Merge branch 'main' into codex/deprecate-ros-1-and-prepare-ros-2-for-kilted-release

Author: lreiher

README.md

@@ -270,7 +270,7 @@ bridge:
 
 As seen in the [Quick Start](#quick-start), the *mqtt_client* can not only exchange arbitrary ROS messages with other *mqtt_clients*, but it can also exchange primitive message data with other non-*mqtt_client* MQTT clients. This allows ROS-based devices to exchange primitive messages with devices not based on ROS. The `primitive` parameter can be set for both ROS-to-MQTT (`bridge/ros2mqtt`) and for MQTT-to-ROS (`bridge/mqtt2ros`) transmissions.
 
-If a ROS-to-MQTT transmission is configured as `primitive` and the ROS message type is one of the supported primitive ROS message types, the raw data is published as a string. The supported primitive ROS message types are [`std_msgs/String`](http://docs.ros.org/en/api/std_msgs/html/msg/String.html), [`std_msgs/Bool`](http://docs.ros.org/en/api/std_msgs/html/msg/Bool.html), [`std_msgs/Char`](http://docs.ros.org/en/api/std_msgs/html/msg/Char.html), [`std_msgs/UInt8`](http://docs.ros.org/en/api/std_msgs/html/msg/UInt8.html), [`std_msgs/UInt16`](http://docs.ros.org/en/api/std_msgs/html/msg/UInt16.html), [`std_msgs/UInt32`](http://docs.ros.org/en/api/std_msgs/html/msg/UInt32.html), [`std_msgs/UInt64`](http://docs.ros.org/en/api/std_msgs/html/msg/UInt16.html), [`std_msgs/Int8`](http://docs.ros.org/en/api/std_msgs/html/msg/Int8.html), [`std_msgs/Int16`](http://docs.ros.org/en/api/std_msgs/html/msg/Int16.html), [`std_msgs/Int32`](http://docs.ros.org/en/api/std_msgs/html/msg/Int32.html), [`std_msgs/Int64`](http://docs.ros.org/en/api/std_msgs/html/msg/Int64.html), [`std_msgs/Float32`](http://docs.ros.org/en/api/std_msgs/html/msg/Float32.html), [`std_msgs/Float32`](http://docs.ros.org/en/api/std_msgs/html/msg/Float64.html).
+If a ROS-to-MQTT transmission is configured as `primitive` and the ROS message type is one of the supported primitive ROS message types, the raw data is published as a string. The supported primitive ROS message types are [`std_msgs/String`](http://docs.ros.org/en/api/std_msgs/html/msg/String.html), [`std_msgs/Bool`](http://docs.ros.org/en/api/std_msgs/html/msg/Bool.html), [`std_msgs/Char`](http://docs.ros.org/en/api/std_msgs/html/msg/Char.html), [`std_msgs/UInt8`](http://docs.ros.org/en/api/std_msgs/html/msg/UInt8.html), [`std_msgs/UInt16`](http://docs.ros.org/en/api/std_msgs/html/msg/UInt16.html), [`std_msgs/UInt32`](http://docs.ros.org/en/api/std_msgs/html/msg/UInt32.html), [`std_msgs/UInt64`](http://docs.ros.org/en/api/std_msgs/html/msg/UInt64.html), [`std_msgs/Int8`](http://docs.ros.org/en/api/std_msgs/html/msg/Int8.html), [`std_msgs/Int16`](http://docs.ros.org/en/api/std_msgs/html/msg/Int16.html), [`std_msgs/Int32`](http://docs.ros.org/en/api/std_msgs/html/msg/Int32.html), [`std_msgs/Int64`](http://docs.ros.org/en/api/std_msgs/html/msg/Int64.html), [`std_msgs/Float32`](http://docs.ros.org/en/api/std_msgs/html/msg/Float32.html), [`std_msgs/Float64`](http://docs.ros.org/en/api/std_msgs/html/msg/Float64.html).
 
 If an MQTT-to-ROS transmission is configured as `primitive`, the MQTT message is interpreted and published as a primitive data type, if possible. The message is probed in the following order: `bool` ([`std_msgs/Bool`](http://docs.ros.org/en/api/std_msgs/html/msg/Bool.html)), `int` ([`std_msgs/Int32`](http://docs.ros.org/en/api/std_msgs/html/msg/Int32.html)), `float` ([`std_msgs/Float32`](http://docs.ros.org/en/api/std_msgs/html/msg/Float32.html)), `string` ([`std_msgs/String`](http://docs.ros.org/en/api/std_msgs/html/msg/String.html)).
 

mqtt_client/include/mqtt_client/MqttClient.ros2.hpp

@@ -199,7 +199,7 @@ class MqttClient : public rclcpp::Node,
      const Ros2MqttInterface& ros2mqtt) const;
 
   /**
-   * @brief Get the candiate topic endpoints for subscription matching
+   * @brief Get the candidate topic endpoints for subscription matching
    *
    * @param ros2mqtt the ROS to MQTT interface spec
    *

mqtt_client/src/MqttClient.ros2.cpp

@@ -67,8 +67,8 @@ T mqtt2float(mqtt::const_message_ptr mqtt_msg) {
   std::size_t pos;
   const T v = std::stold(str_msg, &pos);
 
-  if (pos != str_msg.size())
-    throw std::invalid_argument ("not all charaters processed");
+  if (pos != str_msg.size())
+    throw std::invalid_argument ("not all characters processed");
 
   return v;
 }
@@ -79,8 +79,8 @@ T mqtt2int(mqtt::const_message_ptr mqtt_msg) {
   std::size_t pos;
   const T v = std::stoll(str_msg, &pos);
 
-  if (pos != str_msg.size())
-    throw std::invalid_argument ("not all charaters processed");
+  if (pos != str_msg.size())
+    throw std::invalid_argument ("not all characters processed");
 
   return v;
 }
@@ -150,9 +150,9 @@ bool fixedMqtt2PrimitiveRos(mqtt::const_message_ptr mqtt_msg,
       msg.data = mqtt2int<int32_t>(mqtt_msg);
 
       serializeRosMessage(msg, serialized_msg);
-    } else if (msg_type == "std_msgs/msg/Int64") {
-      std_msgs::msg::Int32 msg;
-      msg.data = mqtt2int<int32_t>(mqtt_msg);
+    } else if (msg_type == "std_msgs/msg/Int64") {
+      std_msgs::msg::Int64 msg;
+      msg.data = mqtt2int<int64_t>(mqtt_msg);
 
       serializeRosMessage(msg, serialized_msg);
     } else if (msg_type == "std_msgs/msg/Float32") {