From 2111772ab693caaccdaf158d93c0bc65481d8879 Mon Sep 17 00:00:00 2001
From: Moritz Emanuel Boeker <moritz.boeker@node-robotics.com>
Date: Wed, 20 Sep 2023 13:47:42 +0200
Subject: [PATCH] feat(vda5050_msgs): mapping rules for Action & InstantActions

---
 vda5050_msgs/CMakeLists.txt                  |  4 +++
 vda5050_msgs/package.xml                     |  1 +
 vda5050_msgs/vda5050_msgs_mapping_rules.yaml | 27 ++++++++++++++++++++
 3 files changed, 32 insertions(+)
 create mode 100644 vda5050_msgs/vda5050_msgs_mapping_rules.yaml

diff --git a/vda5050_msgs/CMakeLists.txt b/vda5050_msgs/CMakeLists.txt
index 94fe3c6..59f7d3a 100644
--- a/vda5050_msgs/CMakeLists.txt
+++ b/vda5050_msgs/CMakeLists.txt
@@ -53,3 +53,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
 
 ament_export_dependencies(rosidl_default_runtime)
 ament_package()
+
+install(
+  FILES vda5050_msgs_mapping_rules.yaml
+  DESTINATION share/${PROJECT_NAME})
diff --git a/vda5050_msgs/package.xml b/vda5050_msgs/package.xml
index 710d9b5..a3eb07c 100644
--- a/vda5050_msgs/package.xml
+++ b/vda5050_msgs/package.xml
@@ -26,6 +26,7 @@
 
   <export>
     <build_type>ament_cmake</build_type>
+    <ros1_bridge mapping_rules="vda5050_msgs_mapping_rules.yaml"/>
   </export>
 
 </package>
diff --git a/vda5050_msgs/vda5050_msgs_mapping_rules.yaml b/vda5050_msgs/vda5050_msgs_mapping_rules.yaml
new file mode 100644
index 0000000..021f5b3
--- /dev/null
+++ b/vda5050_msgs/vda5050_msgs_mapping_rules.yaml
@@ -0,0 +1,27 @@
+-
+  ros1_package_name: 'vda5050_msgs'
+  ros1_message_name: 'InstantActions'
+  ros2_package_name: 'vda5050_msgs'
+  ros2_message_name: 'msg/InstantActions'
+  fields_1_to_2:
+    headerId: 'header_id'
+    timestamp: 'timestamp'
+    version: 'version'
+    manufacturer: 'manufacturer'
+    serialNumber: 'serial_number'
+    instantActions: 'instant_actions'
+-
+  ros1_package_name: 'vda5050_msgs'
+  ros1_message_name: 'Action'
+  ros2_package_name: 'vda5050_msgs'
+  ros2_message_name: 'msg/Action'
+  fields_1_to_2:
+    actionType: 'action_type'
+    actionId: 'action_id'
+    actionDescription: 'action_description'
+    blockingType: 'blocking_type'
+    actionParameters: 'action_parameters'
+    NONE: 'NONE'
+    SOFT: 'SOFT'
+    HARD: 'HARD'
+