messages.hpp

// Copyright 2023 Ekumen, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef BELUGA_ROS_MESSAGES_HPP
#define BELUGA_ROS_MESSAGES_HPP
 
#if BELUGA_ROS_VERSION == 2
#include <geometry_msgs/msg/point.hpp>
#include <geometry_msgs/msg/pose.hpp>
#include <geometry_msgs/msg/pose_array.hpp>
#include <geometry_msgs/msg/pose_with_covariance.hpp>
#include <geometry_msgs/msg/transform.hpp>
#include <nav_msgs/msg/occupancy_grid.hpp>
#include <sensor_msgs/msg/laser_scan.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <sensor_msgs/msg/point_field.hpp>
#include <sensor_msgs/point_cloud2_iterator.hpp>
#include <sensor_msgs/point_field_conversion.hpp>
#include <std_msgs/msg/color_rgba.hpp>
#include <visualization_msgs/msg/marker.hpp>
#include <visualization_msgs/msg/marker_array.hpp>
 
#include <rclcpp/time.hpp>
#elif BELUGA_ROS_VERSION == 1
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/PoseArray.h>
#include <geometry_msgs/PoseWithCovariance.h>
#include <geometry_msgs/Transform.h>
#include <nav_msgs/OccupancyGrid.h>
#include <sensor_msgs/LaserScan.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/PointField.h>
#include <sensor_msgs/point_cloud2_iterator.h>
#include <sensor_msgs/point_field_conversion.h>
#include <std_msgs/ColorRGBA.h>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>
 
#include <ros/time.h>
#else
#error BELUGA_ROS_VERSION is not defined or invalid
#endif
 
namespace beluga_ros {
 
namespace msg {
 
#if BELUGA_ROS_VERSION == 2
 
using ColorRGBA = std_msgs::msg::ColorRGBA;
using LaserScan = sensor_msgs::msg::LaserScan;
using LaserScanConstSharedPtr = LaserScan::ConstSharedPtr;
using PointCloud2 = sensor_msgs::msg::PointCloud2;
using PointCloud2ConstSharedPtr = PointCloud2::ConstSharedPtr;
template <typename Scalar>
using PointCloud2ConstIterator = sensor_msgs::PointCloud2ConstIterator<Scalar>;
template <typename Scalar>
using PointCloud2Iterator = sensor_msgs::PointCloud2Iterator<Scalar>;
using PointCloud2Modifier = sensor_msgs::PointCloud2Modifier;
using PointField = sensor_msgs::msg::PointField;
using Marker = visualization_msgs::msg::Marker;
using MarkerArray = visualization_msgs::msg::MarkerArray;
using OccupancyGrid = nav_msgs::msg::OccupancyGrid;
using OccupancyGridConstSharedPtr = OccupancyGrid::ConstSharedPtr;
using Point = geometry_msgs::msg::Point;
using Pose = geometry_msgs::msg::Pose;
using PoseArray = geometry_msgs::msg::PoseArray;
using PoseWithCovariance = geometry_msgs::msg::PoseWithCovariance;
using Transform = geometry_msgs::msg::Transform;
 
#elif BELUGA_ROS_VERSION == 1
 
using ColorRGBA = std_msgs::ColorRGBA;
using LaserScan = sensor_msgs::LaserScan;
using LaserScanConstSharedPtr = LaserScan::ConstPtr;
using PointCloud2 = sensor_msgs::PointCloud2;
using PointCloud2ConstSharedPtr = PointCloud2::ConstPtr;
template <typename Scalar>
using PointCloud2ConstIterator = sensor_msgs::PointCloud2ConstIterator<Scalar>;
template <typename Scalar>
using PointCloud2Iterator = sensor_msgs::PointCloud2Iterator<Scalar>;
using PointCloud2Modifier = sensor_msgs::PointCloud2Modifier;
using PointField = sensor_msgs::PointField;
using Marker = visualization_msgs::Marker;
using MarkerArray = visualization_msgs::MarkerArray;
using OccupancyGrid = nav_msgs::OccupancyGrid;
using OccupancyGridConstSharedPtr = OccupancyGrid::ConstPtr;
using Point = geometry_msgs::Point;
using Pose = geometry_msgs::Pose;
using PoseArray = geometry_msgs::PoseArray;
using PoseWithCovariance = geometry_msgs::PoseWithCovariance;
using Transform = geometry_msgs::Transform;
 
#else
#error BELUGA_ROS_VERSION is not defined or invalid
#endif
 
}  // namespace msg
 
namespace detail {
 
#if BELUGA_ROS_VERSION == 2
 
using Time = rclcpp::Time;
 
#elif BELUGA_ROS_VERSION == 1
 
using Time = ros::Time;
 
#else
#error BELUGA_ROS_VERSION is not defined or invalid
#endif
 
}  // namespace detail
 
 
template <class Message>
Message& stamp_message(std::string_view frame_id, detail::Time timestamp, Message& message) {
  message.header.frame_id = frame_id;
  message.header.stamp = timestamp;
  return message;
}
 
 
inline beluga_ros::msg::MarkerArray&
stamp_message(std::string_view frame_id, detail::Time timestamp, beluga_ros::msg::MarkerArray& message) {
  for (auto& marker : message.markers) {
    stamp_message(frame_id, timestamp, marker);
  }
  return message;
}
 
}  // namespace beluga_ros
 
#endif  // BELUGA_ROS_MESSAGES_HPP