Add Foxy support

.github/workflows/build_and_test.yaml

@@ -10,8 +10,8 @@ jobs:
     - uses: ros-tooling/[email protected]
       with:
         install-connext: true
-        required-ros-distributions: galactic
+        required-ros-distributions: foxy
     - uses: ros-tooling/[email protected]
       with:
         package-name: domain_bridge
-        target-ros2-distro: galactic
+        target-ros2-distro: foxy

CMakeLists.txt

@@ -16,12 +16,14 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake REQUIRED)
+find_package(rcl REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rcutils REQUIRED)
 # Leverage rosbag2's generic type support utilities
 find_package(rosbag2_cpp REQUIRED)
 find_package(rosidl_typesupport_cpp REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
+find_package(rmw REQUIRED)
 find_package(yaml_cpp_vendor REQUIRED)
 find_package(zstd_vendor REQUIRED)
 find_package(zstd REQUIRED)
@@ -34,10 +36,13 @@ add_library(${PROJECT_NAME}_lib SHARED
   src/${PROJECT_NAME}/compress_messages.cpp
   src/${PROJECT_NAME}/domain_bridge.cpp
   src/${PROJECT_NAME}/domain_bridge_options.cpp
+  src/${PROJECT_NAME}/generic_publisher.cpp
+  src/${PROJECT_NAME}/generic_subscription.cpp
   src/${PROJECT_NAME}/parse_domain_bridge_yaml_config.cpp
   src/${PROJECT_NAME}/qos_options.cpp
   src/${PROJECT_NAME}/service_bridge_options.cpp
   src/${PROJECT_NAME}/topic_bridge_options.cpp
+  src/${PROJECT_NAME}/utils.cpp
 )
 
 target_include_directories(${PROJECT_NAME}_lib PUBLIC
@@ -50,10 +55,12 @@ if(CMAKE_COMPILER_IS_GNUCXX)
 endif()
 
 ament_target_dependencies(${PROJECT_NAME}_lib
+  rcl
   rclcpp
   rcutils
   rosbag2_cpp
   rosidl_typesupport_cpp
+  rmw
   yaml_cpp_vendor
   zstd
 )
@@ -122,9 +129,11 @@ install(DIRECTORY examples launch
 
 ament_export_targets(export_${PROJECT_NAME})
 ament_export_dependencies(
+  rcl
   rclcpp
-  rosbag2_cpp
   rcutils
+  rosbag2_cpp
+  rmw
   yaml_cpp_vendor
   zstd_vendor
   zstd

README.md

@@ -7,7 +7,7 @@ See the [design document](doc/design.md) for more details about how the bridge w
 
 ## Prerequisites
 
-- [ROS 2](https://index.ros.org/doc/ros2/Installation) (Galactic or newer)
+- [ROS 2](https://index.ros.org/doc/ros2/Installation) (Foxy or newer)
 
 ## Installation
 

include/domain_bridge/qos_options.hpp

@@ -17,7 +17,7 @@
 
 #include <optional>
 
-#include "rclcpp/qos.hpp"
+#include "rmw/types.h"
 
 #include "domain_bridge/visibility_control.hpp"
 
@@ -34,7 +34,7 @@ class QosOptions
    *
    *    - reliability = nullopt_t (detect automatically)
    *    - durability = nullopt_t (detect automatically)
-   *    - history = rclcpp::HistoryPolicy::KeepLast
+   *    - history = RMW_QOS_POLICY_HISTORY_KEEP_LAST
    *    - depth = 10
    *    - deadline = 0 (RMW default)
    *    - lifespan = 0 (RMW default)
@@ -44,33 +44,33 @@ class QosOptions
 
   /// Get reliability.
   DOMAIN_BRIDGE_PUBLIC
-  std::optional<rclcpp::ReliabilityPolicy>
+  std::optional<rmw_qos_reliability_policy_t>
   reliability() const;
 
   /// Set reliability.
   DOMAIN_BRIDGE_PUBLIC
   QosOptions &
-  reliability(const rclcpp::ReliabilityPolicy & reliability);
+  reliability(rmw_qos_reliability_policy_t reliability);
 
   /// Get durability.
   DOMAIN_BRIDGE_PUBLIC
-  std::optional<rclcpp::DurabilityPolicy>
+  std::optional<rmw_qos_durability_policy_t>
   durability() const;
 
   /// Set durability.
   DOMAIN_BRIDGE_PUBLIC
   QosOptions &
-  durability(const rclcpp::DurabilityPolicy & durability);
+  durability(rmw_qos_durability_policy_t durability);
 
   /// Get history.
   DOMAIN_BRIDGE_PUBLIC
-  rclcpp::HistoryPolicy
+  rmw_qos_history_policy_t
   history() const;
 
   /// Set history.
   DOMAIN_BRIDGE_PUBLIC
   QosOptions &
-  history(const rclcpp::HistoryPolicy & history);
+  history(rmw_qos_history_policy_t history);
 
   /// Get history depth.
   DOMAIN_BRIDGE_PUBLIC
@@ -129,9 +129,9 @@ class QosOptions
   lifespan_auto();
 
 private:
-  std::optional<rclcpp::ReliabilityPolicy> reliability_;
-  std::optional<rclcpp::DurabilityPolicy> durability_;
-  rclcpp::HistoryPolicy history_{rclcpp::HistoryPolicy::KeepLast};
+  std::optional<rmw_qos_reliability_policy_t> reliability_;
+  std::optional<rmw_qos_durability_policy_t> durability_;
+  rmw_qos_history_policy_t history_{RMW_QOS_POLICY_HISTORY_KEEP_LAST};
   std::size_t depth_{10};
   std::optional<std::int64_t> deadline_{0};
   std::optional<std::int64_t> lifespan_{0};

include/domain_bridge/utils.hpp

@@ -0,0 +1,52 @@
+// Copyright 2021, Open Source Robotics Foundation, 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 DOMAIN_BRIDGE__UTILS_HPP_
+#define DOMAIN_BRIDGE__UTILS_HPP_
+
+#include <string>
+#include <memory>
+
+#include "rclcpp/duration.hpp"
+#include "rclcpp/node.hpp"
+#include "rmw/types.h"
+
+#include "domain_bridge/visibility_control.hpp"
+
+namespace domain_bridge
+{
+
+namespace utils
+{
+
+DOMAIN_BRIDGE_PUBLIC
+rclcpp::Duration from_rmw_time(rmw_time_t duration);
+
+DOMAIN_BRIDGE_PUBLIC
+rclcpp::Node::SharedPtr
+create_node(
+  const std::string & name,
+  std::size_t domain_id,
+  std::shared_ptr<rclcpp::Context> context = nullptr);
+
+DOMAIN_BRIDGE_PUBLIC
+std::size_t
+get_domain_id_from_node(
+  rclcpp::Node & node);
+
+}  // namespace utils
+
+}  // namespace domain_bridge
+
+#endif  // DOMAIN_BRIDGE__UTILS_HPP_

package.xml

@@ -10,6 +10,9 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
+  <build_depend>rcl</build_depend>
+  <build_depend>rmw</build_depend>
+
   <depend>rclcpp</depend>
   <depend>rcutils</depend>
   <depend>rosbag2_cpp</depend>
@@ -30,7 +33,7 @@
   <test_depend>test_msgs</test_depend>
 
   <!-- Ensure the following Tier 1 RMW implementations are available for testing -->
-  <test_depend>rmw_connextdds</test_depend>
+  <test_depend>rmw_connext_cpp</test_depend>
   <test_depend>rmw_cyclonedds_cpp</test_depend>
   <test_depend>rmw_fastrtps_cpp</test_depend>