Added std_msgs::String to the topic_agent

Signed-off-by: Alberto Tudela <[email protected]>
grupo-avispa · Oct 29, 2024 · 7921ca2 · 7921ca2
1 parent 742e8f9
commit 7921ca2
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diff --git a/dsr_agents/CHANGELOG.rst b/dsr_agents/CHANGELOG.rst
@@ -29,6 +29,7 @@ X.X.X (XX-XX-2024)
 * Added unit tests.
 * Added on_cleanup function to delete nodes.
 * Navigation and docking agents now inherit from action_node.
+* Added std_msgs::String to the topic_agent.
 
 0.7.0 (19-06-2024)
 ------------------

diff --git a/dsr_agents/CMakeLists.txt b/dsr_agents/CMakeLists.txt
@@ -58,6 +58,7 @@ find_package(rclcpp_action REQUIRED)
 find_package(rclcpp_components REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
 find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(tf2_msgs REQUIRED)
 find_package(tf2_sensor_msgs REQUIRED)
@@ -167,6 +168,7 @@ target_link_libraries(topic_agent
   rclcpp_components::component
   rclcpp_lifecycle::rclcpp_lifecycle
   ${sensor_msgs_TARGETS}
+  ${std_msgs_TARGETS}
 )
 
 # Add topic agent executable
@@ -233,6 +235,7 @@ ament_export_dependencies(
   rclcpp_components
   rclcpp_lifecycle
   sensor_msgs
+  std_msgs
   tf2_ros
   tf2_msgs
   tf2_sensor_msgs

diff --git a/dsr_agents/package.xml b/dsr_agents/package.xml
@@ -21,6 +21,7 @@
   <depend>rclcpp_components</depend>
   <depend>rclcpp_lifecycle</depend>
   <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tf2_msgs</depend>
   <depend>tf2_sensor_msgs</depend>

diff --git a/dsr_agents/src/topic_agent.cpp b/dsr_agents/src/topic_agent.cpp
@@ -23,6 +23,7 @@
 #include "sensor_msgs/msg/image.hpp"
 #include "sensor_msgs/image_encodings.hpp"
 #include "sensor_msgs/msg/laser_scan.hpp"
+#include "std_msgs/msg/string.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 
 // DSR
@@ -251,6 +252,18 @@ void TopicAgent::modify_attributes<sensor_msgs::msg::LaserScan>(
       this->get_logger(), "Update [%s] node with attributes: ", node.value().name().c_str());
   }
 }
+
+template<>
+void TopicAgent::modify_attributes<std_msgs::msg::String>(
+  std::optional<DSR::Node> & node, const std_msgs::msg::String & msg)
+{
+  // Modify the attributes of the node
+  G_->add_or_modify_attrib_local<text_att>(node.value(), msg.data);
+  // Print the attributes of the node
+  RCLCPP_DEBUG(
+    this->get_logger(), "Update [%s] node with attributes: ", node.value().name().c_str());
+}
+
 }  // namespace dsr_agents
 
 #include "rclcpp_components/register_node_macro.hpp"