From 6524ad6c0dc07976dc2174d7037619b021f31689 Mon Sep 17 00:00:00 2001 From: Greek Date: Wed, 26 Jan 2022 16:25:25 +0100 Subject: [PATCH] Make ROS Service Topic Generation compatible with Cyclone DDS Cyclone DDS appends "Reply" (instead of "Response") to the Response Message Topic. --- src/ros2/dds_user_config.vhd | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/ros2/dds_user_config.vhd b/src/ros2/dds_user_config.vhd index e0d4510..478f3d6 100644 --- a/src/ros2/dds_user_config.vhd +++ b/src/ros2/dds_user_config.vhd @@ -135,7 +135,7 @@ package body user_config is ret(index).TYPENAME := ROS_SERVICES(i).TYPENAME; tmp := gen_fqn(ROS_NODES(ROS_SERVICES(i).node_id).namespace, ROS_NODES(ROS_SERVICES(i).node_id).name, ROS_SERVICES(i).SERVICENAME); if (ROS_SERVICES(i).is_client) then - ret(index).TOPICNAME := concat("rr",concat(tmp,"Response")); + ret(index).TOPICNAME := concat("rr",concat(tmp,"Reply")); ret(index).MAX_PAYLOAD_SIZE := ROS_SERVICES(i).MAX_RR_SIZE; else ret(index).TOPICNAME := concat("rq",concat(tmp,"Request")); @@ -169,7 +169,7 @@ package body user_config is ret(index).TOPICNAME := concat("rq",concat(tmp,"Request")); ret(index).MAX_PAYLOAD_SIZE := ROS_SERVICES(i).MAX_RQ_SIZE; else - ret(index).TOPICNAME := concat("rr",concat(tmp,"Response")); + ret(index).TOPICNAME := concat("rr",concat(tmp,"Reply")); ret(index).MAX_PAYLOAD_SIZE := ROS_SERVICES(i).MAX_RR_SIZE; end if; index := index + 1;