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Avoid name clashing in ros msg packages #609

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Avoid name clashing in ros msg packages #609

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e59b5d6
Add test for #609
Affonso-Gui Apr 2, 2019
b926d5a
Avoid name clashing in ros msg packages
Affonso-Gui Apr 2, 2019
6114862
Merge branch 'master' into ros-msg-no-pkg
knorth55 Apr 14, 2020
a2ecc33
Merge branch 'master' into ros-msg-no-pkg
k-okada Sep 7, 2021
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4 changes: 2 additions & 2 deletions roseus/euslisp/roseus.l
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Original file line number Diff line number Diff line change
Expand Up @@ -221,7 +221,7 @@
(exit 1))
(ros::ros-debug "Loading ~A" dir)
(unless (find-package (string-upcase pkg))
(make-package (string-upcase pkg)))
(make-package (string-upcase pkg) :use nil))
(dolist (file (directory dir))
(when (and (string= (pathname-type file) "l")
(not (= #\. (elt (pathname-name file) 0))))
Expand Down Expand Up @@ -430,7 +430,7 @@ always the rank of list is 2"
(defun ros::load-ros-package (pkg)
"load required roseus files for given package"
(unless (find-package (string-upcase pkg))
(make-package (string-upcase pkg)))
(make-package (string-upcase pkg) :use nil))
(when (probe-file (format nil "~A/msg" (ros::find-load-msg-path pkg)))
(ros::roseus-add-msgs pkg))
(when (probe-file (format nil "~A/srv" (ros::find-load-msg-path pkg)))
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1 change: 1 addition & 0 deletions roseus/msg/TestName.msg
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Original file line number Diff line number Diff line change
@@ -1 +1,2 @@
roseus/StringStamped name
roseus/String string
19 changes: 13 additions & 6 deletions roseus/test/test-name-pub.l
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Expand Up @@ -6,11 +6,18 @@
(ros::advertise "test_name" roseus::TestName)
(ros::rate 1)
(setq i 0)

;; Test for name clashing in ROS messages
;; `name' tests for name clashing in slot names
;; `string' tests for name clashing in message names

(while (ros::ok)
(setq ss (instance roseus::StringStamped :init :data (format nil "test ~A" (incf i))))
(setq msg (instance roseus::TestName :init :name ss))
(ros::ros-info "pub ~A" msg)
(ros::publish "test_name" msg)
(ros::sleep)
(ros::spin-once))
(let* ((str (format nil "test ~A" (incf i)))
(s (instance roseus::String :init :data str))
(ss (instance roseus::StringStamped :init :data str))
(msg (instance roseus::TestName :init :name ss :string s)))
(ros::ros-info "pub ~A" msg)
(ros::publish "test_name" msg)
(ros::sleep)
(ros::spin-once)))

5 changes: 4 additions & 1 deletion roseus/test/test-name-sub.l
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Original file line number Diff line number Diff line change
@@ -1,6 +1,9 @@
#!/usr/bin/env roseus

(ros::load-ros-manifest "roseus")
;; It is important to load `TestName.l' before `String.l' to test for name clashing
;; between roseus::String and lisp::string
(flet ((directory (dir) (list "TestName.l" "StringStamped.l" "String.l")))
(ros::roseus-add-files "roseus" "msg"))

(ros::roseus "test_name_sub")
(ros::subscribe "test_name" roseus::TestName #'(lambda (msg) (ros::ros-info "sub ~A" msg)))
Expand Down