RosPublish can publish booleans

Author: jmirabel

src/converter.hh

@@ -44,6 +44,17 @@ namespace dynamicgraph
   template <typename D, typename S>
   void converter (D& dst, const S& src);
 
+  // Boolean
+  SOT_TO_ROS_IMPL(bool)
+  {
+    dst.data = src;
+  }
+
+  ROS_TO_SOT_IMPL(bool)
+  {
+    dst = src.data;
+  }
+
   // Double
   SOT_TO_ROS_IMPL(double)
   {
@@ -216,6 +227,7 @@ namespace dynamicgraph
   }									\
   struct e_n_d__w_i_t_h__s_e_m_i_c_o_l_o_n
 
+  DG_BRIDGE_MAKE_SHPTR_IMPL(bool);
   DG_BRIDGE_MAKE_SHPTR_IMPL(double);
   DG_BRIDGE_MAKE_SHPTR_IMPL(unsigned int);
   DG_BRIDGE_MAKE_SHPTR_IMPL(Vector);

src/ros_publish.cpp

@@ -78,7 +78,9 @@ namespace dynamicgraph
 	const std::string& signal = values[1].value ();
 	const std::string& topic = values[2].value ();
 
-	if (type == "double")
+	if (type == "boolean")
+	  entity.add<bool> (signal, topic);
+        else if (type == "double")
 	  entity.add<double> (signal, topic);
 	else if (type == "unsigned")
 	  entity.add<unsigned int> (signal, topic);

src/sot_to_ros.cpp

@@ -3,6 +3,7 @@
 namespace dynamicgraph
 {
 
+  const char* SotToRos<bool>::signalTypeName = "bool";
   const char* SotToRos<double>::signalTypeName = "Double";
   const char* SotToRos<unsigned int>::signalTypeName = "Unsigned";
   const char* SotToRos<Matrix>::signalTypeName = "Matrix";

src/sot_to_ros.hh

@@ -5,6 +5,7 @@
 
 # include <boost/format.hpp>
 
+# include <std_msgs/Bool.h>
 # include <std_msgs/Float64.h>
 # include <std_msgs/UInt32.h>
 # include "dynamic_graph_bridge_msgs/Matrix.h"
@@ -48,6 +49,30 @@ namespace dynamicgraph
   template <typename SotType>
   class SotToRos;
 
+  template <>
+  struct SotToRos<bool>
+  {
+    typedef bool sot_t;
+    typedef std_msgs::Bool ros_t;
+    typedef std_msgs::BoolConstPtr ros_const_ptr_t;
+    typedef dynamicgraph::Signal<sot_t, int> signal_t;
+    typedef dynamicgraph::SignalPtr<sot_t, int> signalIn_t;
+    typedef boost::function<sot_t& (sot_t&, int)> callback_t;
+
+    static const char* signalTypeName;
+
+    template <typename S>
+    static void setDefault(S& s)
+    {
+      s.setConstant (false);
+    }
+
+    static void setDefault(sot_t& s)
+    {
+      s = false;
+    }
+  };
+
   template <>
   struct SotToRos<double>
   {