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Javier JM. MorenoBorja Outerelo
Javier JM. Moreno
authored and
Borja Outerelo
committed
Refs #3552 - Adapt to new XML profiles
1 parent bb1fe95 commit d66fa96

2 files changed

Lines changed: 48 additions & 71 deletions

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‎uROS_Agent/resource/StaticValues.xml‎

Lines changed: 23 additions & 38 deletions
Original file line numberDiff line numberDiff line change
@@ -1,39 +1,24 @@
1-
<participant profile_name="participant_profile">
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<rtps>
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<builtin>
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<leaseDuration>
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<durationbyname>INFINITE</durationbyname>
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</leaseDuration>
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<domainId>0</domainId>
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</builtin>
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<name>DataReader_participant_subscriber</name>
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</rtps>
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</participant>
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<publisher profile_name="publisher_profile">
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<topic>
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<kind>WITH_KEY</kind>
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<name>Square</name>
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<dataType>ShapeType</dataType>
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<historyQos>
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<kind>KEEP_LAST</kind>
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<depth>5</depth>
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</historyQos>
21-
<durability>
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<kind>TRANSIENT_LOCAL</kind>
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</durability>
1+
<participant profile_name="default_xrce_participant">
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<rtps>
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<name>default_xrce_participant</name>
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</rtps>
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</participant>
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<data_writer profile_name="shapetype_data_writer">
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<topic>
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<kind>WITH_KEY</kind>
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<name>Square</name>
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<dataType>ShapeType</dataType>
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</topic>
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</data_writer>
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<data_reader profile_name="shapetype_data_reader">
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<topic>
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<kind>WITH_KEY</kind>
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<name>Square</name>
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<dataType>ShapeType</dataType>
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</topic>
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</data_reader>
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<topic profile_name="shapetype_topic">
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<kind>WITH_KEY</kind>
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<name>Square</name>
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<dataType>ShapeType</dataType>
2424
</topic>
25-
</publisher>
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<subscriber profile_name="subscriber_profile">
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<topic>
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<kind>WITH_KEY</kind>
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<name>Square</name>
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<dataType>ShapeType</dataType>
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<historyQos>
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<kind>KEEP_LAST</kind>
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<depth>5</depth>
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</historyQos>
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<durability>
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<kind>TRANSIENT_LOCAL</kind>
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</durability>
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</topic>
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</subscriber>

‎uROS_Agent/uros_agent/__init__.py‎

Lines changed: 25 additions & 33 deletions
Original file line numberDiff line numberDiff line change
@@ -165,45 +165,37 @@ def generate_XML(args):
165165
src_file = os.path.join(srcs_dir, "%s_%s_%s.xml" % (spec.base_type.pkg_name, subfolder, spec.msg_name))
166166

167167

168-
# Publisher
169-
file_content = " <publisher profile_name=\"%s_%s_%s_p\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
170-
file_content += " <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
171-
file_content += " <kind>NO_KEY</kind>\n"
172-
file_content += " <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
173-
file_content += " <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
174-
file_content += " <historyQos>\n"
175-
file_content += " <kind>KEEP_LAST</kind>\n"
176-
file_content += " <depth>5</depth>\n"
177-
file_content += " </historyQos>\n"
178-
file_content += " <durability>\n"
179-
file_content += " <kind>TRANSIENT_LOCAL</kind>\n"
180-
file_content += " </durability>\n"
181-
file_content += " </topic>\n"
182-
file_content += " </publisher>\n"
168+
# Data writer
169+
#file_content = " <dds>\n"
170+
file_content = " <data_writer profile_name=\"%s_%s_%s_p\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
171+
file_content += " <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
172+
file_content += " <kind>NO_KEY</kind>\n"
173+
file_content += " <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
174+
file_content += " <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
175+
file_content += " </topic>\n"
176+
file_content += " </data_writer>\n"
177+
#file_content += " </dds>\n"
178+
179+
180+
# Data reader
181+
#file_content += " <dds>\n"
182+
file_content += " <data_reader profile_name=\"%s_%s_%s_s\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
183+
file_content += " <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
184+
file_content += " <kind>NO_KEY</kind>\n"
185+
file_content += " <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
186+
file_content += " <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
187+
file_content += " </topic>\n"
188+
file_content += " </data_reader>\n"
189+
#file_content += " </dds>\n"
183190

184191

185-
# Subscriber
186-
file_content += " <subscriber profile_name=\"%s_%s_%s_s\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
192+
# Topic
193+
#file_content += " <dds>\n"
187194
file_content += " <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
188-
file_content += " <kind>NO_KEY</kind>\n"
189195
file_content += " <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
190196
file_content += " <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
191-
file_content += " <historyQos>\n"
192-
file_content += " <kind>KEEP_LAST</kind>\n"
193-
file_content += " <depth>5</depth>\n"
194-
file_content += " </historyQos>\n"
195-
file_content += " <durability>\n"
196-
file_content += " <kind>TRANSIENT_LOCAL</kind>\n"
197-
file_content += " </durability>\n"
198197
file_content += " </topic>\n"
199-
file_content += " </subscriber>\n"
200-
201-
202-
# Topic
203-
file_content += " <topic profile_name=\"%s_%s_%s_t\">\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
204-
file_content += " <name>%s%s_%s_%s</name>\n" % (ros2_prefix, spec.base_type.pkg_name, subfolder, spec.msg_name)
205-
file_content += " <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name)
206-
file_content += " </topic>\n"
198+
#file_content += " </dds>\n"
207199

208200

209201
# Write file content

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