[14447] Added ROS 2 Topic Support to Shapes Demo #51
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Signed-off-by: Javier Santiago <javiersantiago@eprosima.com>
Signed-off-by: Javier Santiago <javiersantiago@eprosima.com>
Signed-off-by: Javier Santiago <javiersantiago@eprosima.com>
Signed-off-by: Javier Santiago <javiersantiago@eprosima.com>
Signed-off-by: Javier Santiago <javiersantiago@eprosima.com>
Signed-off-by: Javier Santiago <javiersantiago@eprosima.com>
Signed-off-by: Javier Santiago <javiersantiago@eprosima.com>
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When enabling Content Based checkbox the following error messages are output:
[DDSSQLFILTER Error] No TypeObject found for type shapes_demo_typesupport::idl::dds_::KeylessShapeType_ -> Function create_content_filter
[PARTICIPANT Error] Could not create filter of class DDSSQL for expression "x > %0 AND x < %1 AND y > %2 AND y < %3 -> Function create_contentfilteredtopic
Shapes Demo is filtering but using the builtin ShapesDemo content filter and not the one in Fast DDS. I think that if possible this issue should be solved before merging this PR.
| $ ros2 topic list -t | ||
| /Square [shapes_demo_typesupport/idl/KeylessShapeType] | ||
| /parameter_events [rcl_interfaces/msg/ParameterEvent] | ||
| /rosout [rcl_interfaces/msg/Log] |
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I am not able to see always the topic. In fact I have just seen it once and I have not been able to see it again.
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This is actually interesting because I can see the topic consistently. Can you give me any more info?
Good catch. This appears to actually be an issue with how Fast DDS-Gen generates the TypeObject when ROS name mangling is requested. The name for the TypeSupport is not the same it is registered with. |
Signed-off-by: Javier Santiago <javiersantiago@eprosima.com>
CMakeLists.txt
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| if (NOT fastrtps_FOUND OR fastrtps_VERSION LESS 2.5.1) | ||
| message(FATAL_ERROR "Trying to use a version of Fast-DDS lower than 2.5.1. Please update your Fast-DDS installation.") | ||
| endif() | ||
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| if(BUILD_ROS_COMPONENTS) | ||
| cmake_policy(SET CMP0057 NEW) | ||
| # cmake_policy(SET CMP0057 NEW) |
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If the policy is not used, I suggest removing it instead of leaving phantom code.
README.md
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| --- | ||
| **NOTE** | ||
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| ROS 2 Topics enablement will disable some QOS that are not supported by ROS 2 at the moment, namely Ownership and Partitions. |
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Please, use QoS instead of QOS
| @@ -41,9 +41,9 @@ using namespace eprosima::fastrtps::rtps; | |||
| void registerKeylessShapeTypes() | |||
| { | |||
| TypeObjectFactory *factory = TypeObjectFactory::get_instance(); | |||
| factory->add_type_object("shapes_demo_typesupport::idl::KeylessShapeType", shapes_demo_typesupport::idl::GetKeylessShapeTypeIdentifier(true), | |||
| factory->add_type_object("shapes_demo_typesupport::idl::dds_::KeylessShapeType_", shapes_demo_typesupport::idl::GetKeylessShapeTypeIdentifier(true), | |||
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Have you opened an internal task (Redmine) to track this issue?
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It has been created
Signed-off-by: Javier Santiago <javiersantiago@eprosima.com>
Topics used by ShapesDemo are not seen by ROS 2. This PR adds a feature to switch between the standard Topics and ROS 2 Topics.
ROS 2 support needs to be enabled on compile time.