From 0467c816c313774874367c06c9b54f33077acf04 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 16 Oct 2018 12:12:29 +0200
Subject: [PATCH] RosPublish can publish integers
---
src/converter.hh | 12 ++++++++++++
src/ros_publish.cpp | 2 ++
src/sot_to_ros.cpp | 1 +
src/sot_to_ros.hh | 25 +++++++++++++++++++++++++
4 files changed, 40 insertions(+)
diff --git a/src/converter.hh b/src/converter.hh
index 9b94e52..968cde4 100644
--- a/src/converter.hh
+++ b/src/converter.hh
@@ -66,6 +66,17 @@ namespace dynamicgraph
dst = src.data;
}
+ // Int
+ SOT_TO_ROS_IMPL(int)
+ {
+ dst.data = src;
+ }
+
+ ROS_TO_SOT_IMPL(int)
+ {
+ dst = src.data;
+ }
+
// Unsigned
SOT_TO_ROS_IMPL(unsigned int)
{
@@ -229,6 +240,7 @@ namespace dynamicgraph
DG_BRIDGE_MAKE_SHPTR_IMPL(bool);
DG_BRIDGE_MAKE_SHPTR_IMPL(double);
+ DG_BRIDGE_MAKE_SHPTR_IMPL(int);
DG_BRIDGE_MAKE_SHPTR_IMPL(unsigned int);
DG_BRIDGE_MAKE_SHPTR_IMPL(Vector);
DG_BRIDGE_MAKE_SHPTR_IMPL(specific::Vector3);
diff --git a/src/ros_publish.cpp b/src/ros_publish.cpp
index 1120ed1..8646fe5 100644
--- a/src/ros_publish.cpp
+++ b/src/ros_publish.cpp
@@ -84,6 +84,8 @@ namespace dynamicgraph
entity.add<double> (signal, topic);
else if (type == "unsigned")
entity.add<unsigned int> (signal, topic);
+ else if (type == "int")
+ entity.add<int> (signal, topic);
else if (type == "matrix")
entity.add<Matrix> (signal, topic);
else if (type == "vector")
diff --git a/src/sot_to_ros.cpp b/src/sot_to_ros.cpp
index 87b1214..abc88e3 100644
--- a/src/sot_to_ros.cpp
+++ b/src/sot_to_ros.cpp
@@ -5,6 +5,7 @@ namespace dynamicgraph
const char* SotToRos<bool>::signalTypeName = "bool";
const char* SotToRos<double>::signalTypeName = "Double";
+ const char* SotToRos<int>::signalTypeName = "int";
const char* SotToRos<unsigned int>::signalTypeName = "Unsigned";
const char* SotToRos<Matrix>::signalTypeName = "Matrix";
const char* SotToRos<Vector>::signalTypeName = "Vector";
diff --git a/src/sot_to_ros.hh b/src/sot_to_ros.hh
index 02673ec..46bdf4c 100644
--- a/src/sot_to_ros.hh
+++ b/src/sot_to_ros.hh
@@ -8,6 +8,7 @@
# include <std_msgs/Bool.h>
# include <std_msgs/Float64.h>
# include <std_msgs/UInt32.h>
+# include <std_msgs/Int32.h>
# include "dynamic_graph_bridge_msgs/Matrix.h"
# include "dynamic_graph_bridge_msgs/Vector.h"
@@ -121,6 +122,30 @@ namespace dynamicgraph
}
};
+ template <>
+ struct SotToRos<int>
+ {
+ typedef int sot_t;
+ typedef std_msgs::Int32 ros_t;
+ typedef std_msgs::Int32ConstPtr ros_const_ptr_t;
+ typedef dynamicgraph::Signal<sot_t, int> signal_t;
+ typedef dynamicgraph::SignalPtr<sot_t, int> signalIn_t;
+ typedef boost::function<sot_t& (sot_t&, int)> callback_t;
+
+ static const char* signalTypeName;
+
+ template <typename S>
+ static void setDefault(S& s)
+ {
+ s.setConstant (0);
+ }
+
+ static void setDefault(sot_t& s)
+ {
+ s = 0;
+ }
+ };
+
template <>
struct SotToRos<Matrix>
{
--
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