change bumper interface

Author: aquintan4

common_interfaces_cpp/include/common_interfaces_cpp/hal/bumper.hpp

@@ -4,7 +4,7 @@
 #include <vector>
 #include <string>
 #include "rclcpp/rclcpp.hpp"
-#include "gazebo_msgs/msg/contacts_state.hpp"
+#include "ros_gz_interfaces/msg/contacts.hpp"
 
 /* ### AUXILIARY FUNCTIONS ### */
 
@@ -21,7 +21,7 @@ class BumperData {
     std::string to_string() const;
 };
 
-BumperData contactsToBumperData(const std::vector<gazebo_msgs::msg::ContactsState>& contacts);
+BumperData contactsToBumperData(const std::vector<ros_gz_interfaces::msg::Contacts>& contacts);
 
 /* ### HAL INTERFACE ### */
 class BumperNode : public rclcpp::Node {
@@ -30,13 +30,13 @@ class BumperNode : public rclcpp::Node {
     BumperData getBumperData() const;
 
 private:
-    void right_callback(const gazebo_msgs::msg::ContactsState::SharedPtr contact);
-    void center_callback(const gazebo_msgs::msg::ContactsState::SharedPtr contact);
-    void left_callback(const gazebo_msgs::msg::ContactsState::SharedPtr contact);
+    void right_callback(const ros_gz_interfaces::msg::Contacts::SharedPtr contact);
+    void center_callback(const ros_gz_interfaces::msg::Contacts::SharedPtr contact);
+    void left_callback(const ros_gz_interfaces::msg::Contacts::SharedPtr contact);
 
     std::vector<std::string> topics;
-    std::vector<rclcpp::Subscription<gazebo_msgs::msg::ContactsState>::SharedPtr> subs_;
-    std::vector<gazebo_msgs::msg::ContactsState> contact_states_;
+    std::vector<rclcpp::Subscription<ros_gz_interfaces::msg::Contacts>::SharedPtr> subs_;
+    std::vector<ros_gz_interfaces::msg::Contacts> contact_states_;
 };
 
 #endif

common_interfaces_cpp/src/hal/bumper.cpp

@@ -14,11 +14,11 @@ std::string BumperData::to_string() const {
     return oss.str();
 }
 
-BumperData contactsToBumperData(const std::vector<gazebo_msgs::msg::ContactsState>& contacts) {
+BumperData contactsToBumperData(const std::vector<ros_gz_interfaces::msg::Contacts>& contacts) {
     BumperData bumper_data;
 
     for (size_t i = 0; i < contacts.size(); ++i) {
-        if (contacts[i].states.size() > 0) {
+        if (contacts[i].contacts.size() > 0) {
             bumper_data.state = 1;
             bumper_data.bumper = i;
             break;
@@ -31,33 +31,28 @@ BumperData contactsToBumperData(const std::vector<gazebo_msgs::msg::ContactsStat
 BumperNode::BumperNode(const std::vector<std::string>& topics_list) 
     : Node("bumper_node"), topics(topics_list), contact_states_(3) {
 
-    // Hardcoded for the moment to three topics
-    // as dynamic callback creation is not trivial
-    std::vector<std::function<void(const gazebo_msgs::msg::ContactsState::SharedPtr)>> callbacks_ = {
+    std::vector<std::function<void(const ros_gz_interfaces::msg::Contacts::SharedPtr)>> callbacks_ = {
         std::bind(&BumperNode::right_callback, this, std::placeholders::_1),
         std::bind(&BumperNode::center_callback, this, std::placeholders::_1),
         std::bind(&BumperNode::left_callback, this, std::placeholders::_1)
     };
 
-    // Subscribe to all the callbacks
     for (size_t i = 0; i < topics.size(); ++i) {
-        subs_.push_back(this->create_subscription<gazebo_msgs::msg::ContactsState>(
+        subs_.push_back(this->create_subscription<ros_gz_interfaces::msg::Contacts>(
             topics[i], 10, callbacks_[i]
         ));
     }
-
-    // Right, center, left
 }
 
-void BumperNode::right_callback(const gazebo_msgs::msg::ContactsState::SharedPtr contact) {
+void BumperNode::right_callback(const ros_gz_interfaces::msg::Contacts::SharedPtr contact) {
     contact_states_[0] = *contact;
 }
 
-void BumperNode::center_callback(const gazebo_msgs::msg::ContactsState::SharedPtr contact) {
+void BumperNode::center_callback(const ros_gz_interfaces::msg::Contacts::SharedPtr contact) {
     contact_states_[1] = *contact;
 }
 
-void BumperNode::left_callback(const gazebo_msgs::msg::ContactsState::SharedPtr contact) {
+void BumperNode::left_callback(const ros_gz_interfaces::msg::Contacts::SharedPtr contact) {
     contact_states_[2] = *contact;
 }