partial update

Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>

rosbag2/test/rosbag2/test_sequential_reader.cpp

@@ -41,7 +41,7 @@ class SequentialReaderTest : public Test
 
     rosbag2_storage::TopicMetadata topic_with_type;
     topic_with_type.name = "topic";
-    topic_with_type.type = "test_msgs/Primitives";
+    topic_with_type.type = "test_msgs/BasicTypes";
     auto topics_and_types = std::vector<rosbag2_storage::TopicMetadata>{topic_with_type};
     EXPECT_CALL(*storage_, get_all_topics_and_types())
     .Times(AtMost(1)).WillRepeatedly(Return(topics_and_types));

rosbag2/test/rosbag2/test_typesupport_helpers.cpp

@@ -55,7 +55,7 @@ TEST(TypesupportHelpersTest, throws_exception_if_library_cannot_be_found) {
 
 TEST(TypesupportHelpersTest, returns_c_type_info_for_valid_library) {
   auto string_typesupport =
-    rosbag2::get_typesupport("test_msgs/Primitives", "rosidl_typesupport_cpp");
+    rosbag2::get_typesupport("test_msgs/BasicTypes", "rosidl_typesupport_cpp");
 
   EXPECT_THAT(std::string(string_typesupport->typesupport_identifier),
     ContainsRegex("rosidl_typesupport"));

rosbag2/test/rosbag2/test_writer.cpp

@@ -75,7 +75,7 @@ TEST_F(WriterTest,
   auto message = std::make_shared<rosbag2::SerializedBagMessage>();
   message->topic_name = "test_topic";
   writer_->open(storage_options_, {input_format, storage_serialization_format});
-  writer_->create_topic({"test_topic", "test_msgs/Primitives", ""});
+  writer_->create_topic({"test_topic", "test_msgs/BasicTypes", ""});
   writer_->write(message);
 }
 
@@ -91,7 +91,7 @@ TEST_F(WriterTest, write_does_not_use_converters_if_input_and_output_format_are_
   auto message = std::make_shared<rosbag2::SerializedBagMessage>();
   message->topic_name = "test_topic";
   writer_->open(storage_options_, {storage_serialization_format, storage_serialization_format});
-  writer_->create_topic({"test_topic", "test_msgs/Primitives", ""});
+  writer_->create_topic({"test_topic", "test_msgs/BasicTypes", ""});
   writer_->write(message);
 }
 

rosbag2_converter_default_plugins/test/rosbag2_converter_default_plugins/cdr/test_cdr_converter.cpp

@@ -63,7 +63,7 @@ class CdrConverterTestFixture : public Test
 };
 
 TEST_F(CdrConverterTestFixture, deserialize_converts_cdr_into_ros_message_for_primitives) {
-  auto message = get_messages_primitives()[0];
+  auto message = get_messages_basic_types()[0];
   message->string_value = "test_deserialize";
   message->float64_value = 102.34;
   message->int32_value = 10101010;
@@ -74,13 +74,13 @@ TEST_F(CdrConverterTestFixture, deserialize_converts_cdr_into_ros_message_for_pr
   serialized_message->time_stamp = 1;
 
   auto ros_message = make_shared_ros_message();
-  test_msgs::msg::Primitives primitive_test_msg;
+  test_msgs::msg::BasicTypes primitive_test_msg;
   ros_message->message = &primitive_test_msg;
-  auto type_support = rosbag2::get_typesupport("test_msgs/Primitives", "rosidl_typesupport_cpp");
+  auto type_support = rosbag2::get_typesupport("test_msgs/BasicTypes", "rosidl_typesupport_cpp");
 
   converter_->deserialize(serialized_message, type_support, ros_message);
 
-  auto cast_message = static_cast<test_msgs::msg::Primitives *>(ros_message->message);
+  auto cast_message = static_cast<test_msgs::msg::BasicTypes *>(ros_message->message);
   EXPECT_THAT(*cast_message, Eq(*message));
   EXPECT_THAT(ros_message->time_stamp, Eq(serialized_message->time_stamp));
   EXPECT_THAT(ros_message->topic_name, StrEq(serialized_message->topic_name));
@@ -89,19 +89,19 @@ TEST_F(CdrConverterTestFixture, deserialize_converts_cdr_into_ros_message_for_pr
 TEST_F(CdrConverterTestFixture, serialize_converts_ros_message_into_cdr_for_primitives) {
   auto ros_message = make_shared_ros_message(topic_name_);
   ros_message->time_stamp = 1;
-  auto message = get_messages_primitives()[0];
+  auto message = get_messages_basic_types()[0];
   message->string_value = "test_serialize";
   message->float64_value = 102.34;
   message->int32_value = 10101010;
   ros_message->message = message.get();
 
   auto serialized_message = std::make_shared<rosbag2::SerializedBagMessage>();
   serialized_message->serialized_data = memory_management_->make_initialized_message();
-  auto type_support = rosbag2::get_typesupport("test_msgs/Primitives", "rosidl_typesupport_cpp");
+  auto type_support = rosbag2::get_typesupport("test_msgs/BasicTypes", "rosidl_typesupport_cpp");
 
   converter_->serialize(ros_message, type_support, serialized_message);
 
-  auto deserialized_msg = memory_management_->deserialize_message<test_msgs::msg::Primitives>(
+  auto deserialized_msg = memory_management_->deserialize_message<test_msgs::msg::BasicTypes>(
     serialized_message->serialized_data);
   EXPECT_THAT(*deserialized_msg, Eq(*message));
   EXPECT_THAT(serialized_message->topic_name, StrEq(topic_name_));
@@ -120,14 +120,14 @@ TEST_F(CdrConverterTestFixture, deserialize_converts_cdr_into_ros_message_for_st
   serialized_message->time_stamp = 1;
 
   auto ros_message = make_shared_ros_message();
-  test_msgs::msg::StaticArrayPrimitives primitive_test_msg;
+  test_msgs::msg::Arrays primitive_test_msg;
   ros_message->message = &primitive_test_msg;
   auto type_support = rosbag2::get_typesupport(
-    "test_msgs/StaticArrayPrimitives", "rosidl_typesupport_cpp");
+    "test_msgs/Arrays", "rosidl_typesupport_cpp");
 
   converter_->deserialize(serialized_message, type_support, ros_message);
 
-  auto cast_message = static_cast<test_msgs::msg::StaticArrayPrimitives *>(ros_message->message);
+  auto cast_message = static_cast<test_msgs::msg::Arrays *>(ros_message->message);
   EXPECT_THAT(*cast_message, Eq(*message));
   EXPECT_THAT(ros_message->time_stamp, Eq(serialized_message->time_stamp));
   EXPECT_THAT(ros_message->topic_name, StrEq(serialized_message->topic_name));
@@ -145,23 +145,23 @@ TEST_F(CdrConverterTestFixture, serialize_converts_ros_message_into_cdr_for_stat
   auto serialized_message = std::make_shared<rosbag2::SerializedBagMessage>();
   serialized_message->serialized_data = memory_management_->make_initialized_message();
   auto type_support = rosbag2::get_typesupport(
-    "test_msgs/StaticArrayPrimitives", "rosidl_typesupport_cpp");
+    "test_msgs/Arrays", "rosidl_typesupport_cpp");
 
   converter_->serialize(ros_message, type_support, serialized_message);
 
   auto deserialized_msg = memory_management_->
-    deserialize_message<test_msgs::msg::StaticArrayPrimitives>(serialized_message->serialized_data);
+    deserialize_message<test_msgs::msg::Arrays>(serialized_message->serialized_data);
   EXPECT_THAT(*deserialized_msg, Eq(*message));
   EXPECT_THAT(serialized_message->topic_name, StrEq(topic_name_));
   EXPECT_THAT(serialized_message->time_stamp, Eq(ros_message->time_stamp));
 }
 
 TEST_F(CdrConverterTestFixture, deserialize_converts_cdr_into_ros_message_for_dynamic_array_nest) {
   auto message = get_messages_dynamic_array_nested()[0];
-  test_msgs::msg::Primitives first_primitive_message;
+  test_msgs::msg::BasicTypes first_primitive_message;
   first_primitive_message.string_value = "I am the first";
   first_primitive_message.float32_value = 35.7f;
-  test_msgs::msg::Primitives second_primitive_message;
+  test_msgs::msg::BasicTypes second_primitive_message;
   second_primitive_message.string_value = "I am the second";
   second_primitive_message.float32_value = 135.72f;
   message->primitive_values.push_back(first_primitive_message);
@@ -190,10 +190,10 @@ TEST_F(CdrConverterTestFixture, serialize_converts_ros_message_into_cdr_for_dyna
   auto ros_message = make_shared_ros_message(topic_name_);
   ros_message->time_stamp = 1;
   auto message = get_messages_dynamic_array_nested()[0];
-  test_msgs::msg::Primitives first_primitive_message;
+  test_msgs::msg::BasicTypes first_primitive_message;
   first_primitive_message.string_value = "I am the first";
   first_primitive_message.float32_value = 35.7f;
-  test_msgs::msg::Primitives second_primitive_message;
+  test_msgs::msg::BasicTypes second_primitive_message;
   second_primitive_message.string_value = "I am the second";
   second_primitive_message.float32_value = 135.72f;
   message->primitive_values.push_back(first_primitive_message);

rosbag2_tests/resources/cdr_test/metadata.yaml

@@ -11,11 +11,11 @@ rosbag2_bagfile_information:
   topics_with_message_count:
     - topic_metadata:
         name: /test_topic
-        type: test_msgs/Primitives
+        type: test_msgs/BasicTypes
         serialization_format: cdr
       message_count: 3
     - topic_metadata:
         name: /array_topic
-        type: test_msgs/StaticArrayPrimitives
+        type: test_msgs/Arrays
         serialization_format: cdr
       message_count: 4

rosbag2_tests/resources/wrong_rmw_test/metadata.yaml

@@ -11,11 +11,11 @@ rosbag2_bagfile_information:
   topics_with_message_count:
     - topic_metadata:
         name: /test_topic
-        type: test_msgs/Primitives
+        type: test_msgs/BasicTypes
         serialization_format: wrong_format
       message_count: 3
     - topic_metadata:
         name: /array_topic
-        type: test_msgs/StaticArrayPrimitives
+        type: test_msgs/Arrays
         serialization_format: wrong_format
       message_count: 4

rosbag2_tests/test/rosbag2_tests/record_fixture.hpp

@@ -24,8 +24,8 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-#include "test_msgs/msg/primitives.hpp"
-#include "test_msgs/msg/static_array_primitives.hpp"
+#include "test_msgs/msg/arrays.hpp"
+#include "test_msgs/msg/basic_types.hpp"
 #include "test_msgs/message_fixtures.hpp"
 #include "rosbag2_storage/filesystem_helper.hpp"
 #include "rosbag2_storage_default_plugins/sqlite/sqlite_storage.hpp"

rosbag2_tests/test/rosbag2_tests/test_converter.cpp

@@ -58,7 +58,7 @@ class ConverterTestFixture : public Test
   {
     auto correctly_typed_ros_message =
       reinterpret_cast<test_msgs::msg::DynamicArrayNested *>(message->message);
-    auto primitive_msgs = get_messages_primitives();
+    auto primitive_msgs = get_messages_basic_types();
     for (const auto & primitive_msg : primitive_msgs) {
       correctly_typed_ros_message->primitive_values.push_back(*primitive_msg);
     }

rosbag2_tests/test/rosbag2_tests/test_rosbag2_info_end_to_end.cpp

@@ -50,9 +50,9 @@ TEST_F(InfoEndToEndTestFixture, info_end_to_end_test) {
       "\nMessages:          7"
       "\nTopic information: "));
   EXPECT_THAT(output, HasSubstr(
-      "Topic: /test_topic | Type: test_msgs/Primitives | Count: 3 | Serialization Format: cdr\n"));
+      "Topic: /test_topic | Type: test_msgs/BasicTypes | Count: 3 | Serialization Format: cdr\n"));
   EXPECT_THAT(output, HasSubstr(
-      "Topic: /array_topic | Type: test_msgs/StaticArrayPrimitives | Count: 4 | "
+      "Topic: /array_topic | Type: test_msgs/Arrays | Count: 4 | "
       "Serialization Format: cdr"));
 }
 

rosbag2_tests/test/rosbag2_tests/test_rosbag2_play_end_to_end.cpp

@@ -25,8 +25,8 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rosbag2_test_common/process_execution_helpers.hpp"
 
-#include "test_msgs/msg/primitives.hpp"
-#include "test_msgs/msg/static_array_primitives.hpp"
+#include "test_msgs/msg/arrays.hpp"
+#include "test_msgs/msg/basic_types.hpp"
 #include "test_msgs/message_fixtures.hpp"
 #include "rosbag2_storage_default_plugins/sqlite/sqlite_storage.hpp"
 #include "rosbag2_test_common/subscription_manager.hpp"
@@ -58,31 +58,31 @@ class PlayEndToEndTestFixture : public Test
 };
 
 TEST_F(PlayEndToEndTestFixture, play_end_to_end_test) {
-  sub_->add_subscription<test_msgs::msg::StaticArrayPrimitives>("/array_topic", 2);
-  sub_->add_subscription<test_msgs::msg::Primitives>("/test_topic", 3);
+  sub_->add_subscription<test_msgs::msg::Arrays>("/array_topic", 2);
+  sub_->add_subscription<test_msgs::msg::BasicTypes>("/test_topic", 3);
 
   auto subscription_future = sub_->spin_subscriptions();
 
   auto exit_code = execute_and_wait_until_completion("ros2 bag play cdr_test", database_path_);
 
   subscription_future.get();
 
-  auto primitive_messages = sub_->get_received_messages<test_msgs::msg::Primitives>("/test_topic");
-  auto array_messages = sub_->get_received_messages<test_msgs::msg::StaticArrayPrimitives>(
+  auto primitive_messages = sub_->get_received_messages<test_msgs::msg::BasicTypes>("/test_topic");
+  auto array_messages = sub_->get_received_messages<test_msgs::msg::Arrays>(
     "/array_topic");
 
   EXPECT_THAT(exit_code, Eq(EXIT_SUCCESS));
 
   EXPECT_THAT(primitive_messages, SizeIs(Ge(3u)));
   EXPECT_THAT(primitive_messages,
-    Each(Pointee(Field(&test_msgs::msg::Primitives::string_value, "test"))));
+    Each(Pointee(Field(&test_msgs::msg::BasicTypes::string_value, "test"))));
 
   EXPECT_THAT(array_messages, SizeIs(Ge(2u)));
   EXPECT_THAT(array_messages,
-    Each(Pointee(Field(&test_msgs::msg::StaticArrayPrimitives::bool_values,
+    Each(Pointee(Field(&test_msgs::msg::Arrays::bool_values,
     ElementsAre(true, false, true)))));
   EXPECT_THAT(array_messages,
-    Each(Pointee(Field(&test_msgs::msg::StaticArrayPrimitives::string_values,
+    Each(Pointee(Field(&test_msgs::msg::Arrays::string_values,
     ElementsAre("Complex Hello1", "Complex Hello2", "Complex Hello3")))));
 }
 

rosbag2_tests/test/rosbag2_tests/test_rosbag2_record_end_to_end.cpp

@@ -22,11 +22,11 @@
 #include "rosbag2_storage/metadata_io.hpp"
 
 TEST_F(RecordFixture, record_end_to_end_test) {
-  auto message = get_messages_primitives()[0];
+  auto message = get_messages_basic_types()[0];
   message->string_value = "test";
   size_t expected_test_messages = 3;
 
-  auto wrong_message = get_messages_primitives()[0];
+  auto wrong_message = get_messages_basic_types()[0];
   wrong_message->string_value = "wrong_content";
 
   auto process_handle = start_execution("ros2 bag record --output " + bag_path_ + " /test_topic");
@@ -58,13 +58,13 @@ TEST_F(RecordFixture, record_end_to_end_test) {
   metadata_io.write_metadata(bag_path_, metadata);
 #endif
 
-  auto test_topic_messages = get_messages_for_topic<test_msgs::msg::Primitives>("/test_topic");
+  auto test_topic_messages = get_messages_for_topic<test_msgs::msg::BasicTypes>("/test_topic");
   EXPECT_THAT(test_topic_messages, SizeIs(Ge(expected_test_messages)));
   EXPECT_THAT(test_topic_messages,
-    Each(Pointee(Field(&test_msgs::msg::Primitives::string_value, "test"))));
+    Each(Pointee(Field(&test_msgs::msg::BasicTypes::string_value, "test"))));
   EXPECT_THAT(get_rwm_format_for_topic("/test_topic", db), Eq(rmw_get_serialization_format()));
 
-  auto wrong_topic_messages = get_messages_for_topic<test_msgs::msg::Primitives>("/wrong_topic");
+  auto wrong_topic_messages = get_messages_for_topic<test_msgs::msg::BasicTypes>("/wrong_topic");
   EXPECT_THAT(wrong_topic_messages, IsEmpty());
 }
 

rosbag2_transport/src/rosbag2_transport/generic_publisher.cpp

@@ -30,7 +30,7 @@ GenericPublisher::GenericPublisher(
 void GenericPublisher::publish(std::shared_ptr<rmw_serialized_message_t> message)
 {
   auto return_code = rcl_publish_serialized_message(
-    get_publisher_handle(), message.get());
+    get_publisher_handle(), message.get(), NULL);
 
   if (return_code != RCL_RET_OK) {
     rclcpp::exceptions::throw_from_rcl_error(return_code, "failed to publish serialized message");

rosbag2_transport/test/rosbag2_transport/test_play.cpp

@@ -22,8 +22,8 @@
 
 #include "rclcpp/rclcpp.hpp"
 #include "rosbag2_transport/rosbag2_transport.hpp"
-#include "test_msgs/msg/primitives.hpp"
-#include "test_msgs/msg/static_array_primitives.hpp"
+#include "test_msgs/msg/arrays.hpp"
+#include "test_msgs/msg/basic_types.hpp"
 #include "test_msgs/message_fixtures.hpp"
 
 #include "rosbag2_transport_test_fixture.hpp"
@@ -54,16 +54,16 @@ class RosBag2PlayTestFixture : public Rosbag2TransportTestFixture
 
 TEST_F(RosBag2PlayTestFixture, recorded_messages_are_played_for_all_topics)
 {
-  auto primitive_message1 = get_messages_primitives()[0];
+  auto primitive_message1 = get_messages_basic_types()[0];
   primitive_message1->string_value = "Hello World";
 
   auto complex_message1 = get_messages_static_array_primitives()[0];
   complex_message1->string_values = {{"Complex Hello1", "Complex Hello2", "Complex Hello3"}};
   complex_message1->bool_values = {{true, false, true}};
 
   auto topic_types = std::vector<rosbag2::TopicMetadata>{
-    {"topic1", "test_msgs/Primitives", ""},
-    {"topic2", "test_msgs/StaticArrayPrimitives", ""},
+    {"topic1", "test_msgs/BasicTypes", ""},
+    {"topic2", "test_msgs/Arrays", ""},
   };
 
   std::vector<std::shared_ptr<rosbag2::SerializedBagMessage>> messages =
@@ -78,8 +78,8 @@ TEST_F(RosBag2PlayTestFixture, recorded_messages_are_played_for_all_topics)
 
   // Due to a problem related to the subscriber, we play many (3) messages but make the subscriber
   // node spin only until 2 have arrived. Hence the 2 as `launch_subscriber()` argument.
-  sub_->add_subscription<test_msgs::msg::Primitives>("/topic1", 2);
-  sub_->add_subscription<test_msgs::msg::StaticArrayPrimitives>(
+  sub_->add_subscription<test_msgs::msg::BasicTypes>("/topic1", 2);
+  sub_->add_subscription<test_msgs::msg::Arrays>(
     "/topic2", 2);
 
   auto await_received_messages = sub_->spin_subscriptions();
@@ -89,19 +89,19 @@ TEST_F(RosBag2PlayTestFixture, recorded_messages_are_played_for_all_topics)
 
   await_received_messages.get();
 
-  auto replayed_test_primitives = sub_->get_received_messages<test_msgs::msg::Primitives>(
+  auto replayed_test_primitives = sub_->get_received_messages<test_msgs::msg::BasicTypes>(
     "/topic1");
   EXPECT_THAT(replayed_test_primitives, SizeIs(Ge(2u)));
   EXPECT_THAT(replayed_test_primitives,
-    Each(Pointee(Field(&test_msgs::msg::Primitives::string_value, "Hello World"))));
+    Each(Pointee(Field(&test_msgs::msg::BasicTypes::string_value, "Hello World"))));
 
-  auto replayed_test_arrays = sub_->get_received_messages<test_msgs::msg::StaticArrayPrimitives>(
+  auto replayed_test_arrays = sub_->get_received_messages<test_msgs::msg::Arrays>(
     "/topic2");
   EXPECT_THAT(replayed_test_arrays, SizeIs(Ge(2u)));
   EXPECT_THAT(replayed_test_arrays,
-    Each(Pointee(Field(&test_msgs::msg::StaticArrayPrimitives::bool_values,
+    Each(Pointee(Field(&test_msgs::msg::Arrays::bool_values,
     ElementsAre(true, false, true)))));
   EXPECT_THAT(replayed_test_arrays,
-    Each(Pointee(Field(&test_msgs::msg::StaticArrayPrimitives::string_values,
+    Each(Pointee(Field(&test_msgs::msg::Arrays::string_values,
     ElementsAre("Complex Hello1", "Complex Hello2", "Complex Hello3")))));
 }

rosbag2_transport/test/rosbag2_transport/test_play_timing.cpp

@@ -22,7 +22,7 @@
 #include "rclcpp/rclcpp.hpp"
 #include "rosbag2_transport/rosbag2_transport.hpp"
 #include "rosbag2_transport_test_fixture.hpp"
-#include "test_msgs/msg/primitives.hpp"
+#include "test_msgs/msg/basic_types.hpp"
 #include "test_msgs/message_fixtures.hpp"
 
 using namespace ::testing;  // NOLINT
@@ -31,15 +31,15 @@ using namespace rosbag2_transport;  // NOLINT
 TEST_F(Rosbag2TransportTestFixture, playing_respects_relative_timing_of_stored_messages)
 {
   rclcpp::init(0, nullptr);
-  auto primitive_message1 = get_messages_primitives()[0];
+  auto primitive_message1 = get_messages_basic_types()[0];
   primitive_message1->string_value = "Hello World 1";
 
-  auto primitive_message2 = get_messages_primitives()[0];
+  auto primitive_message2 = get_messages_basic_types()[0];
   primitive_message2->string_value = "Hello World 2";
 
   auto message_time_difference = std::chrono::seconds(1);
   auto topics_and_types =
-    std::vector<rosbag2::TopicMetadata>{{"topic1", "test_msgs/Primitives", ""}};
+    std::vector<rosbag2::TopicMetadata>{{"topic1", "test_msgs/BasicTypes", ""}};
   std::vector<std::shared_ptr<rosbag2::SerializedBagMessage>> messages =
   {serialize_test_message("topic1", 0, primitive_message1),
     serialize_test_message("topic1", 0, primitive_message2)};