added HomePosition msg and some blueprint sub/pub

README.md

@@ -224,6 +224,7 @@ geometry_msgs/TwistWithCovariance  | ✓          | ✓
 geometry_msgs/Vector3              | ✓          | ✓
 grid_map_msgs/GridMap              | ✓          | ✓
 grid_map_msgs/GridMapInfo          | ✓          | ✓
+mavros_msgs/HomePosition           | ✓          | ✓
 nav_msgs/Odometry                  | ✓          | ✓
 nav_msgs/Path                      | ✓          | ✓
 rosgraph_msgs/Clock                | ✓          | ✓

Source/ROSIntegration/Classes/RI/Topic.h

@@ -19,6 +19,10 @@ enum class EMessageType : uint8
 {
 	String = 0,
 	Float32 = 1,
+	PoseStamped = 2,
+	TwistStamped = 3,
+	Twist = 4,
+	HomePosition = 5
 };
 
 UCLASS(Blueprintable)
@@ -62,6 +66,18 @@ class ROSINTEGRATION_API UTopic: public UObject
 	UFUNCTION(BlueprintImplementableEvent, Category = ROS)
 	void OnFloat32Message(const float& Data);
 
+	UFUNCTION(BlueprintImplementableEvent, Category = ROS)
+	void OnPoseStampedMessage(const FVector& Position, const FRotator& Rotation);
+
+	UFUNCTION(BlueprintImplementableEvent, Category = ROS)
+	void OnTwistStampedMessage(const FVector& Linear, const FVector& Angular);
+
+	UFUNCTION(BlueprintImplementableEvent, Category = ROS)
+	void OnTwistMessage(const FVector& Linear, const FVector& Angular);
+
+	UFUNCTION(BlueprintImplementableEvent, Category = ROS)
+	void OnHomePositionMessage(const FVector& Geo, const FVector& Position, const FRotator& Orientation, const FVector& Approach);
+
 	UPROPERTY()
 	UROSIntegrationCore* _ROSIntegrationCore = nullptr;
 
@@ -89,6 +105,12 @@ class ROSINTEGRATION_API UTopic: public UObject
 	UFUNCTION(BlueprintCallable, Category = "ROS|Topic")
 	bool PublishStringMessage(const FString& Message);
 
+	UFUNCTION(BlueprintCallable, Category = "ROS|Topic")
+	bool PublishTwistStampedMessage(const FVector& Linear, const FVector& Angular);
+
+	UFUNCTION(BlueprintCallable, Category = "ROS|Topic")
+	bool PublishTwistMessage(const FVector& Linear, const FVector& Angular);
+
 	// Helper to keep track of self-destruction for async functions
 	TSharedPtr<UTopic, ESPMode::ThreadSafe> _SelfPtr;
 

Source/ROSIntegration/Private/Conversion/Messages/geographic_msgs/GeographicMsgsGeoPointConverter.cpp

@@ -0,0 +1,24 @@
+#include "Conversion/Messages/geographic_msgs/GeographicMsgsGeoPointConverter.h"
+
+#include "geographic_msgs/GeoPoint.h"
+
+UGeographicMsgsGeoPointConverter::UGeographicMsgsGeoPointConverter()
+{
+	_MessageType = "geographic_msgs/GeoPoint";
+}
+
+bool UGeographicMsgsGeoPointConverter::ConvertIncomingMessage(const ROSBridgePublishMsg* message, TSharedPtr<FROSBaseMsg> &BaseMsg)
+{
+	auto msg = new ROSMessages::geographic_msgs::GeoPoint();
+	BaseMsg = TSharedPtr<FROSBaseMsg>(msg);
+	return _bson_extract_child_geo_point(message->full_msg_bson_, "msg", msg);
+}
+
+bool UGeographicMsgsGeoPointConverter::ConvertOutgoingMessage(TSharedPtr<FROSBaseMsg> BaseMsg, bson_t** message)
+{
+	auto CastMSG = StaticCastSharedPtr<ROSMessages::geographic_msgs::GeoPoint>(BaseMsg);
+	*message = bson_new();
+	_bson_append_geo_point(*message, CastMSG.Get());
+
+	return true;
+}

Source/ROSIntegration/Private/Conversion/Messages/geographic_msgs/GeographicMsgsGeoPointConverter.cpp.bak

@@ -0,0 +1,26 @@
+#include "Conversion/Messages/geographic_msgs/GeographicMsgsGeoPointConverter.h"
+
+#include "geographic_msgs/GeoPoint.h"
+
+UGeographicMsgsGeoPointConverter::UGeographicMsgsGeoPointConverter()
+{
+	_MessageType = "geographic_msgs/GeoPoint";
+}
+
+bool UGeographicMsgsGeoPointConverter::ConvertIncomingMessage(const ROSBridgePublishMsg* message, TSharedPtr<FROSBaseMsg> &BaseMsg)
+{
+	auto msg = new ROSMessages::geographic_msgs::GeoPoint();
+	BaseMsg = TSharedPtr<FROSBaseMsg>(msg);
+	return _bson_extract_child_geo_point(message->full_msg_bson_, "msg", msg);
+}
+
+bool UGeographicMsgsGeoPointConverter::ConvertOutgoingMessage(TSharedPtr<FROSBaseMsg> BaseMsg, bson_t** message)
+{
+	auto CastMSG = StaticCastSharedPtr<ROSMessages::geographic_msgs::GeoPoint>(BaseMsg);
+
+	*message = bson_new();
+	bson_init(*message);
+	_bson_append_geo_point(*message, CastMSG.Get());
+
+	return true;
+}

Source/ROSIntegration/Private/Conversion/Messages/geographic_msgs/GeographicMsgsGeoPointConverter.h

@@ -0,0 +1,44 @@
+#pragma once
+
+#include <CoreMinimal.h>
+#include "Conversion/Messages/BaseMessageConverter.h"
+#include "geographic_msgs/GeoPoint.h"
+#include "Conversion/Messages/std_msgs/StdMsgsFloat32Converter.h"
+#include "GeographicMsgsGeoPointConverter.generated.h"
+
+
+UCLASS()
+class ROSINTEGRATION_API UGeographicMsgsGeoPointConverter : public UBaseMessageConverter
+{
+	GENERATED_BODY()
+
+public:
+	UGeographicMsgsGeoPointConverter();
+	virtual bool ConvertIncomingMessage(const ROSBridgePublishMsg* message, TSharedPtr<FROSBaseMsg> &BaseMsg);
+	virtual bool ConvertOutgoingMessage(TSharedPtr<FROSBaseMsg> BaseMsg, bson_t** message);
+
+	static bool _bson_extract_child_geo_point(bson_t *b, FString key, ROSMessages::geographic_msgs::GeoPoint * msg, bool LogOnErrors = true)
+	{
+		bool KeyFound = true;
+
+		msg->latitude  = GetDoubleFromBSON(key + ".latitude",  b, KeyFound, LogOnErrors); if (!KeyFound) return false;
+		msg->longitude = GetDoubleFromBSON(key + ".longitude", b, KeyFound, LogOnErrors); if (!KeyFound) return false;
+		msg->altitude  = GetDoubleFromBSON(key + ".altitude",  b, KeyFound, LogOnErrors); if (!KeyFound) return false;
+		return true;
+	}
+
+	static void _bson_append_child_geo_point(bson_t *b, const char *key, const ROSMessages::geographic_msgs::GeoPoint * msg)
+	{
+		bson_t child;
+		BSON_APPEND_DOCUMENT_BEGIN(b, key, &child);
+		_bson_append_geo_point(&child, msg);
+		bson_append_document_end(b, &child);
+	}
+
+	static void _bson_append_geo_point(bson_t *b, const ROSMessages::geographic_msgs::GeoPoint * msg)
+	{
+		BSON_APPEND_DOUBLE(b, "latitude",  msg->latitude);
+		BSON_APPEND_DOUBLE(b, "longitude", msg->longitude);
+		BSON_APPEND_DOUBLE(b, "altitude",  msg->altitude);
+	}
+};

Source/ROSIntegration/Private/Conversion/Messages/geographic_msgs/GeographicMsgsGeoPointConverter.h.bak

@@ -0,0 +1,44 @@
+#pragma once
+
+#include <CoreMinimal.h>
+#include "Conversion/Messages/BaseMessageConverter.h"
+#include "geographic_msgs/GeoPoint.h"
+#include "Conversion/Messages/std_msgs/StdMsgsFloat32Converter.h"
+#include "GeographicMsgsGeoPointConverter.generated.h"
+
+
+UCLASS()
+class ROSINTEGRATION_API UGeographicMsgsGeoPointConverter : public UBaseMessageConverter
+{
+	GENERATED_BODY()
+
+public:
+	UGeographicMsgsGeoPointConverter();
+	virtual bool ConvertIncomingMessage(const ROSBridgePublishMsg* message, TSharedPtr<FROSBaseMsg> &BaseMsg);
+	virtual bool ConvertOutgoingMessage(TSharedPtr<FROSBaseMsg> BaseMsg, bson_t** message);
+
+	static bool _bson_extract_child_geo_point(bson_t *b, FString key, ROSMessages::geographic_msgs::GeoPoint * msg, bool LogOnErrors = true)
+	{
+		bool KeyFound = true;
+
+		msg->latitude  = GetDoubleFromBSON(key + ".latitude",  b, KeyFound, LogOnErrors); if (!KeyFound) return false;
+		msg->longitude = GetDoubleFromBSON(key + ".longitude", b, KeyFound, LogOnErrors); if (!KeyFound) return false;
+		msg->altitude  = GetDoubleFromBSON(key + ".altitude",  b, KeyFound, LogOnErrors); if (!KeyFound) return false;
+		return true;
+	}
+
+	static void _bson_append_child_geo_point(bson_t *b, const char *key, const ROSMessages::geographic_msgs::GeoPoint * msg)
+	{
+		bson_t child;
+		BSON_APPEND_DOCUMENT_BEGIN(b, key, &child);
+		_bson_append_geo_point(&child, ps);
+		bson_append_document_end(b, &child);
+	}
+
+	static void _bson_append_geo_point(bson_t *b, const ROSMessages::geographic_msgs::GeoPoint * ps)
+	{
+		BSON_APPEND_DOUBLE(b, "latitude", ps->latitude);
+		BSON_APPEND_DOUBLE(b, "longitude", ps->longitude);
+		BSON_APPEND_DOUBLE(b, "altitude", ps->altitude);
+	}
+};

Source/ROSIntegration/Private/Conversion/Messages/mavros_msgs/MavrosMsgsHomePositionConverter.cpp

@@ -0,0 +1,30 @@
+#include "Conversion/Messages/mavros_msgs/MavrosMsgsHomePositionConverter.h"
+
+
+UMavrosMsgsHomePositionConverter::UMavrosMsgsHomePositionConverter()
+{
+	_MessageType = "mavros_msgs/HomePosition";
+}
+
+bool UMavrosMsgsHomePositionConverter::ConvertIncomingMessage(const ROSBridgePublishMsg* message, TSharedPtr<FROSBaseMsg> &BaseMsg)
+{
+	auto msg = new ROSMessages::mavros_msgs::HomePosition();
+	BaseMsg = TSharedPtr<FROSBaseMsg>(msg);
+
+	if (!UStdMsgsHeaderConverter::_bson_extract_child_header(message->full_msg_bson_, TEXT("msg.header"), &msg->header)) return false;
+	if (!UGeometryMsgsPointConverter::_bson_extract_child_point(message->full_msg_bson_, TEXT("msg.position"), &msg->position)) return false;
+	if (!UGeometryMsgsQuaternionConverter::_bson_extract_child_quaternion(message->full_msg_bson_, TEXT("msg.orientation"), &msg->orientation)) return false;
+	if (!UGeometryMsgsVector3Converter::_bson_extract_child_vector3(message->full_msg_bson_, TEXT("msg.approach"), &msg->approach)) return false;
+	if (!UGeographicMsgsGeoPointConverter::_bson_extract_child_geo_point(message->full_msg_bson_, TEXT("msg.geo"), &msg->geo)) return false;
+
+	return true;
+}
+
+bool UMavrosMsgsHomePositionConverter::ConvertOutgoingMessage(TSharedPtr<FROSBaseMsg> BaseMsg, bson_t** message)
+{
+	auto CastMSG = StaticCastSharedPtr<ROSMessages::mavros_msgs::HomePosition>(BaseMsg);
+	*message = bson_new();
+	_bson_append_home_position(*message, CastMSG.Get());
+
+	return true;
+}

Source/ROSIntegration/Private/Conversion/Messages/mavros_msgs/MavrosMsgsHomePositionConverter.cpp.bak

@@ -0,0 +1,30 @@
+#include "Conversion/Messages/mavros_msgs/MavrosMsgsHomePositionConverter.h"
+
+
+UMavrosMsgsHomePositionConverter::UMavrosMsgsHomePositionConverter()
+{
+	_MessageType = "mavros_msgs/HomePosition";
+}
+
+bool UMavrosMsgsHomePositionConverter::ConvertIncomingMessage(const ROSBridgePublishMsg* message, TSharedPtr<FROSBaseMsg> &BaseMsg)
+{
+	auto msg = new ROSMessages::mavros_msgs::HomePosition();
+	BaseMsg = TSharedPtr<FROSBaseMsg>(msg);
+
+	if (!UStdMsgsHeaderConverter::_bson_extract_child_header(message->full_msg_bson_, TEXT("msg.header"), &msg->header)) return false;
+	if (!UGeometryMsgsPointConverter::_bson_extract_child_point(message->full_msg_bson_, TEXT("msg.position"), &msg->position)) return false;
+	if (!UGeometryMsgsQuaternionConverter::_bson_extract_child_quaternion(message->full_msg_bson_, TEXT("msg.orientation"), &msg->orientation)) return false;
+	if (!UGeometryMsgsVector3Converter::_bson_extract_child_vector3(message->full_msg_bson_, TEXT("msg.approach"), &msg->approach)) return false;
+	if (!UGeographicMsgsGeoPointConverter::_bson_extract_child_geo_point(message->full_msg_bson_, TEXT("msg.geo"), &msg->geo)) return false;
+
+	return true;
+}
+
+bool UMavrosMsgsHomePositionConverter::ConvertOutgoingMessage(TSharedPtr<FROSBaseMsg> BaseMsg, bson_t** message)
+{
+	auto CastMSG = StaticCastSharedPtr<ROSMessages::mavros_msgs::HomePosition>(BaseMsg);
+	*message = bson_new();
+	_bson_append_home_position(*message, CastMSG.Get());
+
+	return true;
+}

Source/ROSIntegration/Private/Conversion/Messages/mavros_msgs/MavrosMsgsHomePositionConverter.h

@@ -0,0 +1,58 @@
+#pragma once
+
+#include <CoreMinimal.h>
+#include "Conversion/Messages/BaseMessageConverter.h"
+#include "mavros_msgs/HomePosition.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Point.h"
+#include "geometry_msgs/Quaternion.h"
+#include "geometry_msgs/Vector3.h"
+#include "geographic_msgs/GeoPoint.h"
+#include "Conversion/Messages/std_msgs/StdMsgsHeaderConverter.h"
+#include "Conversion/Messages/geometry_msgs/GeometryMsgsPointConverter.h"
+#include "Conversion/Messages/geometry_msgs/GeometryMsgsQuaternionConverter.h"
+#include "Conversion/Messages/geometry_msgs/GeometryMsgsVector3Converter.h"
+#include "Conversion/Messages/geographic_msgs/GeographicMsgsGeoPointConverter.h"
+#include "MavrosMsgsHomePositionConverter.generated.h"
+
+
+UCLASS()
+class ROSINTEGRATION_API UMavrosMsgsHomePositionConverter : public UBaseMessageConverter
+{
+	GENERATED_BODY()
+
+public:
+	UMavrosMsgsHomePositionConverter();
+	virtual bool ConvertIncomingMessage(const ROSBridgePublishMsg* message, TSharedPtr<FROSBaseMsg> &BaseMsg);
+	virtual bool ConvertOutgoingMessage(TSharedPtr<FROSBaseMsg> BaseMsg, bson_t** message);
+
+	static bool _bson_extract_child_home_position(bson_t *b, FString key, ROSMessages::mavros_msgs::HomePosition* msg, bool LogOnErrors = true)
+	{
+		bool KeyFound = true;
+
+		KeyFound &= UStdMsgsHeaderConverter::_bson_extract_child_header(b, key + ".header", &msg->header);
+		KeyFound &= UGeometryMsgsPointConverter::_bson_extract_child_point(b, key + ".position", &msg->position);
+		KeyFound &= UGeometryMsgsQuaternionConverter::_bson_extract_child_quaternion(b, key + ".orientation", &msg->orientation);
+		KeyFound &= UGeometryMsgsVector3Converter::_bson_extract_child_vector3(b, key + ".approach", &msg->approach);
+		KeyFound &= UGeographicMsgsGeoPointConverter::_bson_extract_child_geo_point(b, key + ".geo", &msg->geo);
+
+		return KeyFound;
+	}
+
+	static void _bson_append_child_home_position(bson_t *b, const char *key, const ROSMessages::mavros_msgs::HomePosition* msg)
+	{
+		bson_t child;
+		BSON_APPEND_DOCUMENT_BEGIN(b, key, &child);
+		_bson_append_home_position(&child, msg);
+		bson_append_document_end(b, &child);
+	}
+
+	static void _bson_append_home_position(bson_t *b, const ROSMessages::mavros_msgs::HomePosition* msg)
+	{
+		UStdMsgsHeaderConverter::_bson_append_header(b, &(msg->header));
+		UGeometryMsgsPointConverter::_bson_append_child_point(b, "position", &(msg->position));
+		UGeometryMsgsQuaternionConverter::_bson_append_child_quaternion(b, "orientation", &(msg->orientation));
+		UGeometryMsgsVector3Converter::_bson_append_child_vector3(b, "approach", &(msg->approach));
+		UGeographicMsgsGeoPointConverter::_bson_append_child_geo_point(b, "geo", &(msg->geo));
+	}
+};

Source/ROSIntegration/Private/Conversion/Messages/mavros_msgs/MavrosMsgsHomePositionConverter.h.bak

@@ -0,0 +1,58 @@
+#pragma once
+
+#include <CoreMinimal.h>
+#include "Conversion/Messages/BaseMessageConverter.h"
+#include "mavros_msgs/HomePosition.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Point.h"
+#include "geometry_msgs/Quaternion.h"
+#include "geometry_msgs/Vector3.h"
+#include "geographic_msgs/GeoPoint.h"
+#include "Conversion/Messages/std_msgs/StdMsgsHeaderConverter.h"
+#include "Conversion/Messages/geometry_msgs/GeometryMsgsPointConverter.h"
+#include "Conversion/Messages/geometry_msgs/GeometryMsgsQuaternionConverter.h"
+#include "Conversion/Messages/geometry_msgs/GeometryMsgsVector3Converter.h"
+#include "Conversion/Messages/geographic_msgs/GeographicMsgsGeoPointConverter.h"
+#include "MavrosMsgsHomePositionConverter.generated.h"
+
+
+UCLASS()
+class ROSINTEGRATION_API UMavrosMsgsHomePositionConverter : public UBaseMessageConverter
+{
+	GENERATED_BODY()
+
+public:
+	UMavrosMsgsHomePositionConverter();
+	virtual bool ConvertIncomingMessage(const ROSBridgePublishMsg* message, TSharedPtr<FROSBaseMsg> &BaseMsg);
+	virtual bool ConvertOutgoingMessage(TSharedPtr<FROSBaseMsg> BaseMsg, bson_t** message);
+
+	static bool _bson_extract_child_home_position(bson_t *b, FString key, ROSMessages::mavros_msgs::HomePosition* msg, bool LogOnErrors = true)
+	{
+		bool KeyFound = true;
+
+		KeyFound &= UStdMsgsHeaderConverter::_bson_extract_child_header(b, key + ".header", &msg->header);
+		KeyFound &= UGeometryMsgsPointConverter::_bson_extract_child_point(b, key + ".position", &msg->position);
+		KeyFound &= UGeometryMsgsQuaternionConverter::_bson_extract_child_quaternion(b, key + ".orientation", &msg->orientation);
+		KeyFound &= UGeometryMsgsVector3Converter::_bson_extract_child_vector3(b, key + ".approach", &msg->approach);
+		KeyFound &= UGeographicMsgsGeoPointConverter::_bson_extract_child_geo_point(b, key + ".geo", &msg->geo);
+
+		return KeyFound;
+	}
+
+	static void _bson_append_child_home_position(bson_t *b, const char *key, const ROSMessages::mavros_msgs::HomePosition* ps)
+	{
+		bson_t layout;
+		BSON_APPEND_DOCUMENT_BEGIN(b, key, &layout);
+		_bson_append_home_position(&layout, ps);
+		bson_append_document_end(b, &layout);
+	}
+
+	static void _bson_append_home_position(bson_t *b, const ROSMessages::mavros_msgs::HomePosition* ps)
+	{
+		UStdMsgsHeaderConverter::_bson_append_header(b, &(ps->header));
+		UGeometryMsgsPointConverter::_bson_append_child_point(b, "position", &(ps->position));
+		UGeometryMsgsQuaternionConverter::_bson_append_child_quaternion(b, "orientation", &(ps->orientation));
+		UGeometryMsgsVector3Converter::_bson_append_child_vector3(b, "approach", &(ps->approach));
+		UGeographicMsgsGeoPointConverter::_bson_append_child_geo_point(b, "geo", &(ps->geo));
+	}
+};

Source/ROSIntegration/Private/Conversion/Messages/std_msgs/StdMsgsBoolConverter.h

@@ -2,7 +2,7 @@
 
 #pragma once
 
-#include "CoreMinimal.h"
+#include <CoreMinimal.h>
 #include "Conversion/Messages/BaseMessageConverter.h"
 #include "std_msgs/Bool.h"
 #include "StdMsgsBoolConverter.generated.h"