File converters.hpp

↰ Parent directory (include/soar_ros/msg)

Umbrella header for ROS 2 ↔ Soar WME message converters.

Definition (include/soar_ros/msg/converters.hpp)

Detailed Description

Provides two free-function families in the soar_ros::msg namespace:

toSoar — ROS 2 message → Soar working memory sml::Identifier*toSoar(sml::Identifier*parent, constchar*attr, constMsgType&msg);

Creates a child ID WME under parent with attribute attr and recursively populates it to mirror the ROS 2 message field hierarchy. Returns the newly created sml::Identifier*.

Typical use inside a soar_ros::Subscriber<T>::parse() override: voidparse(geometry_msgs::msg::PoseStampedmsg)override { soar_ros::msg::toSoar(m_pAgent->GetInputLink(),m_topic.c_str(),msg); //ResultingWMEtree: //<input-link> //+–<topic>(ID) //+–header(ID) //|+–frame_id(string) //|+–stamp(ID) //|+–sec(int) //|+–nanosec(int) //+–pose(ID) //+–position(ID) //|+–x(float)y(float)z(float) //+–orientation(ID) //+–x(float)y(float)z(float)w(float) }

fromSoar — Soar working memory → ROS 2 message TfromSoar<T>(sml::Identifier*id);

Reads the WME subtree rooted at id and returns the corresponding ROS 2 message of type T.

Typical use inside a soar_ros::Publisher<T>::parse() override: geometry_msgs::msg::Twistparse(sml::Identifier*id)override { //Soarrulewrites: //(<output-link>^cmd<c>) //(<c>^linear<l>^angular<a>) //(<l>^x1.0^y0.0^z0.0) //(<a>^x0.0^y0.0^z0.5) returnsoar_ros::msg::fromSoar<geometry_msgs::msg::Twist>(id); }

Supported message types

  • std_msgs : Bool, Int8/16/32/64, UInt8/16/32/64, Float32/64, String, Header

  • geometry_msgs : Vector3, Point, Point32, Quaternion, Pose, PoseStamped, PoseWithCovariance, Twist, TwistStamped, Accel, Transform, TransformStamped

WME attribute naming Attribute names match the ROS 2 field names exactly, including underscores (e.g. frame_id, child_frame_id, nanosec). Nested message fields become child ID WMEs. The PoseWithCovariance covariance matrix is stored as 36 flat float attributes named covariance_0 … covariance_35.

Includes

Included By