Enable publication and subscription of signals of type std::string.

Author: florent-lamiraux

src/converter.hh

@@ -88,6 +88,17 @@ namespace dynamicgraph
     dst = src.data;
   }
 
+  // String
+  SOT_TO_ROS_IMPL(std::string)
+  {
+    dst.data = src;
+  }
+
+  ROS_TO_SOT_IMPL(std::string)
+  {
+    dst = src.data;
+  }
+
   // Vector
   SOT_TO_ROS_IMPL(Vector)
   {
@@ -242,6 +253,7 @@ namespace dynamicgraph
   DG_BRIDGE_MAKE_SHPTR_IMPL(double);
   DG_BRIDGE_MAKE_SHPTR_IMPL(int);
   DG_BRIDGE_MAKE_SHPTR_IMPL(unsigned int);
+  DG_BRIDGE_MAKE_SHPTR_IMPL(std::string);
   DG_BRIDGE_MAKE_SHPTR_IMPL(Vector);
   DG_BRIDGE_MAKE_SHPTR_IMPL(specific::Vector3);
   DG_BRIDGE_MAKE_SHPTR_IMPL(Matrix);

src/ros_publish.cpp

@@ -107,6 +107,8 @@ namespace dynamicgraph
 	  entity.add<specific::Twist> (signal, topic);
 	else if (type == "twistStamped")
 	  entity.add<std::pair<specific::Twist, Vector> > (signal, topic);
+        else if (type == "string")
+	  entity.add<std::string> (signal, topic);
 	else
 	  throw std::runtime_error("bad type");
 	return Value ();

src/ros_subscribe.cpp

@@ -94,6 +94,8 @@ namespace dynamicgraph
 	else if (type == "twistStamped")
 	  entity.add<std::pair<specific::Twist, dg::Vector> >
 	    (signal, topic);
+	else if (type == "string")
+	  entity.add<std::string> (signal, topic);
 	else
 	  throw std::runtime_error("bad type");
 	return Value ();

src/sot_to_ros.cpp

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

src/sot_to_ros.hh

@@ -9,6 +9,7 @@
 # include <std_msgs/Float64.h>
 # include <std_msgs/UInt32.h>
 # include <std_msgs/Int32.h>
+# include <std_msgs/String.h>
 # include "dynamic_graph_bridge_msgs/Matrix.h"
 # include "dynamic_graph_bridge_msgs/Vector.h"
 
@@ -146,6 +147,30 @@ namespace dynamicgraph
     }
   };
 
+  template <>
+  struct SotToRos<std::string>
+  {
+    typedef std::string sot_t;
+    typedef std_msgs::String ros_t;
+    typedef std_msgs::StringConstPtr 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 ("");
+    }
+
+    static void setDefault(sot_t& s)
+    {
+      s = std::string ();
+    }
+  };
+
   template <>
   struct SotToRos<Matrix>
   {