PR #13702 from Eran: align ROS2 topics with Humble IDLs

IntelRealSense · Jan 26, 2025 · b95f813 · b95f813
2 parents c0b18f2 + 32e0f3c
commit b95f813
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diff --git a/third-party/realdds/include/realdds/topics/image-msg.h b/third-party/realdds/include/realdds/topics/image-msg.h
@@ -1,11 +1,11 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2022-4 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2022-5 Intel Corporation. All Rights Reserved.
 #pragma once
 
 #include <realdds/dds-defines.h>
 #include <fastdds/rtps/common/Time_t.h>
 
-#include <realdds/topics/ros2/ros2image.h>
+#include <realdds/topics/ros2/sensor_msgs/msg/Image.h>
 
 #include <string>
 #include <memory>

diff --git a/third-party/realdds/include/realdds/topics/imu-msg.h b/third-party/realdds/include/realdds/topics/imu-msg.h
@@ -1,11 +1,11 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2023-4 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2023-5 Intel Corporation. All Rights Reserved.
 #pragma once
 
 #include <realdds/dds-defines.h>
 #include <fastdds/rtps/common/Time_t.h>
 
-#include <realdds/topics/ros2/ros2imu.h>
+#include <realdds/topics/ros2/sensor_msgs/msg/Imu.h>
 
 #include <string>
 #include <memory>

diff --git a/...ds/include/realdds/topics/ros2/ros2time.h → ...topics/ros2/builtin_interfaces/msg/Time.h b/...ds/include/realdds/topics/ros2/ros2time.h → ...topics/ros2/builtin_interfaces/msg/Time.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2023 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2023-5 Intel Corporation. All Rights Reserved.
 
 /*!
  * @file Time.h
@@ -8,8 +8,8 @@
  * This file was generated by the tool gen.
  */
 
-#ifndef _FAST_DDS_GENERATED_STD_MSGS_MSG_TIME_H_
-#define _FAST_DDS_GENERATED_STD_MSGS_MSG_TIME_H_
+#ifndef _FAST_DDS_GENERATED_BUILTIN_INTERFACES_MSG_TIME_H_
+#define _FAST_DDS_GENERATED_BUILTIN_INTERFACES_MSG_TIME_H_
 
 
 //#include <fastrtps/utils/fixed_size_string.hpp>
@@ -52,7 +52,7 @@ class Cdr;
 } // namespace eprosima
 
 
-namespace std_msgs {
+namespace builtin_interfaces {
     namespace msg {
         /*!
          * @brief This class represents the structure Time defined by the user in the IDL file.
@@ -74,42 +74,42 @@ namespace std_msgs {
 
             /*!
              * @brief Copy constructor.
-             * @param x Reference to the object std_msgs::msg::Time that will be copied.
+             * @param x Reference to the object builtin_interfaces::msg::Time that will be copied.
              */
             eProsima_user_DllExport Time(
                     const Time& x);
 
             /*!
              * @brief Move constructor.
-             * @param x Reference to the object std_msgs::msg::Time that will be copied.
+             * @param x Reference to the object builtin_interfaces::msg::Time that will be copied.
              */
             eProsima_user_DllExport Time(
                     Time&& x) noexcept;
 
             /*!
              * @brief Copy assignment.
-             * @param x Reference to the object std_msgs::msg::Time that will be copied.
+             * @param x Reference to the object builtin_interfaces::msg::Time that will be copied.
              */
             eProsima_user_DllExport Time& operator =(
                     const Time& x);
 
             /*!
              * @brief Move assignment.
-             * @param x Reference to the object std_msgs::msg::Time that will be copied.
+             * @param x Reference to the object builtin_interfaces::msg::Time that will be copied.
              */
             eProsima_user_DllExport Time& operator =(
                     Time&& x) noexcept;
 
             /*!
              * @brief Comparison operator.
-             * @param x std_msgs::msg::Time object to compare.
+             * @param x builtin_interfaces::msg::Time object to compare.
              */
             eProsima_user_DllExport bool operator ==(
                     const Time& x) const;
 
             /*!
              * @brief Comparison operator.
-             * @param x std_msgs::msg::Time object to compare.
+             * @param x builtin_interfaces::msg::Time object to compare.
              */
             eProsima_user_DllExport bool operator !=(
                     const Time& x) const;
@@ -169,7 +169,7 @@ namespace std_msgs {
              * @return Serialized size.
              */
             eProsima_user_DllExport static size_t getCdrSerializedSize(
-                    const std_msgs::msg::Time& data,
+                    const builtin_interfaces::msg::Time& data,
                     size_t current_alignment = 0);
 
 
@@ -216,6 +216,6 @@ namespace std_msgs {
             uint32_t m_nanosec;
         };
     } // namespace msg
-} // namespace std_msgs
+} // namespace builtin_interfaces
 
-#endif // _FAST_DDS_GENERATED_STD_MSGS_MSG_TIME_H_
+#endif // _FAST_DDS_GENERATED_BUILTIN_INTERFACES_MSG_TIME_H_
diff --git a/...realdds/topics/ros2/ros2timePubSubTypes.h → .../builtin_interfaces/msg/TimePubSubTypes.h b/...realdds/topics/ros2/ros2timePubSubTypes.h → .../builtin_interfaces/msg/TimePubSubTypes.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2023 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2023-5 Intel Corporation. All Rights Reserved.
 
 /*!
  * @file TimePubSubTypes.h
@@ -9,20 +9,20 @@
  */
 
 
-#ifndef _FAST_DDS_GENERATED_STD_MSGS_MSG_TIME_PUBSUBTYPES_H_
-#define _FAST_DDS_GENERATED_STD_MSGS_MSG_TIME_PUBSUBTYPES_H_
+#ifndef _FAST_DDS_GENERATED_BUILTIN_INTERFACES_MSG_TIME_PUBSUBTYPES_H_
+#define _FAST_DDS_GENERATED_BUILTIN_INTERFACES_MSG_TIME_PUBSUBTYPES_H_
 
 #include <fastdds/dds/topic/TopicDataType.hpp>
 #include <fastrtps/utils/md5.h>
 
-#include "ros2time.h"
+#include "Time.h"
 
 #if !defined(GEN_API_VER) || (GEN_API_VER != 1)
 #error \
     Generated Time is not compatible with current installed Fast DDS. Please, regenerate it with fastddsgen.
 #endif  // GEN_API_VER
 
-namespace std_msgs
+namespace builtin_interfaces
 {
     namespace msg
     {
@@ -93,4 +93,4 @@ namespace std_msgs
     }
 }
 
-#endif // _FAST_DDS_GENERATED_STD_MSGS_MSG_TIME_PUBSUBTYPES_H_
+#endif // _FAST_DDS_GENERATED_BUILTIN_INTERFACES_MSG_TIME_PUBSUBTYPES_H_
diff --git a/...lude/realdds/topics/ros2/ros2quaternion.h → ...opics/ros2/geometry_msgs/msg/Quaternion.h b/...lude/realdds/topics/ros2/ros2quaternion.h → ...opics/ros2/geometry_msgs/msg/Quaternion.h
diff --git a/...s/topics/ros2/ros2quaternionPubSubTypes.h → ...geometry_msgs/msg/QuaternionPubSubTypes.h b/...s/topics/ros2/ros2quaternionPubSubTypes.h → ...geometry_msgs/msg/QuaternionPubSubTypes.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2023 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2023-5 Intel Corporation. All Rights Reserved.
 
 /*!
  * @file QuaternionPubSubTypes.h
@@ -15,7 +15,7 @@
 #include <fastdds/dds/topic/TopicDataType.hpp>
 #include <fastrtps/utils/md5.h>
 
-#include <realdds/topics/ros2/ros2quaternion.h>
+#include "Quaternion.h"
 
 #if !defined(GEN_API_VER) || (GEN_API_VER != 1)
 #error \

diff --git a/...include/realdds/topics/ros2/ros2vector3.h → ...s/topics/ros2/geometry_msgs/msg/Vector3.h b/...include/realdds/topics/ros2/ros2vector3.h → ...s/topics/ros2/geometry_msgs/msg/Vector3.h
diff --git a/...ldds/topics/ros2/ros2vector3PubSubTypes.h → ...s2/geometry_msgs/msg/Vector3PubSubTypes.h b/...ldds/topics/ros2/ros2vector3PubSubTypes.h → ...s2/geometry_msgs/msg/Vector3PubSubTypes.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2023 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2023-5 Intel Corporation. All Rights Reserved.
 
 /*!
  * @file Vector3PubSubTypes.h
@@ -15,7 +15,7 @@
 #include <fastdds/dds/topic/TopicDataType.hpp>
 #include <fastrtps/utils/md5.h>
 
-#include "ros2vector3.h"
+#include "Vector3.h"
 
 #if !defined(GEN_API_VER) || (GEN_API_VER != 1)
 #error \

diff --git a/...s/include/realdds/topics/ros2/ros2image.h → ...aldds/topics/ros2/sensor_msgs/msg/Image.h b/...s/include/realdds/topics/ros2/ros2image.h → ...aldds/topics/ros2/sensor_msgs/msg/Image.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2023 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2023-5 Intel Corporation. All Rights Reserved.
 
 /*!
  * @file Image.h
@@ -11,7 +11,7 @@
 #ifndef _FAST_DDS_GENERATED_SENSOR_MSGS_MSG_IMAGE_H_
 #define _FAST_DDS_GENERATED_SENSOR_MSGS_MSG_IMAGE_H_
 
-#include "ros2header.h"
+#include "../../std_msgs/msg/Header.h"
 
 //#include <fastrtps/utils/fixed_size_string.hpp>
 

diff --git a/...ealdds/topics/ros2/ros2imagePubSubTypes.h → ...s/ros2/sensor_msgs/msg/ImagePubSubTypes.h b/...ealdds/topics/ros2/ros2imagePubSubTypes.h → ...s/ros2/sensor_msgs/msg/ImagePubSubTypes.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2023 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2023-5 Intel Corporation. All Rights Reserved.
 
 /*!
  * @file ImagePubSubTypes.h
@@ -15,7 +15,7 @@
 #include <fastdds/dds/topic/TopicDataType.hpp>
 #include <fastrtps/utils/md5.h>
 
-#include "ros2image.h"
+#include "Image.h"
 
 #if !defined(GEN_API_VER) || (GEN_API_VER != 1)
 #error \

diff --git a/...dds/include/realdds/topics/ros2/ros2imu.h → ...realdds/topics/ros2/sensor_msgs/msg/Imu.h b/...dds/include/realdds/topics/ros2/ros2imu.h → ...realdds/topics/ros2/sensor_msgs/msg/Imu.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2023 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2023-5 Intel Corporation. All Rights Reserved.
 
 /*!
  * @file Imu.h
@@ -11,9 +11,9 @@
 #ifndef _FAST_DDS_GENERATED_SENSOR_MSGS_MSG_IMU_H_
 #define _FAST_DDS_GENERATED_SENSOR_MSGS_MSG_IMU_H_
 
-#include <realdds/topics/ros2/ros2vector3.h>
-#include <realdds/topics/ros2/ros2quaternion.h>
-#include <realdds/topics/ros2/ros2header.h>
+#include "../../geometry_msgs/msg/Vector3.h"
+#include "../../geometry_msgs/msg/Quaternion.h"
+#include "../../std_msgs/msg/Header.h"
 
 #include <fastrtps/utils/fixed_size_string.hpp>
 
@@ -57,7 +57,7 @@ class Cdr;
 
 namespace sensor_msgs {
     namespace msg {
-        typedef std::array<double, 9> sensor_msgs__Imu__double_array_9;
+        typedef std::array<double, 9> double__9;
         /*!
          * @brief This class represents the structure Imu defined by the user in the IDL file.
          * @ingroup IMU
@@ -173,26 +173,26 @@ namespace sensor_msgs {
              * @param _orientation_covariance New value to be copied in member orientation_covariance
              */
             eProsima_user_DllExport void orientation_covariance(
-                    const sensor_msgs::msg::sensor_msgs__Imu__double_array_9& _orientation_covariance);
+                    const sensor_msgs::msg::double__9& _orientation_covariance);
 
             /*!
              * @brief This function moves the value in member orientation_covariance
              * @param _orientation_covariance New value to be moved in member orientation_covariance
              */
             eProsima_user_DllExport void orientation_covariance(
-                    sensor_msgs::msg::sensor_msgs__Imu__double_array_9&& _orientation_covariance);
+                    sensor_msgs::msg::double__9&& _orientation_covariance);
 
             /*!
              * @brief This function returns a constant reference to member orientation_covariance
              * @return Constant reference to member orientation_covariance
              */
-            eProsima_user_DllExport const sensor_msgs::msg::sensor_msgs__Imu__double_array_9& orientation_covariance() const;
+            eProsima_user_DllExport const sensor_msgs::msg::double__9& orientation_covariance() const;
 
             /*!
              * @brief This function returns a reference to member orientation_covariance
              * @return Reference to member orientation_covariance
              */
-            eProsima_user_DllExport sensor_msgs::msg::sensor_msgs__Imu__double_array_9& orientation_covariance();
+            eProsima_user_DllExport sensor_msgs::msg::double__9& orientation_covariance();
             /*!
              * @brief This function copies the value in member angular_velocity
              * @param _angular_velocity New value to be copied in member angular_velocity
@@ -223,26 +223,26 @@ namespace sensor_msgs {
              * @param _angular_velocity_covariance New value to be copied in member angular_velocity_covariance
              */
             eProsima_user_DllExport void angular_velocity_covariance(
-                    const sensor_msgs::msg::sensor_msgs__Imu__double_array_9& _angular_velocity_covariance);
+                    const sensor_msgs::msg::double__9& _angular_velocity_covariance);
 
             /*!
              * @brief This function moves the value in member angular_velocity_covariance
              * @param _angular_velocity_covariance New value to be moved in member angular_velocity_covariance
              */
             eProsima_user_DllExport void angular_velocity_covariance(
-                    sensor_msgs::msg::sensor_msgs__Imu__double_array_9&& _angular_velocity_covariance);
+                    sensor_msgs::msg::double__9&& _angular_velocity_covariance);
 
             /*!
              * @brief This function returns a constant reference to member angular_velocity_covariance
              * @return Constant reference to member angular_velocity_covariance
              */
-            eProsima_user_DllExport const sensor_msgs::msg::sensor_msgs__Imu__double_array_9& angular_velocity_covariance() const;
+            eProsima_user_DllExport const sensor_msgs::msg::double__9& angular_velocity_covariance() const;
 
             /*!
              * @brief This function returns a reference to member angular_velocity_covariance
              * @return Reference to member angular_velocity_covariance
              */
-            eProsima_user_DllExport sensor_msgs::msg::sensor_msgs__Imu__double_array_9& angular_velocity_covariance();
+            eProsima_user_DllExport sensor_msgs::msg::double__9& angular_velocity_covariance();
             /*!
              * @brief This function copies the value in member linear_acceleration
              * @param _linear_acceleration New value to be copied in member linear_acceleration
@@ -273,26 +273,26 @@ namespace sensor_msgs {
              * @param _linear_acceleration_covariance New value to be copied in member linear_acceleration_covariance
              */
             eProsima_user_DllExport void linear_acceleration_covariance(
-                    const sensor_msgs::msg::sensor_msgs__Imu__double_array_9& _linear_acceleration_covariance);
+                    const sensor_msgs::msg::double__9& _linear_acceleration_covariance);
 
             /*!
              * @brief This function moves the value in member linear_acceleration_covariance
              * @param _linear_acceleration_covariance New value to be moved in member linear_acceleration_covariance
              */
             eProsima_user_DllExport void linear_acceleration_covariance(
-                    sensor_msgs::msg::sensor_msgs__Imu__double_array_9&& _linear_acceleration_covariance);
+                    sensor_msgs::msg::double__9&& _linear_acceleration_covariance);
 
             /*!
              * @brief This function returns a constant reference to member linear_acceleration_covariance
              * @return Constant reference to member linear_acceleration_covariance
              */
-            eProsima_user_DllExport const sensor_msgs::msg::sensor_msgs__Imu__double_array_9& linear_acceleration_covariance() const;
+            eProsima_user_DllExport const sensor_msgs::msg::double__9& linear_acceleration_covariance() const;
 
             /*!
              * @brief This function returns a reference to member linear_acceleration_covariance
              * @return Reference to member linear_acceleration_covariance
              */
-            eProsima_user_DllExport sensor_msgs::msg::sensor_msgs__Imu__double_array_9& linear_acceleration_covariance();
+            eProsima_user_DllExport sensor_msgs::msg::double__9& linear_acceleration_covariance();
 
             /*!
              * @brief This function returns the maximum serialized size of an object
@@ -355,11 +355,11 @@ namespace sensor_msgs {
 
             std_msgs::msg::Header m_header;
             geometry_msgs::msg::Quaternion m_orientation;
-            sensor_msgs::msg::sensor_msgs__Imu__double_array_9 m_orientation_covariance;
+            sensor_msgs::msg::double__9 m_orientation_covariance;
             geometry_msgs::msg::Vector3 m_angular_velocity;
-            sensor_msgs::msg::sensor_msgs__Imu__double_array_9 m_angular_velocity_covariance;
+            sensor_msgs::msg::double__9 m_angular_velocity_covariance;
             geometry_msgs::msg::Vector3 m_linear_acceleration;
-            sensor_msgs::msg::sensor_msgs__Imu__double_array_9 m_linear_acceleration_covariance;
+            sensor_msgs::msg::double__9 m_linear_acceleration_covariance;
         };
     } // namespace msg
 } // namespace sensor_msgs

diff --git a/.../realdds/topics/ros2/ros2imuPubSubTypes.h → ...ics/ros2/sensor_msgs/msg/ImuPubSubTypes.h b/.../realdds/topics/ros2/ros2imuPubSubTypes.h → ...ics/ros2/sensor_msgs/msg/ImuPubSubTypes.h
@@ -1,5 +1,5 @@
 // License: Apache 2.0. See LICENSE file in root directory.
-// Copyright(c) 2023 Intel Corporation. All Rights Reserved.
+// Copyright(c) 2023-5 Intel Corporation. All Rights Reserved.
 
 /*!
  * @file ImuPubSubTypes.h
@@ -15,7 +15,7 @@
 #include <fastdds/dds/topic/TopicDataType.hpp>
 #include <fastrtps/utils/md5.h>
 
-#include <realdds/topics/ros2/ros2imu.h>
+#include "Imu.h"
 
 #if !defined(GEN_API_VER) || (GEN_API_VER != 1)
 #error \
@@ -26,7 +26,7 @@ namespace sensor_msgs
 {
     namespace msg
     {
-        typedef std::array<double, 9> sensor_msgs__Imu__double_array_9;
+        typedef std::array<double, 9> double__9;
         /*!
          * @brief This class represents the TopicDataType of the type Imu defined by the user in the IDL file.
          * @ingroup IMU