From a32743d8e9fd034b3cbbcd5fa70411ef6b499679 Mon Sep 17 00:00:00 2001
From: Kenji Brameld <kenjibrameld@gmail.com>
Date: Thu, 1 Sep 2022 08:17:42 +0900
Subject: [PATCH] use builtin string type in service interfaces

Signed-off-by: Kenji Brameld <kenjibrameld@gmail.com>
---
 ipm_interfaces/package.xml            |  1 -
 ipm_interfaces/srv/MapPoint.srv       |  4 ++--
 ipm_interfaces/srv/MapPointCloud2.srv |  4 ++--
 ipm_service/ipm_service/ipm.py        | 28 +++++++++++++++++++--------
 ipm_service/test/test_ipm_service.py  | 10 ++--------
 5 files changed, 26 insertions(+), 21 deletions(-)

diff --git a/ipm_interfaces/package.xml b/ipm_interfaces/package.xml
index 97193a2..c2c690f 100644
--- a/ipm_interfaces/package.xml
+++ b/ipm_interfaces/package.xml
@@ -15,7 +15,6 @@
   <depend>sensor_msgs</depend>
   <depend>shape_msgs</depend>
   <depend>vision_msgs</depend>
-  <depend>std_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/ipm_interfaces/srv/MapPoint.srv b/ipm_interfaces/srv/MapPoint.srv
index f1972b3..a0c4966 100644
--- a/ipm_interfaces/srv/MapPoint.srv
+++ b/ipm_interfaces/srv/MapPoint.srv
@@ -1,8 +1,8 @@
 shape_msgs/Plane plane
 vision_msgs/Point2D point
 builtin_interfaces/Time time
-std_msgs/String plane_frame_id
-std_msgs/String output_frame_id
+string plane_frame_id
+string output_frame_id
 ---
 # Result code defintions
 uint8 RESULT_SUCCESS=0
diff --git a/ipm_interfaces/srv/MapPointCloud2.srv b/ipm_interfaces/srv/MapPointCloud2.srv
index 3e371f8..892e9dd 100644
--- a/ipm_interfaces/srv/MapPointCloud2.srv
+++ b/ipm_interfaces/srv/MapPointCloud2.srv
@@ -1,7 +1,7 @@
 shape_msgs/Plane plane
 sensor_msgs/PointCloud2 points
-std_msgs/String plane_frame_id
-std_msgs/String output_frame_id
+string plane_frame_id
+string output_frame_id
 ---
 # Result code defintions
 uint8 RESULT_SUCCESS=0
diff --git a/ipm_service/ipm_service/ipm.py b/ipm_service/ipm_service/ipm.py
index c1ed666..5feb771 100644
--- a/ipm_service/ipm_service/ipm.py
+++ b/ipm_service/ipm_service/ipm.py
@@ -58,11 +58,17 @@ def point_mapping_callback(
             response.result = MapPoint.Response.RESULT_NO_CAMERA_INFO
             return response
 
-        # Map optional marking from '' to None
-        if request.output_frame_id.data == '':
+        # Map optional plane_frame_id from '' to None
+        if request.plane_frame_id == '':
+            plane_frame_id = None
+        else:
+            plane_frame_id = request.plane_frame_id
+
+        # Map optional output_frame_id from '' to None
+        if request.output_frame_id == '':
             output_frame_id = None
         else:
-            output_frame_id = request.output_frame_id.data
+            output_frame_id = request.output_frame_id
 
         # Maps the given point and handle different result scenarios
         try:
@@ -70,7 +76,7 @@ def point_mapping_callback(
                 request.plane,
                 request.point,
                 request.time,
-                request.plane_frame_id.data,
+                plane_frame_id,
                 output_frame_id)
             response.result = MapPoint.Response.RESULT_SUCCESS
         except NoIntersectionError:
@@ -97,11 +103,17 @@ def point_cloud_mapping_callback(
             response.result = MapPointCloud2.Response.RESULT_NO_CAMERA_INFO
             return response
 
-        # Map optional marking from '' to None
-        if request.output_frame_id.data == '':
+        # Map optional plane_frame_id from '' to None
+        if request.plane_frame_id == '':
+            plane_frame_id = None
+        else:
+            plane_frame_id = request.plane_frame_id
+
+        # Map optional output_frame_id from '' to None
+        if request.output_frame_id == '':
             output_frame_id = self.ipm.get_camera_info().header.frame_id
         else:
-            output_frame_id = request.output_frame_id.data
+            output_frame_id = request.output_frame_id
 
         # Map the given point and handle different result scenarios
         try:
@@ -109,7 +121,7 @@ def point_cloud_mapping_callback(
                 request.plane,
                 read_points_numpy(request.points),
                 request.points.header.stamp,
-                request.plane_frame_id.data,
+                plane_frame_id,
                 output_frame_id)
 
             # Convert them into a PointCloud2
diff --git a/ipm_service/test/test_ipm_service.py b/ipm_service/test/test_ipm_service.py
index eba2436..905f6c5 100644
--- a/ipm_service/test/test_ipm_service.py
+++ b/ipm_service/test/test_ipm_service.py
@@ -148,10 +148,7 @@ def test_map_point():
     plane.coef[3] = -1.0  # 1 meter distance
 
     client = test_node.create_client(MapPoint, 'map_point')
-    req = MapPoint.Request(
-        point=point,
-        plane=plane,
-        plane_frame_id=String(data='camera_optical_frame'))
+    req = MapPoint.Request(point=point, plane=plane)
     future = client.call_async(req)
     rclpy.spin_once(ipm_service_node, timeout_sec=0.1)
 
@@ -242,10 +239,7 @@ def test_map_point_cloud():
     plane.coef[3] = -1.0  # 1 meter distance
 
     client = test_node.create_client(MapPointCloud2, 'map_pointcloud2')
-    req = MapPointCloud2.Request(
-        points=point_cloud,
-        plane=plane,
-        plane_frame_id=String(data='camera_optical_frame'))
+    req = MapPointCloud2.Request(points=point_cloud, plane=plane)
     future = client.call_async(req)
     rclpy.spin_once(ipm_service_node, timeout_sec=0.1)