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microRTPS bridge: templates: do not change naming of topics based on the fasrtpsgen version

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This commit is contained in:
TSC21
2019-10-16 16:05:01 +01:00
committed by Nuno Marques
parent a053b7f69b
commit 412c364e90
2 changed files with 8 additions and 34 deletions
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msg/templates/urtps/Publisher.cpp.em
+4 -17
View File
@@ -98,28 +98,15 @@ bool @(topic)_Publisher::init()
PublisherAttributes Wparam;
Wparam.topic.topicKind = NO_KEY;
Wparam.topic.topicDataType = myType.getName(); //This type MUST be registered
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
@[ if ros2_distro]@
@[ if ros2_distro == "ardent"]@
@[if ros2_distro]@
@[ if ros2_distro == "ardent"]@
Wparam.qos.m_partition.push_back("rt");
Wparam.topic.topicName = "@(topic)_PubSubTopic";
@[ else]@
Wparam.topic.topicName = "rt/@(topic)_PubSubTopic";
@[ end if]@
@[ else]@
Wparam.topic.topicName = "@(topic)_PubSubTopic";
Wparam.topic.topicName = "rt/@(topic)_PubSubTopic";
@[ end if]@
@[else]@
@[ if ros2_distro]@
@[ if ros2_distro == "ardent"]@
Wparam.qos.m_partition.push_back("rt");
Wparam.topic.topicName = "@(topic)PubSubTopic";
@[ else]@
Wparam.topic.topicName = "rt/@(topic)PubSubTopic";
@[ end if]@
@[ else]@
Wparam.topic.topicName = "@(topic)PubSubTopic";
@[ end if]@
Wparam.topic.topicName = "@(topic)_PubSubTopic";
@[end if]@
mp_publisher = Domain::createPublisher(mp_participant, Wparam, static_cast<PublisherListener*>(&m_listener));
if(mp_publisher == nullptr)
msg/templates/urtps/Subscriber.cpp.em
+4 -17
View File
@@ -93,28 +93,15 @@ bool @(topic)_Subscriber::init()
SubscriberAttributes Rparam;
Rparam.topic.topicKind = NO_KEY;
Rparam.topic.topicDataType = myType.getName(); //Must be registered before the creation of the subscriber
@[if 1.5 <= fastrtpsgen_version <= 1.7]@
@[ if ros2_distro]@
@[ if ros2_distro == "ardent"]@
@[if ros2_distro]@
@[ if ros2_distro == "ardent"]@
Rparam.qos.m_partition.push_back("rt");
Rparam.topic.topicName = "@(topic)_PubSubTopic";
@[ else]@
Rparam.topic.topicName = "rt/@(topic)_PubSubTopic";
@[ end if]@
@[ else]@
Rparam.topic.topicName = "@(topic)_PubSubTopic";
Rparam.topic.topicName = "rt/@(topic)_PubSubTopic";
@[ end if]@
@[else]@
@[ if ros2_distro]@
@[ if ros2_distro == "ardent"]@
Rparam.qos.m_partition.push_back("rt");
Rparam.topic.topicName = "@(topic)PubSubTopic";
@[ else]@
Rparam.topic.topicName = "rt/@(topic)PubSubTopic";
@[ end if]@
@[ else]@
Rparam.topic.topicName = "@(topic)PubSubTopic";
@[ end if]@
Rparam.topic.topicName = "@(topic)_PubSubTopic";
@[end if]@
mp_subscriber = Domain::createSubscriber(mp_participant, Rparam, static_cast<SubscriberListener*>(&m_listener));
if(mp_subscriber == nullptr)