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[Test] configure multiple bridges #20

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[Test] configure multiple bridges #20

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29 changes: 17 additions & 12 deletions src/parameter_bridge.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -214,30 +214,35 @@ int main(int argc, char * argv[])
std::map<std::string, ros1_bridge::ServiceBridge1to2> service_bridges_1_to_2;
std::map<std::string, ros1_bridge::ServiceBridge2to1> service_bridges_2_to_1;

// use ros2 parameters to configure the keys to look for in the ros1 parameters...
// wired, but didn't feel like extending the argv parsing to handle both '--multi-threads' positional arguments...
std::string topics_key;
std::string services_1_to_2_key;
std::string services_2_to_1_key;

ros2_node->declare_parameter("topics_key", "topics");
ros2_node->declare_parameter("services_1_to_2_key", "services_1_to_2");
ros2_node->declare_parameter("services_2_to_1_key", "services_2_to_1");

ros2_node->get_parameter("topics_key", topics_key);
ros2_node->get_parameter("services_1_to_2_key", services_1_to_2_key);
ros2_node->get_parameter("services_2_to_1_key", services_2_to_1_key);

// bridge all topics listed in a ROS 1 parameter
// the topics parameter needs to be an array
// and each item needs to be a dictionary with the following keys;
// topic: the name of the topic to bridge (e.g. '/topic_name')
// type: the type of the topic to bridge (e.g. 'pkgname/msg/MsgName')
// queue_size: the queue size to use (default: 100)
const char * topics_parameter_name = "topics";
const char * topics_parameter_name = topics_key.c_str();
// the services parameters need to be arrays
// and each item needs to be a dictionary with the following keys;
// service: the name of the service to bridge (e.g. '/service_name')
// type: the type of the service to bridge (e.g. 'pkgname/srv/SrvName')
const char * services_1_to_2_parameter_name = "services_1_to_2";
const char * services_2_to_1_parameter_name = "services_2_to_1";
const char * services_1_to_2_parameter_name = services_1_to_2_key.c_str();
const char * services_2_to_1_parameter_name = services_2_to_1_key.c_str();
const char * service_execution_timeout_parameter_name =
"ros1_bridge/parameter_bridge/service_execution_timeout";
// if (argc > 1) {
// topics_parameter_name = argv[1];
// }
// if (argc > 2) {
// services_1_to_2_parameter_name = argv[2];
// }
// if (argc > 3) {
// services_2_to_1_parameter_name = argv[3];
// }

int service_execution_timeout{5};
ros1_node.getParamCached(
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