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update to Locator 1.10 #66

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Nov 11, 2024
Merged

update to Locator 1.10 #66

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6 changes: 5 additions & 1 deletion bosch_locator_bridge/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ It translates ROS 2 messages to the ROKIT Locator API (as described in the ROKIT
It also allows to control the ROKIT Locator via ROS 2 service calls.

The package has been tested under [ROS 2] Humble and Ubuntu 22.04.
The bridge is compatible with ROKIT Locator version 1.9.
The bridge is compatible with ROKIT Locator version 1.10.
If you have an earlier version, see [Support of earlier versions of ROKIT Locator](#support-of-earlier-versions-of-rokit-locator).

## Quick Start
Expand Down Expand Up @@ -357,6 +357,10 @@ touch locator_ros_bridge/bosch_locator_bridge_utils/COLCON_IGNORE

But if you need the `bosch_locator_bridge_utils` package, see [issue #50](https://github.com/boschglobal/locator_ros_bridge/issues/50).

If you have version 1.9, checkout the corresponding tag:

git checkout 2.1.11 -b humble-v1.9

If you have version 1.8, checkout the corresponding tag:

git checkout 2.1.10 -b humble-v1.8
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24 changes: 13 additions & 11 deletions bosch_locator_bridge/src/locator_bridge_node.cpp
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Expand Up @@ -41,23 +41,25 @@ using std::placeholders::_2;
/// locator module versions to check against. Format is name, { major_version, minor_version }
static const std::unordered_map<std::string, std::pair<int32_t, int32_t>> REQUIRED_MODULE_VERSIONS({
{"AboutModules", {5, 0}},
{"Session", {3, 1}},
{"System", {3, 2}},
// {"Diagnostic", {5, 1}},
{"Licensing", {7, 1}},
{"Session", {4, 0}},
// {"System", {3, 2}},
// {"Diagnostic", {7, 0}},
// {"Licensing", {7, 2}},
{"Config", {8, 0}},
{"AboutBuild", {3, 1}},
{"Certificate", {3, 0}},
// {"User", {1, 0}},
// {"ClientApplication", {1, 1}},
// {"Certificate", {3, 0}},
// {"User", {1, 0}},
// {"Internal", {1, 1}},
// {"DataExchange", {1, 0}},
// {"ClientApplication", {1, 2}},
{"ClientControl", {3, 2}},
{"ClientRecording", {4, 0}},
{"ClientMap", {4, 0}},
{"ClientRecording", {5, 0}},
{"ClientMap", {4, 1}},
{"ClientLocalization", {7, 2}},
// {"ClientManualAlign", {5, 0}},
{"ClientGlobalAlign", {4, 0}},
// {"ClientLaserMask", {6, 0}},
{"ClientSensor", {7, 0}},
// {"ClientLaserMask", {6, 1}},
{"ClientSensor", {7, 1}},
// {"ClientUser", {4, 0}},
{"ClientExpandMap", {4, 0}},
});
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23 changes: 12 additions & 11 deletions bosch_locator_bridge/src/server/server_bridge_node.cpp
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Expand Up @@ -38,19 +38,20 @@ using std::placeholders::_2;
static const std::unordered_map<std::string, std::pair<int32_t, int32_t>>
REQUIRED_MODULE_VERSIONS({
{"AboutModules", {5, 0}},
{"Session", {3, 1}},
{"System", {3, 2}},
{"Diagnostic", {5, 1}},
{"Licensing", {7, 1}},
{"Session", {4, 0}},
// {"System", {3, 2}},
// {"Diagnostic", {7, 0}},
// {"Licensing", {7, 2}},
{"Config", {8, 0}},
{"AboutBuild", {3, 1}},
{"Certificate", {3, 0}},
{"User", {1, 0}},
{"Internal", {1, 0}},
{"ServerInternal", {3, 0}},
{"ServerMap", {7, 0}},
{"ServerPostAlign", {1, 0}},
{"ServerUser", {4, 0}}
// {"Certificate", {3, 0}},
// {"User", {1, 0}},
// {"Internal", {1, 1}},
// {"DataExchange", {1, 0}},
// {"ServerInternal", {3, 1}},
{"ServerMap", {8, 0}},
// {"ServerPostAlign", {1, 0}},
// {"ServerUser", {4, 0}},
});

ServerBridgeNode::ServerBridgeNode(const std::string & nodeName)
Expand Down