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microRTPS bridge: fix templates for ROS2 usage

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This commit is contained in:
TSC21
2019-10-14 14:59:42 +01:00
committed by Nuno Marques
parent 3007b0876c
commit 88a7e3df09
5 changed files with 101 additions and 5 deletions
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26
msg/templates/urtps/Publisher.cpp.em
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@@ -102,8 +102,12 @@ bool @(topic)_Publisher::init()
@[else]@
Wparam.topic.topicName = "@(topic)PubSubTopic";
@[end if]@
@[if ros2_distro and ros2_distro != "ardent"]@
@[if ros2_distro]@
@[ if ros2_distro == "ardent"]@
Wparam.qos.m_partition.push_back("rt");
@[ else]@
Wparam.topic.topicName = "rt/" + Wparam.topic.topicName;
@[ end if]@
@[end if]@
mp_publisher = Domain::createPublisher(mp_participant, Wparam, static_cast<PublisherListener*>(&m_listener));
if(mp_publisher == nullptr)
@@ -139,9 +143,17 @@ void @(topic)_Publisher::run()
// Publication code
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
@[ if ros2_distro]@
@(package)::msg::dds_::@(topic)_ st;
@[ else]@
@(topic)_ st;
@[ end if]@
@[else]@
@[ if ros2_distro]@
@(package)::msg::@(topic) st;
@[ else]@
@(topic) st;
@[ end if]@
@[end if]@
/* Initialize your structure here */
@@ -168,9 +180,17 @@ void @(topic)_Publisher::run()
}
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
void @(topic)_Publisher::publish(@(topic)_* st)
@[ if ros2_distro]@
void @(topic)_Publisher::publish(@(package)::msg::dds_::@(topic)_* st)
@[ else]@
void @(topic)_Publisher::publish(@(topic)_* st)
@[ end if]@
@[else]@
void @(topic)_Publisher::publish(@(topic)* st)
@[ if ros2_distro]@
void @(topic)_Publisher::publish(@(package)::msg::@(topic)* st)
@[ else]@
void @(topic)_Publisher::publish(@(topic)* st)
@[ end if]@
@[end if]@
{
mp_publisher->write(st);