Mirror actions using ros1_tools/ros1_message_mirror

Author: paulbovbel

Diff for: ros1_message_mirror/cmake/rosidl_from_ros1_package.cmake

@@ -12,7 +12,7 @@ macro(rosidl_from_ros1_package package)
   # TODO(pbovbel) register bin path
   set(bin_path ${CMAKE_INSTALL_PREFIX}/lib/ros1_message_mirror)
 
-  set(message_types "msg" "srv")
+  set(message_types "msg" "srv" "action")
 
   foreach(message_type ${message_types})
     execute_process(COMMAND ${bin_path}/get_ros1_messages ${package} --type ${message_type}
@@ -47,10 +47,11 @@ macro(rosidl_from_ros1_package package)
   # How does rosidl know if something's a srv or msg? By the file extension?
   # No! by the containing directory! *facepalm*
   # https://github.com/ros2/rosidl/issues/213
-  if(msg_ROS2_LIST OR srv_ROS2_LIST)
+  if(msg_ROS2_LIST OR srv_ROS2_LIST OR action_ROS2_LIST)
     rosidl_generate_interfaces(${package}
       ${msg_ROS2_LIST}
       ${srv_ROS2_LIST}
+      ${action_ROS2_LIST}
       DEPENDENCIES ${args_DEPENDENCIES} builtin_interfaces
       ADD_LINTER_TESTS
     )

Diff for: ros1_message_mirror/ros1_message_mirror/__init__.py

@@ -56,12 +56,30 @@
 extension_to_rosmsg_mode = {
     'msg': rosmsg.MODE_MSG,
     'srv': rosmsg.MODE_SRV,
+    'action': rosmsg.MODE_MSG,
 }
 
 
 def get_ros1_message_paths(package, extension):
     rospack = rospkg.RosPack()
     mode = extension_to_rosmsg_mode[extension]
-    path = os.path.join(rospack.get_path(package), extension)
     msgs = rosmsg.list_types(package, mode, rospack)
-    return [os.path.join(path, msg.split('/')[-1] + '.' + extension) for msg in msgs]
+    msg_dir = os.path.join(rospack.get_path(package), extension)
+
+    if extension == 'action':
+        # find actions via ActionGoal messages
+        filename_marker = "ActionGoal"
+        msgs = [msg[:-len(filename_marker)] for msg in msgs if msg.endswith(filename_marker)]
+
+    msg_paths = [os.path.join(msg_dir, msg.split('/')[-1] + '.' + extension) for msg in msgs]
+
+    if extension != 'action':
+        # don't copy autogenerated action messages from ROS1 to ROS2
+        content_marker = "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======"
+        msg_paths = [
+            msg_path
+            for msg_path in msg_paths
+            if not open(msg_path, "r", encoding="utf-8").read().startswith(content_marker)
+        ]
+
+    return msg_paths

Diff for: ros1_message_mirror/scripts/get_ros1_messages

@@ -22,7 +22,7 @@ def main(argv=sys.argv[1:]):
         '--type',
         required=True,
         type=str,
-        choices=['msg', 'srv'],
+        choices=['msg', 'srv', 'action'],
         help='The type of message to search for.')
     args = parser.parse_args(argv)