Apply automatic mapping rules in case only package+message mapping exists #382
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LoyVanBeek
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This was referenced Oct 25, 2022
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Please correct the DCO for your commits. |
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Please re-target your PR to the |
gbiggs
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Oct 31, 2022
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There is no rolling branch. Latest is ROS distro listed in |
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Sorry, you're correct. Please target it to master. |
… be applied In determine_field_mapping, there was an early return inside a loop over all mapping rules. IF there we any mapping rules but they don't specify field mappings, the early return made the function return without creating mappings automatically. For a particular message type, ROS 1's uuid_msgs/UniqueID vs ROS 2's unique_identifier_msgs/UUID, the message definition is exacly the same but type name is not. The only mapping fule defined in for unique_identifier_msgs/UUID is that it maps to uuid_msgs/UniqueID, but no field mappings are needed because the definitions are the same. But, then we hit the early return (because the for-loop is ran without any rule applying to the message at hand and thus not `continue`-ing in a code branch handling a rule) and return without applying the normal automatic field mapping generation rules. By removing the early return, the other rules are applied and the mapping rules for handling the exact same message defintions are applied Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>
The code after the early return mentioned in the previous commit assumed all fields would match by name, which was of course true. But not anymore, so the missing check now only fails when the missing fields are also not already accounted for via a mapping Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>
Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>
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gbiggs
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CI: |
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Looks like the instability is unrelated to this PR. |
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Thanks for the contribution! |
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No thnx, nice to have this merged. |
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In
determine_field_mapping, there was an early return inside a loop over all mapping rules. If there were any mapping rules but they don't specify field mappings, the early return made the function return without creating field mappings automatically.For a particular message type, ROS 1's uuid_msgs/UniqueID vs ROS 2's unique_identifier_msgs/UUID, the message definition is exactly the same but type name is not. The only mapping rule defined for
unique_identifier_msgs/UUIDis that it maps touuid_msgs/UniqueID, but no field mappings are needed because the definitions are the same: https://github.com/ros2/unique_identifier_msgs/blob/rolling/mapping_rules.yamlBut, then we hit the early return (because the for-loop is ran without any rule applying to the message at hand and thus not
continue-ing in a code branch handling a rule) and return without applying the normal automatic field mapping generation rules.By removing the early return, the other rules are applied and the mapping rules for handling the exact same message definitions are applied.
This fixes the issue found in ros2/unique_identifier_msgs#25 in
ros1_bridgeinstead ofunique_identifier_msgsThis PR applies to
foxybecause I combine it with Noetic and can test only that combo, but the early return causing this issue is still there on the main branch: https://github.com/ros2/ros1_bridge/blob/master/ros1_bridge/__init__.py#L788