Fill out Definition message trait for ROS messages

Cargo.toml

@@ -5,5 +5,6 @@ members = [
  "roslibrust_codegen",
  "roslibrust_codegen_macro",
  "roslibrust_genmsg",
- "roslibrust_test"
-]
+ "roslibrust_test",
+]
+resolver = "2"

roslibrust_codegen/src/lib.rs

@@ -96,6 +96,10 @@ impl MessageFile {
  self.is_fixed_length
  }
 
+ pub fn get_definition(&self) -> &str {
+ &self.parsed.source
+ }
+
  fn compute_md5sum(
  parsed: &ParsedMessageFile,
  graph: &BTreeMap<String, MessageFile>,

roslibrust_genmsg/assets/msg.h.j2

@@ -224,7 +224,7 @@ struct Definition< ::{{ spec.package }}::{{ spec.short_name }}_<ContainerAllocat
 {
  static constexpr char const* value()
  {
- return "{{ spec.definition }}";
+ return "{{ spec.description }}";
  }
 
  static const char* value(const ::{{ spec.package }}::{{ spec.short_name }}_<ContainerAllocator>&) { return value(); }

roslibrust_genmsg/src/spec.rs

@@ -97,7 +97,10 @@ impl From<&MessageFile> for MessageSpecification {
  constants: value.get_constants().iter().map(Constant::from).collect(),
  md5sum_first: String::from(&md5sum[..md5sum.len() / 2]),
  md5sum_second: String::from(&md5sum[(md5sum.len() / 2)..]),
- description: String::from("Not a real description"),
+ description: value
+ .get_definition()
+ .replace('"', "\\\"")
+ .replace('\n', "\"\n\""),
  is_fixed_length: value.is_fixed_length(),
  };
  spec.fields.iter_mut().for_each(|field| {

roslibrust_genmsg/test_package/include/geometry_msgs/Point32.h

@@ -142,7 +142,17 @@ struct Definition< ::geometry_msgs::Point32_<ContainerAllocator>>
 {
  static constexpr char const* value()
  {
- return "";
+ return "# This contains the position of a point in free space(with 32 bits of precision)."
+"# It is recommeded to use Point wherever possible instead of Point32. "
+"# "
+"# This recommendation is to promote interoperability. "
+"#"
+"# This message is designed to take up less space when sending"
+"# lots of points at once, as in the case of a PointCloud. "
+""
+"float32 x"
+"float32 y"
+"float32 z";
  }
 
  static const char* value(const ::geometry_msgs::Point32_<ContainerAllocator>&) { return value(); }

roslibrust_genmsg/test_package/include/geometry_msgs/Polygon.h

@@ -131,7 +131,9 @@ struct Definition< ::geometry_msgs::Polygon_<ContainerAllocator>>
 {
  static constexpr char const* value()
  {
- return "";
+ return "#A specification of a polygon where the first and last points are assumed to be connected"
+"Point32[] points"
+"";
  }
 
  static const char* value(const ::geometry_msgs::Polygon_<ContainerAllocator>&) { return value(); }

roslibrust_genmsg/test_package/include/sensor_msgs/BatteryState.h

@@ -244,7 +244,59 @@ struct Definition< ::sensor_msgs::BatteryState_<ContainerAllocator>>
 {
  static constexpr char const* value()
  {
- return "";
+ return ""
+"# Constants are chosen to match the enums in the linux kernel"
+"# defined in include/linux/power_supply.h as of version 3.7"
+"# The one difference is for style reasons the constants are"
+"# all uppercase not mixed case."
+""
+"# Power supply status constants"
+"uint8 POWER_SUPPLY_STATUS_UNKNOWN = 0"
+"uint8 POWER_SUPPLY_STATUS_CHARGING = 1"
+"uint8 POWER_SUPPLY_STATUS_DISCHARGING = 2"
+"uint8 POWER_SUPPLY_STATUS_NOT_CHARGING = 3"
+"uint8 POWER_SUPPLY_STATUS_FULL = 4"
+""
+"# Power supply health constants"
+"uint8 POWER_SUPPLY_HEALTH_UNKNOWN = 0"
+"uint8 POWER_SUPPLY_HEALTH_GOOD = 1"
+"uint8 POWER_SUPPLY_HEALTH_OVERHEAT = 2"
+"uint8 POWER_SUPPLY_HEALTH_DEAD = 3"
+"uint8 POWER_SUPPLY_HEALTH_OVERVOLTAGE = 4"
+"uint8 POWER_SUPPLY_HEALTH_UNSPEC_FAILURE = 5"
+"uint8 POWER_SUPPLY_HEALTH_COLD = 6"
+"uint8 POWER_SUPPLY_HEALTH_WATCHDOG_TIMER_EXPIRE = 7"
+"uint8 POWER_SUPPLY_HEALTH_SAFETY_TIMER_EXPIRE = 8"
+""
+"# Power supply technology (chemistry) constants"
+"uint8 POWER_SUPPLY_TECHNOLOGY_UNKNOWN = 0"
+"uint8 POWER_SUPPLY_TECHNOLOGY_NIMH = 1"
+"uint8 POWER_SUPPLY_TECHNOLOGY_LION = 2"
+"uint8 POWER_SUPPLY_TECHNOLOGY_LIPO = 3"
+"uint8 POWER_SUPPLY_TECHNOLOGY_LIFE = 4"
+"uint8 POWER_SUPPLY_TECHNOLOGY_NICD = 5"
+"uint8 POWER_SUPPLY_TECHNOLOGY_LIMN = 6"
+""
+"Header header"
+"float32 voltage # Voltage in Volts (Mandatory)"
+"float32 temperature # Temperature in Degrees Celsius (If unmeasured NaN)"
+"float32 current # Negative when discharging (A) (If unmeasured NaN)"
+"float32 charge # Current charge in Ah (If unmeasured NaN)"
+"float32 capacity # Capacity in Ah (last full capacity) (If unmeasured NaN)"
+"float32 design_capacity # Capacity in Ah (design capacity) (If unmeasured NaN)"
+"float32 percentage # Charge percentage on 0 to 1 range (If unmeasured NaN)"
+"uint8 power_supply_status # The charging status as reported. Values defined above"
+"uint8 power_supply_health # The battery health metric. Values defined above"
+"uint8 power_supply_technology # The battery chemistry. Values defined above"
+"bool present # True if the battery is present"
+""
+"float32[] cell_voltage # An array of individual cell voltages for each cell in the pack"
+" # If individual voltages unknown but number of cells known set each to NaN"
+"float32[] cell_temperature # An array of individual cell temperatures for each cell in the pack"
+" # If individual temperatures unknown but number of cells known set each to NaN"
+"string location # The location into which the battery is inserted. (slot number or plug)"
+"string serial_number # The best approximation of the battery serial number"
+"";
  }
 
  static const char* value(const ::sensor_msgs::BatteryState_<ContainerAllocator>&) { return value(); }

roslibrust_genmsg/test_package/include/sensor_msgs/CameraInfo.h

@@ -192,7 +192,138 @@ struct Definition< ::sensor_msgs::CameraInfo_<ContainerAllocator>>
 {
  static constexpr char const* value()
  {
- return "";
+ return "# This message defines meta information for a camera. It should be in a"
+"# camera namespace on topic \"camera_info\" and accompanied by up to five"
+"# image topics named:"
+"#"
+"# image_raw - raw data from the camera driver, possibly Bayer encoded"
+"# image - monochrome, distorted"
+"# image_color - color, distorted"
+"# image_rect - monochrome, rectified"
+"# image_rect_color - color, rectified"
+"#"
+"# The image_pipeline contains packages (image_proc, stereo_image_proc)"
+"# for producing the four processed image topics from image_raw and"
+"# camera_info. The meaning of the camera parameters are described in"
+"# detail at http://www.ros.org/wiki/image_pipeline/CameraInfo."
+"#"
+"# The image_geometry package provides a user-friendly interface to"
+"# common operations using this meta information. If you want to, e.g.,"
+"# project a 3d point into image coordinates, we strongly recommend"
+"# using image_geometry."
+"#"
+"# If the camera is uncalibrated, the matrices D, K, R, P should be left"
+"# zeroed out. In particular, clients may assume that K[0] == 0.0"
+"# indicates an uncalibrated camera."
+""
+"#######################################################################"
+"# Image acquisition info #"
+"#######################################################################"
+""
+"# Time of image acquisition, camera coordinate frame ID"
+"Header header # Header timestamp should be acquisition time of image"
+" # Header frame_id should be optical frame of camera"
+" # origin of frame should be optical center of camera"
+" # +x should point to the right in the image"
+" # +y should point down in the image"
+" # +z should point into the plane of the image"
+""
+""
+"#######################################################################"
+"# Calibration Parameters #"
+"#######################################################################"
+"# These are fixed during camera calibration. Their values will be the #"
+"# same in all messages until the camera is recalibrated. Note that #"
+"# self-calibrating systems may \"recalibrate\" frequently. #"
+"# #"
+"# The internal parameters can be used to warp a raw (distorted) image #"
+"# to: #"
+"# 1. An undistorted image (requires D and K) #"
+"# 2. A rectified image (requires D, K, R) #"
+"# The projection matrix P projects 3D points into the rectified image.#"
+"#######################################################################"
+""
+"# The image dimensions with which the camera was calibrated. Normally"
+"# this will be the full camera resolution in pixels."
+"uint32 height"
+"uint32 width"
+""
+"# The distortion model used. Supported models are listed in"
+"# sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a"
+"# simple model of radial and tangential distortion - is sufficient."
+"string distortion_model"
+""
+"# The distortion parameters, size depending on the distortion model."
+"# For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3)."
+"float64[] D"
+""
+"# Intrinsic camera matrix for the raw (distorted) images."
+"# [fx 0 cx]"
+"# K = [ 0 fy cy]"
+"# [ 0 0 1]"
+"# Projects 3D points in the camera coordinate frame to 2D pixel"
+"# coordinates using the focal lengths (fx, fy) and principal point"
+"# (cx, cy)."
+"float64[9] K # 3x3 row-major matrix"
+""
+"# Rectification matrix (stereo cameras only)"
+"# A rotation matrix aligning the camera coordinate system to the ideal"
+"# stereo image plane so that epipolar lines in both stereo images are"
+"# parallel."
+"float64[9] R # 3x3 row-major matrix"
+""
+"# Projection/camera matrix"
+"# [fx' 0 cx' Tx]"
+"# P = [ 0 fy' cy' Ty]"
+"# [ 0 0 1 0]"
+"# By convention, this matrix specifies the intrinsic (camera) matrix"
+"# of the processed (rectified) image. That is, the left 3x3 portion"
+"# is the normal camera intrinsic matrix for the rectified image."
+"# It projects 3D points in the camera coordinate frame to 2D pixel"
+"# coordinates using the focal lengths (fx', fy') and principal point"
+"# (cx', cy') - these may differ from the values in K."
+"# For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will"
+"# also have R = the identity and P[1:3,1:3] = K."
+"# For a stereo pair, the fourth column [Tx Ty 0]' is related to the"
+"# position of the optical center of the second camera in the first"
+"# camera's frame. We assume Tz = 0 so both cameras are in the same"
+"# stereo image plane. The first camera always has Tx = Ty = 0. For"
+"# the right (second) camera of a horizontal stereo pair, Ty = 0 and"
+"# Tx = -fx' * B, where B is the baseline between the cameras."
+"# Given a 3D point [X Y Z]', the projection (x, y) of the point onto"
+"# the rectified image is given by:"
+"# [u v w]' = P * [X Y Z 1]'"
+"# x = u / w"
+"# y = v / w"
+"# This holds for both images of a stereo pair."
+"float64[12] P # 3x4 row-major matrix"
+""
+""
+"#######################################################################"
+"# Operational Parameters #"
+"#######################################################################"
+"# These define the image region actually captured by the camera #"
+"# driver. Although they affect the geometry of the output image, they #"
+"# may be changed freely without recalibrating the camera. #"
+"#######################################################################"
+""
+"# Binning refers here to any camera setting which combines rectangular"
+"# neighborhoods of pixels into larger \"super-pixels.\" It reduces the"
+"# resolution of the output image to"
+"# (width / binning_x) x (height / binning_y)."
+"# The default values binning_x = binning_y = 0 is considered the same"
+"# as binning_x = binning_y = 1 (no subsampling)."
+"uint32 binning_x"
+"uint32 binning_y"
+""
+"# Region of interest (subwindow of full camera resolution), given in"
+"# full resolution (unbinned) image coordinates. A particular ROI"
+"# always denotes the same window of pixels on the camera sensor,"
+"# regardless of binning settings."
+"# The default setting of roi (all values 0) is considered the same as"
+"# full resolution (roi.width = width, roi.height = height)."
+"RegionOfInterest roi"
+"";
  }
 
  static const char* value(const ::sensor_msgs::CameraInfo_<ContainerAllocator>&) { return value(); }

roslibrust_genmsg/test_package/include/std_msgs/Char.h

@@ -130,7 +130,7 @@ struct Definition< ::std_msgs::Char_<ContainerAllocator>>
 {
  static constexpr char const* value()
  {
- return "";
+ return "char data";
  }
 
  static const char* value(const ::std_msgs::Char_<ContainerAllocator>&) { return value(); }

roslibrust_genmsg/test_package/include/std_msgs/Header.h

@@ -142,7 +142,20 @@ struct Definition< ::std_msgs::Header_<ContainerAllocator>>
 {
  static constexpr char const* value()
  {
- return "";
+ return "# Standard metadata for higher-level stamped data types."
+"# This is generally used to communicate timestamped data "
+"# in a particular coordinate frame."
+"# "
+"# sequence ID: consecutively increasing ID "
+"uint32 seq"
+"#Two-integer timestamp that is expressed as:"
+"# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')"
+"# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')"
+"# time-handling sugar is provided by the client library"
+"time stamp"
+"#Frame this data is associated with"
+"string frame_id"
+"";
  }
 
  static const char* value(const ::std_msgs::Header_<ContainerAllocator>&) { return value(); }

roslibrust_genmsg/test_package/include/std_srvs/TriggerResponse.h

@@ -136,7 +136,9 @@ struct Definition< ::std_srvs::TriggerResponse_<ContainerAllocator>>
 {
  static constexpr char const* value()
  {
- return "";
+ return "bool success # indicate successful run of triggered service"
+"string message # informational, e.g. for error messages"
+"";
  }
 
  static const char* value(const ::std_srvs::TriggerResponse_<ContainerAllocator>&) { return value(); }

roslibrust_genmsg/test_package/include/test_package/Test.h

@@ -156,7 +156,13 @@ struct Definition< ::test_package::Test_<ContainerAllocator>>
 {
  static constexpr char const* value()
  {
- return "";
+ return "geometry_msgs/Point32[] points"
+""
+"string RUNNING_STATE = \"RUNNING\""
+"string STOPPED_STATE = \"STOPPED\""
+""
+"string test_a"
+"Header header";
  }
 
  static const char* value(const ::test_package::Test_<ContainerAllocator>&) { return value(); }