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feat: add idl to rosidl spec converter #697

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@russkel russkel commented Aug 5, 2022

The tooling within eProsima's Integration Service ROS2 Handle uses MessageSpecifications to perform code-gen. I have some messages that are IDL format and have added support by using the rosidl_parser output and transforming to rosidl_adapter Specification objects. I was surprised this didn't already exist within the code base so I have created a PR. There isn't a whole lot of code here.

Uncertainties that I need help with:

  • There is no wchar in rosidl? I have added a hack to convert it to wstring<=1. I can't help but think this isn't a good solution.
  • There is no long double type in rosidl either. I have mapped it to a float64 as a stop gap solution and print a warning, but this probably isn't good enough.

TODO:

  • Services, Actions
  • Comments
  • More tests
  • CLI converter from IDL to msg/srv

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russkel commented Sep 14, 2022

Should this be moved to a separate package? I thought it would make sense to have it here.

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