Message versioning and translation for ROS #24113

bkueng · 2024-12-16T09:10:34Z

Follow-up to #23850

adds versioning to the topic name in the uxrce dds client
adds a translation node that runs under ROS and converts between different versions of a topic (see this document for details)
adds CI to ensure whenever a versioned topic changes, a new version is added. The required steps are documented in this README. We can also move that to a PX4 docs page.
adds CI for the ROS translation node

I ended up adding a script that copies the translation node and msg files into a ROS workspace. I tested an approach of directly adding PX4 into a workspace, but ran into too many issues (e.g. msg namespace cannot be customized independently, or that there cannot be multiple subprojects if the toplevel directory already contains a CMakeLists.txt).

This adds "_v" + string(T::MESSAGE_VERSION) to the ROS topic if the message contains a MESSAGE_VERSION field (and the version is non-zero).

github-actions · 2024-12-16T09:15:23Z

🔎 FLASH Analysis

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Updated: 2024-12-17T08:46:46

… as well

bastianhjaeger · 2025-01-13T08:58:01Z

msg/translation_node/README.md

+The steps include:
+- Copy the message file (`.msg`/`.srv`) to `px4_msgs_old/msg` (or `px4_msgs_old/srv`) and add the current version to the file name.
+  For example `msg/versioned/VehicleAttitude.msg` becomes `px4_msgs_old/msg/VehicleAttitudeV3.msg`.
+  Update the existing translations that use the current topic version to the now old version.


Update the existing translations that use the current topic version to the now old version.

How/where shall this be done?

This is now described in more depth in PX4/PX4-user_guide#3465. I'll remove it from here and link to that instead.

bastianhjaeger · 2025-01-13T09:00:25Z

msg/translation_node/README.md

+  For example `px4_msgs::msg::VehicleAttitude` becomes `px4_msgs_old::msg::VehicleAttitudeV3`.
+- Increment `MESSAGE_VERSION` and update the message fields as desired.
+- Add a version translation by adding a new translation header. Examples:
+  - [`translations/example_translation_direct_v1.h`](translations/example_translation_direct_v1.h)


Why are in the example header names v1 and v2, when so far the example was to change v3 -> v4??

Signed-off-by: Silvan Fuhrer <[email protected]>

uxrce_dds_client: add DDS message versioning

0496596

This adds "_v" + string(T::MESSAGE_VERSION) to the ROS topic if the message contains a MESSAGE_VERSION field (and the version is non-zero).

bkueng added 2 commits December 16, 2024 11:36

msg: add message translation node for ROS

292ff6c

ci: run unit tests for ros translation node

847b5ab

bkueng force-pushed the message_versioning_and_translation branch 3 times, most recently from 098194d to 6a3bb95 Compare December 16, 2024 13:29

ci: check if a versioned .msg file is changed, a new version is added…

ef7c759

… as well

bkueng force-pushed the message_versioning_and_translation branch from 6a3bb95 to ef7c759 Compare December 17, 2024 08:40

GuillaumeLaine mentioned this pull request Dec 17, 2024

Message versioning and ROS 2 message translation PX4/PX4-user_guide#3465

Open

1 task

bkueng mentioned this pull request Dec 20, 2024

[RFC] PX4 / ROS message version compatibility #23741

Closed

bastianhjaeger reviewed Jan 13, 2025

View reviewed changes

bkueng referenced this pull request Jan 15, 2025

Remove health_component::avoidance

a94968e

Signed-off-by: Silvan Fuhrer <[email protected]>

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Message versioning and translation for ROS #24113

Message versioning and translation for ROS #24113

bkueng commented Dec 16, 2024

github-actions bot commented Dec 16, 2024 •

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bastianhjaeger Jan 13, 2025

Message versioning and translation for ROS #24113

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Message versioning and translation for ROS #24113

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