[Rock-dev] base - orogen - rosmapping

[Sankaranarayanan Natarajan]

Hi,

Can i map two different ros msgs with one rock base type??

What i did:

1. In the base.orogen file, i added two lines as shown below

 ros_mappings \
'/std/string' => 'std_msgs/String',
'/base/Time' => 'std_msgs/Time',
.
.
.
'/base/samples/Joints' => 'manipulator_msgs/ArmJointMovementActionGoal',
'/base/samples/Joints' => 'sensor_msgs/JointState',


2. amake -all
3. If i look at the /base/orogen/types/templates/typekit/ROSConvertions.hpp
    - The mapping is done only for  '/base/samples/Joints' =>
'sensor_msgs/JointState'....

4. If i interchange the lines in the base.orogen...

 ros_mappings \
'/std/string' => 'std_msgs/String',
'/base/Time' => 'std_msgs/Time',
.
.
.
'/base/samples/Joints' => 'sensor_msgs/JointState',
'/base/samples/Joints' => 'manipulator_msgs/ArmJointMovementActionGoal',


5. Then the mapping is done only for '/base/samples/Joints' =>
'manipulator_msgs/ArmJointMovementActionGoal"..


Regards
-Sankar