this change hasn't been fully tested. Also, this PR should be extended to support field selection for ROS 2 fields too.

gonzodepedro · 2019-03-22T20:27:49Z

I reviewed and tested this PR together with PR #178 and it seems to work.

@juanrh are you going to continue working on this? or may I take it from here?

juanrh · 2019-03-22T22:41:56Z

@gonzodepedro Thanks for taking a look. I'd like to finish this PR, I expect to have that complete by early next week

juanrh · 2019-03-26T00:49:47Z

I have added support for field selection on ROS 2 messages, and a description of field selections in the documentation. I have also tested this on my laptop with success, with a modification of the demo publisher that publishes messages of type rosgraph_msgs/Log.

Please let me know if anything is missing

gonzodepedro · 2019-03-26T16:48:02Z

LGTM

dirk-thomas · 2019-03-26T17:12:59Z

If the PR is ready to be reviewed please replace the "in progress" label with the "in review" label (which will move the ticket into the review column on waffle.io).

juanrh · 2019-03-26T18:00:19Z

Gist for vsc-export: https://gist.github.com/juanrh/32e5809a70980e989abd9935bf8733f6

thomas-moulard · 2019-03-26T21:21:36Z

thomas-moulard · 2019-03-28T02:43:13Z

thomas-moulard · 2019-03-29T18:12:40Z

@juanrh the nightly is fine but not this build so there is something we need to fix there - https://ci.ros2.org/view/packaging/job/packaging_linux/1414/ Can you investigate?

juanrh · 2019-04-05T17:47:02Z

@thomas-moulard - run the following CI job:

Gist file: https://gist.githubusercontent.com/juanrh/490d68cf32c97ccbcf1b320d2bf260d6/raw/9bbac038aafed5fa3ef299b612fb6e4332c3008d/ros2.repos
Additional test flags: --packages-up-to ros1_bridge
CI Job: ci_packaging_linux

prajakta-gokhale · 2019-05-08T22:01:33Z

@juanrh when you get the chance, could you please rebase this change and request a CI re-run? Thanks!

gonzodepedro

Currently this conflicts when rebasing to master.

gonzodepedro · 2019-05-13T18:37:12Z

doc/index.rst

+     is a sequence of field names separated by `.`, that specifies the path to a field starting from a message. 
+     For example starting from the message `rosgraph_msgs/Log` the field selection `header.stamp` specifies a 
+     path that goes through the field `header` of `rosgraph_msgs/Log`, that has a message of type `std_msgs/Header`,
+     and ending up in the field `stamp` of `std_msgs/Header`, that has type `time`.


Perhaps it would be good to state that the mapping works for ROS1 and ROS2 messages.

gonzodepedro · 2019-05-13T20:32:36Z

@juanrh The commit conflicting with the rebase may be this

juanrh · 2019-05-14T21:22:11Z

Thanks @gonzodepedro. I'm coming out of vacation but I should be able to rebase by the end of this week

dirk-thomas · 2019-05-14T21:48:50Z

I should be able to rebase by the end of this week

Feature freeze for Dashing is scheduled for this Thursday (see https://index.ros.org/doc/ros2/Releases/Release-Dashing-Diademata/#timeline-before-the-release).

gonzodepedro · 2019-05-15T19:13:12Z

@juanrh I think I'll take care of the rebase, so we can get this into Dashing feature freeze.

juanrh · 2019-05-15T20:05:43Z

ok @gonzodepedro thanks for taking care of that. Please let me know if I can help with anything

Signed-off-by: Juan Rodriguez Hortala <hortala@amazon.com>

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>

resource/interface_factories.cpp.em

doc/index.rst

ros1_bridge/__init__.py

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>

dirk-thomas · 2019-05-15T23:21:57Z

Please run a CI build for this change and post the badge here.

Have you tried this patch together with ros2/rcl_interfaces#67 and can confirm that bridging the log message works with the not-FastRTPS RMW impl.?

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>

gonzodepedro · 2019-05-15T23:54:31Z

Have you tried this patch together with ros2/rcl_interfaces#67 and can confirm that bridging the log message works with the not-FastRTPS RMW impl.?

I've tried. I confirm it works with the not-FastRTPS RMW imp. And with FastRTPS RMW imp using the workaround for /ros2/rcl_interfaces#61 _log_disable_rosout:=true

gonzodepedro · 2019-05-16T14:41:55Z

* Add field selection for ROS 1 fields to mappings Signed-off-by: Juan Rodriguez Hortala <hortala@amazon.com> * Add field selection for ROS 2 fields to mappings Signed-off-by: Juan Rodriguez Hortala <hortala@amazon.com> * Add documentation for field selection Signed-off-by: Juan Rodriguez Hortala <hortala@amazon.com> * Fix linting issues with flake8 and pep257 Signed-off-by: Juan Rodriguez Hortala <hortala@amazon.com> * rebase consolidation Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar> * Linter and review comments Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar> * Use isinstance instead of type() Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar> Signed-off-by: Dhananjay Sathe <dhananjay.sathe@rapyuta-robotics.com>

tfoote added the in progress Actively being worked on (Kanban column) label Mar 20, 2019

juanrh changed the title ~~[WIP] Support field selection~~ Support field selection Mar 26, 2019

This was referenced Mar 26, 2019

Add mapping file for ROS 1 bridge ros2/rcl_interfaces#67

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failed to create 2to1 bridge for topic '/rosout' with ROS 2 type #159

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ros2 deleted a comment from dirk-thomas Apr 4, 2019

thomas-moulard mentioned this pull request Apr 30, 2019

Changes the default 3rd party logger from rcl_logging_noop to rcl_logging_log4cxx ros2/rcl#425

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jacobperron assigned gonzodepedro May 9, 2019

dirk-thomas added the enhancement New feature or request label May 9, 2019

gonzodepedro requested changes May 13, 2019

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Juan Rodriguez Hortala and others added 5 commits May 15, 2019 17:45

Add field selection for ROS 1 fields to mappings

e63dfc4

Signed-off-by: Juan Rodriguez Hortala <hortala@amazon.com>

Add field selection for ROS 2 fields to mappings

778671f

Signed-off-by: Juan Rodriguez Hortala <hortala@amazon.com>

Add documentation for field selection

ade36ae

Signed-off-by: Juan Rodriguez Hortala <hortala@amazon.com>

Fix linting issues with flake8 and pep257

d43c348

Signed-off-by: Juan Rodriguez Hortala <hortala@amazon.com>

rebase consolidation

32911db

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>

gonzodepedro force-pushed the ros1_field_selection branch from 5efb222 to 32911db Compare May 15, 2019 21:30

gonzodepedro approved these changes May 15, 2019

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dirk-thomas reviewed May 15, 2019

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Linter and review comments

586e015

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>

Use isinstance instead of type()

96b05c2

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>

dirk-thomas approved these changes May 16, 2019

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dirk-thomas merged commit 43e2fca into ros2:master May 16, 2019

dirk-thomas removed the in progress Actively being worked on (Kanban column) label May 16, 2019

dirk-thomas mentioned this pull request Aug 28, 2019

How to install latest version of ros-crystal-rcl-interfaces with apt-get to bypass issue 159? #215

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