Added rosidl::Buffer support.

Author: StefanFabian

ros_babel_fish/include/ros_babel_fish/messages/array_message.hpp

@@ -149,7 +149,12 @@ class ArrayMessage_ final : public ArrayMessageBase
         throw std::length_error( "Exceeded upper bound!" );
       }
     }
-    reinterpret_cast<std::vector<T> *>( data_.get() )->push_back( value );
+    // resize() + assign() route through the introspection function pointers when present
+    // (and fall back to a std::vector cast only when they are null), so this works for
+    // rosidl::Buffer-backed arrays (e.g. uint8[]) as well as plain std::vector members.
+    const size_t index = size();
+    resize( index + 1 );
+    assign( index, value );
   }
 
   //! Alias for push_back

ros_babel_fish/test/common.hpp

@@ -7,6 +7,8 @@
 
 #include <ros_babel_fish_test_msgs/msg/test_array.hpp>
 
+#include <rosidl_buffer/buffer.hpp>
+
 #include <random>
 #include <vector>
 
@@ -35,6 +37,12 @@ void fillArray( std::vector<bool> &msg, unsigned seed )
   for ( size_t i = 0; i < length; ++i ) { msg.push_back( distribution( generator ) == 1 ); }
 }
 
+template<typename T>
+void fillArray( rosidl::Buffer<T> &msg, unsigned seed )
+{
+  fillArray( static_cast<std::vector<T> &>( msg ), seed );
+}
+
 template<typename T, size_t L>
 void fillArray( rosidl_runtime_cpp::BoundedVector<T, L> &msg, unsigned seed )
 {

ros_babel_fish/test/message_comparison.hpp

@@ -293,6 +293,13 @@ bool MessageContentEqualImpl( const ros_babel_fish::Message &a, const std::vecto
   return ArrayContentEqualImpl( arr.template as<ArrayMessage<T>>(), b, path, result );
 }
 
+template<typename T, typename A>
+bool MessageContentEqualImpl( const ros_babel_fish::Message &a, const rosidl::Buffer<T, A> &b,
+                              const std::string &path, ::testing::AssertionResult &result )
+{
+  return MessageContentEqualImpl( a, static_cast<const std::vector<T, A> &>( b ), path, result );
+}
+
 template<typename T, size_t L>
 bool MessageContentEqualImpl( const ros_babel_fish::Message &a, const std::array<T, L> &b,
                               const std::string &path, ::testing::AssertionResult &result )