microRTPS_bridge: structural change to make possible to generate pub/sub code for multi-topics/aliased msgs

Tools/jMAVSim

@@ -1 +1 @@
-Subproject commit def7501bc0536b8d1050f65d09c7dfbebcc0ce61
+Subproject commit dc10a13c78afeb97f7b570f8049ec8a912e22d81

Tools/sitl_gazebo

@@ -1 +1 @@
-Subproject commit 22df9475ca0d157e2db066a20f64c35906bf7f25
+Subproject commit a0b0eb8df12b11e8f63d3cc766dee97cefa32ab7

mavlink/include/mavlink/v2.0

@@ -1 +1 @@
-Subproject commit 18cf6ff2fc0e51e4555b19fc31e8b06eb38bdd79
+Subproject commit 60df2613725c21f3eedc51251285f80a22e7d07d

msg/templates/uorb_microcdr/microRTPS_client.cpp.em

@@ -18,9 +18,11 @@ import gencpp
 from px_generate_uorb_topic_helper import * # this is in Tools/
 from px_generate_uorb_topic_files import MsgScope # this is in Tools/
 
-topic_names = [single_spec.short_name for single_spec in spec]
-send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
-recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
+topic_names = [s.short_name for idx, s in enumerate(spec)]
+send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
+send_base_types = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
+recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
+receive_base_types = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
 }@
 /****************************************************************************
  *
@@ -108,11 +110,11 @@ void* send(void* /*unused*/)
         if (updated)
         {
             // obtained data for the file descriptor
-            struct @(topic)_s data;
+            struct @(send_base_types[idx])_s data;
             // copy raw data into local buffer
             if (orb_copy(ORB_ID(@(topic)), fds[@(idx)], &data) == 0) {
                 /* payload is shifted by header length to make room for header*/
-                serialize_@(topic)(&writer, &data, &data_buffer[header_length], &length);
+                serialize_@(send_base_types[idx])(&writer, &data, &data_buffer[header_length], &length);
 
                 if (0 < (read = transport_node->write((char)@(rtps_message_id(ids, topic)), data_buffer, length)))
                 {
@@ -161,8 +163,8 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
     uint8_t topic_ID = 255;
 
     // Declare received topics
-@[for topic in recv_topics]@
-    struct @(topic)_s @(topic)_data;
+@[for idx, topic in enumerate(recv_topics)]@
+    struct @(receive_base_types[idx])_s @(topic)_data;
     orb_advert_t @(topic)_pub = nullptr;
 @[end for]@
 
@@ -188,11 +190,10 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
             total_read += read;
             switch (topic_ID)
             {
-@[for topic in recv_topics]@
-
+@[for idx, topic in enumerate(recv_topics)]@
                 case @(rtps_message_id(ids, topic)):
                 {
-                    deserialize_@(topic)(&reader, &@(topic)_data, data_buffer);
+                    deserialize_@(receive_base_types[idx])(&reader, &@(topic)_data, data_buffer);
                     if (!@(topic)_pub) {
                         @(topic)_pub = orb_advertise(ORB_ID(@(topic)), &@(topic)_data);
                     } else {

msg/templates/urtps/Publisher.cpp.em

@@ -15,11 +15,12 @@ import genmsg.msgs
 import gencpp
 from px_generate_uorb_topic_helper import * # this is in Tools/
 
-topic = spec.short_name
+topic = alias if alias else spec.short_name
 }@
 /****************************************************************************
  *
  * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+ * Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:

msg/templates/urtps/Publisher.h.em

@@ -15,11 +15,12 @@ import genmsg.msgs
 import gencpp
 from px_generate_uorb_topic_helper import * # this is in Tools/
 
-topic = spec.short_name
+topic = alias if alias else spec.short_name
 }@
 /****************************************************************************
  *
  * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+ * Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:

msg/templates/urtps/RtpsTopics.cpp.em

@@ -17,12 +17,13 @@ import gencpp
 from px_generate_uorb_topic_helper import * # this is in Tools/
 from px_generate_uorb_topic_files import MsgScope # this is in Tools/
 
-send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
-recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
+send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
+recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
 }@
 /****************************************************************************
  *
  * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+ * Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:
@@ -88,7 +89,7 @@ void RtpsTopics::publish(uint8_t topic_ID, char data_buffer[], size_t len)
 {
     switch (topic_ID)
     {
-@[for topic in send_topics]@
+@[for idx, topic in enumerate(send_topics)]@
         case @(rtps_message_id(ids, topic)): // @(topic)
         {
             @(topic)_ st;

msg/templates/urtps/RtpsTopics.h.em

@@ -17,13 +17,13 @@ import gencpp
 from px_generate_uorb_topic_helper import * # this is in Tools/
 from px_generate_uorb_topic_files import MsgScope # this is in Tools/
 
-topic_names = [single_spec.short_name for single_spec in spec]
-send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
-recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
+send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
+recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
 }@
 /****************************************************************************
  *
  * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+ * Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:

msg/templates/urtps/Subscriber.cpp.em

@@ -15,11 +15,12 @@ import genmsg.msgs
 import gencpp
 from px_generate_uorb_topic_helper import * # this is in Tools/
 
-topic = spec.short_name
+topic = alias if alias else spec.short_name
 }@
 /****************************************************************************
  *
  * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+ * Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:

msg/templates/urtps/Subscriber.h.em

@@ -15,11 +15,12 @@ import genmsg.msgs
 import gencpp
 from px_generate_uorb_topic_helper import * # this is in Tools/
 
-topic = spec.short_name
+topic = alias if alias else spec.short_name
 }@
 /****************************************************************************
  *
  * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+ * Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:

msg/templates/urtps/microRTPS_agent.cpp.em

@@ -16,9 +16,8 @@ import gencpp
 from px_generate_uorb_topic_helper import * # this is in Tools/
 from px_generate_uorb_topic_files import MsgScope # this is in Tools/
 
-topic_names = [single_spec.short_name for single_spec in spec]
-send_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
-recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
+send_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.SEND]
+recv_topics = [(alias[idx] if alias[idx] else s.short_name) for idx, s in enumerate(spec) if scope[idx] == MsgScope.RECEIVE]
 }@
 /****************************************************************************
  *

msg/templates/urtps/microRTPS_agent_CMakeLists.txt.em

@@ -1,6 +1,7 @@
 ################################################################################
 #
 # Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+# Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions are met:

msg/templates/urtps/microRTPS_transport.h

@@ -1,6 +1,7 @@
 /****************************************************************************
  *
  * Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+ * Copyright (C) 2018-2019 PX4 Pro Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions are met:

msg/templates/urtps/msg.idl.em

@@ -7,6 +7,7 @@
 @################################################################################
 @#
 @# Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+@# Copyright (C) 2018-2019 PX4 Development Team. All rights reserved.
 @#
 @# Redistribution and use in source and binary forms, with or without
 @# modification, are permitted provided that the following conditions are met:
@@ -42,6 +43,8 @@ from px_generate_uorb_topic_helper import *  # this is in Tools/
 
 builtin_types = set()
 array_types = set()
+
+topic = alias if alias else spec.short_name
 }@
 @#################################################
 @# Searching for serialize function per each field
@@ -71,7 +74,7 @@ def get_idl_type_name(field_type):
 def add_msg_field(field):
     if (not field.is_header):
         if field.is_array:
-            print('    {0}__{1}_array_{2} {3}_;'.format(spec.short_name, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
+            print('    {0}__{1}_array_{2} {3}_;'.format(topic, str(get_idl_type_name(field.base_type)).replace(" ", "_"), str(field.array_len), field.name))
         else:
             base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
             print('    {0} {1}_;'.format(base_type, field.name))
@@ -86,7 +89,7 @@ def add_array_typedefs():
     for field in spec.parsed_fields():
         if not field.is_header and field.is_array:
             base_type = get_idl_type_name(field.base_type) + "_" if get_idl_type_name(field.base_type) in builtin_types else get_idl_type_name(field.base_type)
-            array_type = 'typedef {0} {1}__{2}_array_{3}[{4}];'.format(base_type, spec.short_name, get_idl_type_name(field.base_type).replace(" ", "_"), field.array_len, field.array_len)
+            array_type = 'typedef {0} {1}__{2}_array_{3}[{4}];'.format(base_type, topic, get_idl_type_name(field.base_type).replace(" ", "_"), field.array_len, field.array_len)
             if array_type not in array_types:
                 array_types.add(array_type)
     for atype in array_types:
@@ -97,11 +100,11 @@ def add_msg_constants():
     sorted_constants = sorted(spec.constants,
                        key=sizeof_field_type, reverse=True)
     for constant in sorted_constants:
-        print('const {0} {1}__{2} = {3};'.format(get_idl_type_name(constant.type), spec.short_name, constant.name, constant.val))
+        print('const {0} {1}__{2} = {3};'.format(get_idl_type_name(constant.type), topic, constant.name, constant.val))
 
 }
-#ifndef __@(spec.short_name)__idl__
-#define __@(spec.short_name)__idl__
+#ifndef __@(topic)__idl__
+#define __@(topic)__idl__
 
 @#############################
 @# Include dependency messages
@@ -113,11 +116,11 @@ def add_msg_constants():
 @add_msg_constants()
 @# Array types
 @add_array_typedefs()
-struct @(spec.short_name)_
+struct @(topic)_
 {
 @add_msg_fields()
-}; // struct @(spec.short_name)_
+}; // struct @(topic)_
 
-#pragma keylist @(spec.short_name)_
+#pragma keylist @(topic)_
 
-#endif  // __@(spec.short_name)__idl__
+#endif  // __@(topic)__idl__

msg/tools/generate_microRTPS_bridge.py

@@ -3,7 +3,7 @@
 ################################################################################
 #
 # Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
-#           2018 PX4 Pro Development Team. All rights reserved.
+#           2018-2019 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions are met:
@@ -62,61 +62,66 @@ def check_rtps_id_uniqueness(classifier):
 
     repeated_ids = dict()
 
+    full_send_list = dict(list(msg for msg in classifier.msgs_to_send.items()) + list(msg[0].items()[0] for msg in classifier.alias_msgs_to_send))
+    full_receive_list = dict(list(msg for msg in classifier.msgs_to_receive.items()) + list(msg[0].items()[0] for msg in classifier.alias_msgs_to_receive))
+    full_ignore_list = dict(list(msg for msg in classifier.msgs_to_ignore.items()) + list(msg[0].items()[0] for msg in classifier.alias_msgs_to_ignore))
+
     # check if there are repeated ID's on the messages to send
-    for key, value in classifier.msgs_to_send.items():
+    for key, value in full_send_list.items():
         if sys.version_info[0] < 3:
-            if classifier.msgs_to_send.values().count(value) > 1:
+            if full_send_list.values().count(value) > 1:
                 repeated_ids.update({key: value})
         else:
-            if list(classifier.msgs_to_send.values()).count(value) > 1:
+            if list(full_send_list.values()).count(value) > 1:
                 repeated_ids.update({key: value})
 
     # check if there are repeated ID's on the messages to receive
-    for key, value in classifier.msgs_to_receive.items():
+    for key, value in full_receive_list.items():
         if sys.version_info[0] < 3:
-            if classifier.msgs_to_receive.values().count(value) > 1:
+            if full_receive_list.values().count(value) > 1:
                 repeated_ids.update({key: value})
         else:
-            if list(classifier.msgs_to_receive.values()).count(value) > 1:
+            if list(full_receive_list.values()).count(value) > 1:
                 repeated_ids.update({key: value})
 
     # check if there are repeated ID's on the messages to ignore
-    for key, value in classifier.msgs_to_ignore.items():
+    for key, value in full_ignore_list.items():
         if sys.version_info[0] < 3:
-            if classifier.msgs_to_ignore.values().count(value) > 1:
+            if full_ignore_list.values().count(value) > 1:
                 repeated_ids.update({key: value})
         else:
-            if list(classifier.msgs_to_ignore.values()).count(value) > 1:
+            if list(full_ignore_list.values()).count(value) > 1:
                 repeated_ids.update({key: value})
 
     # check if there are repeated IDs between classified and unclassified msgs
     # check send and ignore lists
-    send_ignore_common_ids = list(set(classifier.msgs_to_ignore.values(
-    )).intersection(classifier.msgs_to_send.values()))
-    for item in zip(classifier.msgs_to_send.items(), classifier.msgs_to_ignore.items()):
+    send_ignore_common_ids = list(set(full_ignore_list.values(
+    )).intersection(full_send_list.values()))
+    for item in full_send_list.items():
         for repeated in send_ignore_common_ids:
             if item[1] == repeated:
                 repeated_ids.update({item[0]: item[1]})
-    for item in classifier.msgs_to_ignore.items():
+    for item in full_ignore_list.items():
         for repeated in send_ignore_common_ids:
             if item[1] == repeated:
                 repeated_ids.update({item[0]: item[1]})
 
     # check receive and ignore lists
-    receive_ignore_common_ids = list(set(classifier.msgs_to_ignore.values(
-    )).intersection(classifier.msgs_to_receive.values()))
-    for item in classifier.msgs_to_receive.items():
+    receive_ignore_common_ids = list(set(full_ignore_list.values(
+    )).intersection(full_receive_list.values()))
+    for item in full_receive_list.items():
         for repeated in receive_ignore_common_ids:
             if item[1] == repeated:
                 repeated_ids.update({item[0]: item[1]})
-    for item in classifier.msgs_to_ignore.items():
+    for item in full_ignore_list.items():
         for repeated in receive_ignore_common_ids:
             if item[1] == repeated:
                 repeated_ids.update({item[0]: item[1]})
 
-    all_msgs = classifier.msgs_to_send
-    all_msgs.update(classifier.msgs_to_receive)
-    all_msgs.update(classifier.msgs_to_ignore)
+    all_msgs = {}
+    all_msgs.update(full_send_list)
+    all_msgs.update(full_receive_list)
+    all_msgs.update(full_ignore_list)
     all_ids = list()
     if sys.version_info[0] < 3:
         all_ids = all_msgs.values()
@@ -277,44 +282,76 @@ uRTPS_SUBSCRIBER_H_TEMPL_FILE = 'Subscriber.h.em'
 
 
 def generate_agent(out_dir):
+    # raise Exception(classifier.msgs_to_receive)
+    if classifier.msgs_to_send:
+        for msg_file in classifier.msgs_to_send:
+            if gen_idl:
+                if out_dir != agent_out_dir:
+                    px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", os.path.join(out_dir, "/idl"), urtps_templates_dir,
+                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
+                else:
+                    px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", idl_dir, urtps_templates_dir,
+                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
+            px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
+                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
+            px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
+                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_PUBLISHER_H_TEMPL_FILE)
 
-    if classifier.msg_files_send:
-        for msg_file in classifier.msg_files_send:
+    if classifier.alias_msgs_to_send:
+        for msg_file in classifier.alias_msgs_to_send:
+            msg_alias = msg_file[0].keys()[0]
+            msg_name = msg_file[1]
             if gen_idl:
                 if out_dir != agent_out_dir:
-                    px_generate_uorb_topic_files.generate_idl_file(msg_file, os.path.join(out_dir, "/idl"), urtps_templates_dir,
+                    px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, os.path.join(out_dir, "/idl"), urtps_templates_dir,
                                                                    package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
                 else:
-                    px_generate_uorb_topic_files.generate_idl_file(msg_file, idl_dir, urtps_templates_dir,
+                    px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, idl_dir, urtps_templates_dir,
                                                                    package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
-            px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
+            px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
                                                              package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
-            px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
+            px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
                                                              package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_PUBLISHER_H_TEMPL_FILE)
 
-    if classifier.msg_files_receive:
-        for msg_file in classifier.msg_files_receive:
+    if classifier.msgs_to_receive:
+        for msg_file in classifier.msgs_to_receive:
+            if gen_idl:
+                if out_dir != agent_out_dir:
+                    px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", os.path.join(out_dir, "/idl"), urtps_templates_dir,
+                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
+                else:
+                    px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", idl_dir, urtps_templates_dir,
+                                                                   package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
+            px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
+                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
+            px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
+                                                             package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
+
+    if classifier.alias_msgs_to_receive:
+        for msg_file in classifier.alias_msgs_to_receive:
+            msg_alias = msg_file[0].keys()[0]
+            msg_name = msg_file[1]
             if gen_idl:
                 if out_dir != agent_out_dir:
-                    px_generate_uorb_topic_files.generate_idl_file(msg_file, os.path.join(out_dir, "/idl"), urtps_templates_dir,
+                    px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, os.path.join(out_dir, "/idl"), urtps_templates_dir,
                                                                    package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
                 else:
-                    px_generate_uorb_topic_files.generate_idl_file(msg_file, idl_dir, urtps_templates_dir,
+                    px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, idl_dir, urtps_templates_dir,
                                                                    package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
-            px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
+            px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
                                                              package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
-            px_generate_uorb_topic_files.generate_topic_file(msg_file, out_dir, urtps_templates_dir,
+            px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
                                                              package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
 
-    px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msg_files_send, classifier.msg_files_receive, out_dir, urtps_templates_dir,
-                                                        package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_TEMPL_FILE)
-    px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msg_files_send, classifier.msg_files_receive, out_dir, urtps_templates_dir,
-                                                        package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
-    px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msg_files_send, classifier.msg_files_receive, out_dir, urtps_templates_dir,
-                                                        package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
+    px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
+                                                        urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_TEMPL_FILE)
+    px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
+                                                        urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
+    px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
+                                                        urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
     if cmakelists:
-        px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msg_files_send, classifier.msg_files_receive, out_dir, urtps_templates_dir,
-                                                            package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
+        px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
+                                                            urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
 
     # Final steps to install agent
     mkdir_p(os.path.join(out_dir, "fastrtpsgen"))
@@ -387,8 +424,8 @@ def generate_client(out_dir):
         if os.path.isfile(def_file):
             os.rename(def_file, def_file.replace(".h", ".h_"))
 
-    px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msg_files_send, classifier.msg_files_receive, out_dir, uorb_templates_dir,
-                                                        package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_CLIENT_TEMPL_FILE)
+    px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir,
+                                                        out_dir, uorb_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_CLIENT_TEMPL_FILE)
 
     # Final steps to install client
     cp_wildcard(os.path.join(urtps_templates_dir,

msg/tools/px_generate_uorb_topic_files.py

@@ -170,13 +170,24 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
     return generate_by_template(output_file, template_file, em_globals)
 
 
-def generate_idl_file(filename_msg, outputdir, templatedir, package, includepath, ids):
+def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, ids):
     """
     Generates an .idl from .msg file
     """
-    em_globals = get_em_globals(
-        filename_msg, package, includepath, ids, MsgScope.NONE)
-    spec_short_name = em_globals["spec"].short_name
+    # Make sure input msg directory exists:
+    if not os.path.isdir(msg_dir):
+        os.makedirs(msg_dir)
+
+    msg = os.path.join(msg_dir, filename_msg + ".msg")
+
+    if (alias != ""):
+        em_globals = get_em_globals(
+            msg, alias , package, includepath, ids, MsgScope.NONE)
+        spec_short_name = alias
+    else:
+        em_globals = get_em_globals(
+            msg, "", package, includepath, ids, MsgScope.NONE)
+        spec_short_name = em_globals["spec"].short_name
 
     # Make sure output directory exists:
     if not os.path.isdir(outputdir):
@@ -189,21 +200,39 @@ def generate_idl_file(filename_msg, outputdir, templatedir, package, includepath
     return generate_by_template(output_file, template_file, em_globals)
 
 
-def generate_uRTPS_general(filename_send_msgs, filename_received_msgs,
-                           outputdir, templatedir, package, includepath, ids, template_name):
+def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filename_receive_msgs, filename_alias_receive_msgs,
+                           msg_dir, outputdir, templatedir, package, includepath, ids, template_name):
     """
     Generates source file by msg content
     """
+    # Make sure input msg directory exists:
+    if not os.path.isdir(msg_dir):
+        os.makedirs(msg_dir)
+
+    send_msgs = list(os.path.join(msg_dir, msg + ".msg") for msg in filename_send_msgs)
+    alias_send_msgs = list([os.path.join(msg_dir, msg[1] + ".msg"), msg[0].keys()[0]] for msg in filename_alias_send_msgs)
+    receive_msgs = list(os.path.join(msg_dir, msg + ".msg") for msg in filename_receive_msgs)
+    alias_receive_msgs = list([os.path.join(msg_dir, msg[1] + ".msg"), msg[0].keys()[0]] for msg in filename_alias_receive_msgs)
+
     em_globals_list = []
-    if filename_send_msgs:
+    if send_msgs:
+        em_globals_list.extend([get_em_globals(
+            f, "", package, includepath, ids, MsgScope.SEND) for f in send_msgs])
+
+    if alias_send_msgs:
         em_globals_list.extend([get_em_globals(
-            f, package, includepath, ids, MsgScope.SEND) for f in filename_send_msgs])
+            f[0], f[1], package, includepath, ids, MsgScope.SEND) for f in alias_send_msgs])
 
-    if filename_received_msgs:
+    if receive_msgs:
         em_globals_list.extend([get_em_globals(
-            f, package, includepath, ids, MsgScope.RECEIVE) for f in filename_received_msgs])
+            f, "", package, includepath, ids, MsgScope.RECEIVE) for f in receive_msgs])
+
+    if alias_receive_msgs:
+        em_globals_list.extend([get_em_globals(
+            f[0], f[1], package, includepath, ids, MsgScope.RECEIVE) for f in alias_receive_msgs])
 
     merged_em_globals = merge_em_globals_list(em_globals_list)
+
     # Make sure output directory exists:
     if not os.path.isdir(outputdir):
         os.makedirs(outputdir)
@@ -215,13 +244,24 @@ def generate_uRTPS_general(filename_send_msgs, filename_received_msgs,
     return generate_by_template(output_file, template_file, merged_em_globals)
 
 
-def generate_topic_file(filename_msg, outputdir, templatedir, package, includepath, ids, template_name):
+def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, ids, template_name):
     """
-    Generates an .idl from .msg file
+    Generates a sources and headers from .msg file
     """
-    em_globals = get_em_globals(
-        filename_msg, package, includepath, ids, MsgScope.NONE)
-    spec_short_name = em_globals["spec"].short_name
+    # Make sure input msg directory exists:
+    if not os.path.isdir(msg_dir):
+        os.makedirs(msg_dir)
+
+    msg = os.path.join(msg_dir, filename_msg + ".msg")
+
+    if (alias):
+        em_globals = get_em_globals(
+            msg, alias, package, includepath, ids, MsgScope.NONE)
+        spec_short_name = alias
+    else:
+        em_globals = get_em_globals(
+            msg, "", package, includepath, ids, MsgScope.NONE)
+        spec_short_name = em_globals["spec"].short_name
 
     # Make sure output directory exists:
     if not os.path.isdir(outputdir):
@@ -234,7 +274,7 @@ def generate_topic_file(filename_msg, outputdir, templatedir, package, includepa
     return generate_by_template(output_file, template_file, em_globals)
 
 
-def get_em_globals(filename_msg, package, includepath, ids, scope):
+def get_em_globals(filename_msg, alias, package, includepath, ids, scope):
     """
     Generates em globals dictionary
     """
@@ -261,7 +301,8 @@ def get_em_globals(filename_msg, package, includepath, ids, scope):
         "topics": topics,
         "ids": ids,
         "scope": scope,
-        "package": package
+        "package": package,
+        "alias": alias
     }
 
     return em_globals

msg/tools/px_generate_uorb_topic_helper.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python
 #############################################################################
 #
-#   Copyright (C) 2013-2018 PX4 Pro Development Team. All rights reserved.
+#   Copyright (C) 2013-2019 PX4 Pro Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions

msg/tools/uorb_rtps_classifier.py

@@ -50,9 +50,9 @@ class Classifier():
         self.msg_id_map = self.parse_yaml_msg_id_file(yaml_file)
         self.check_if_listed(yaml_file)
 
-        self.msgs_to_send = self.set_msgs_to_send()
-        self.msgs_to_receive = self.set_msgs_to_receive()
-        self.msgs_to_ignore = self.set_msgs_to_ignore()
+        self.msgs_to_send, self.alias_msgs_to_send = self.set_msgs_to_send()
+        self.msgs_to_receive, self.alias_msgs_to_receive = self.set_msgs_to_receive()
+        self.msgs_to_ignore, self.alias_msgs_to_ignore = self.set_msgs_to_ignore()
         self.msg_files_send = self.set_msg_files_send()
         self.msg_files_receive = self.set_msg_files_receive()
         self.msg_files_ignore = self.set_msg_files_ignore()
@@ -67,24 +67,36 @@ class Classifier():
 
     def set_msgs_to_send(self):
         send = {}
+        send_alias = []
         for dict in self.msg_id_map['rtps']:
             if 'send' in dict.keys():
-                send.update({dict['msg']: dict['id']})
-        return send
+                if 'alias' in dict.keys():
+                    send_alias.append(({dict['msg']: dict['id']}, dict['alias']))
+                else:
+                    send.update({dict['msg']: dict['id']})
+        return send, send_alias
 
     def set_msgs_to_receive(self):
         receive = {}
+        receive_alias = []
         for dict in self.msg_id_map['rtps']:
             if 'receive' in dict.keys():
-                receive.update({dict['msg']: dict['id']})
-        return receive
+                if 'alias' in dict.keys():
+                    receive_alias.append(({dict['msg']: dict['id']}, dict['alias']))
+                else:
+                    receive.update({dict['msg']: dict['id']})
+        return receive, receive_alias
 
     def set_msgs_to_ignore(self):
         ignore = {}
+        ignore_alias = []
         for dict in self.msg_id_map['rtps']:
-            if ('send' not in dict.keys()) and ('receive' not in dict.keys()):
-                ignore.update({dict['msg']: dict['id']})
-        return ignore
+            if (('send' not in dict.keys()) and ('receive' not in dict.keys())):
+                if 'alias' in dict.keys():
+                    ignore_alias.append(({dict['msg']: dict['id']}, dict['alias']))
+                else:
+                    ignore.update({dict['msg']: dict['id']})
+        return ignore, ignore_alias
 
     def set_msg_files_send(self):
         return [os.path.join(self.msg_folder, msg + ".msg")
@@ -141,7 +153,9 @@ if __name__ == "__main__":
     parser = argparse.ArgumentParser()
 
     parser.add_argument("-s", "--send", dest='send',
-                        action="store_true", help="Get topics to be sended")
+                        action="store_true", help="Get topics to be sent")
+    parser.add_argument("-a", "--alias", dest='alias',
+                        action="store_true", help="Get alias topics")
     parser.add_argument("-r", "--receive", dest='receive',
                         action="store_true", help="Get topics to be received")
     parser.add_argument("-i", "--ignore", dest='ignore',
@@ -170,19 +184,34 @@ if __name__ == "__main__":
             print ('send files: ' + ', '.join(str(msg_file)
                                               for msg_file in classifier.msgs_files_send) + '\n')
         else:
-            print (', '.join(str(msg)
-                             for msg in classifier.msgs_to_send.keys()) + '\n')
+            if args.alias:
+                print (', '.join(str(msg)
+                                 for msg in classifier.msgs_to_send.keys()) + (' alias ' + ', '.join(str(msg[0].keys()[0])
+                                                                                                     for msg in classifier.alias_msgs_to_send) if len(classifier.alias_msgs_to_send) > 0 else '') + '\n')
+            else:
+                print (', '.join(str(msg)
+                                 for msg in classifier.msgs_to_send.keys()))
     if args.receive:
         if args.path:
             print ('receive files: ' + ', '.join(str(msg_file)
                                                  for msg_file in classifier.msgs_files_receive) + '\n')
         else:
-            print (', '.join(str(msg)
-                             for msg in classifier.msgs_to_receive.keys()) + '\n')
+            if args.alias:
+                print (', '.join(str(msg)
+                                 for msg in classifier.msgs_to_receive.keys()) + (' alias ' + ', '.join(str(msg[0].keys()[0])
+                                                                                                        for msg in classifier.alias_msgs_to_receive) if len(classifier.alias_msgs_to_receive) > 0 else '') + '\n')
+            else:
+                print (', '.join(str(msg)
+                                 for msg in classifier.msgs_to_receive.keys()))
     if args.ignore:
         if args.path:
             print ('ignore files: ' + ', '.join(str(msg_file)
                                                 for msg_file in classifier.msgs_files_ignore) + '\n')
         else:
-            print (', '.join(str(msg)
-                             for msg in classifier.msgs_to_ignore.keys()) + '\n')
+            if args.alias:
+                print (', '.join(str(msg)
+                                 for msg in classifier.msgs_to_ignore.keys()) + (' alias ' + ', '.join(str(msg[0].keys()[0])
+                                                                                                       for msg in classifier.alias_msgs_to_ignore) if len(classifier.alias_msgs_to_ignore) > 0 else '') + '\n')
+            else:
+                print (', '.join(str(msg)
+                                 for msg in classifier.msgs_to_ignore.keys()))

msg/tools/uorb_rtps_message_ids.yaml

@@ -98,7 +98,7 @@ rtps:
     id: 40
   - msg: mount_orientation
     id: 41
-  - msg: multirotor_motor_limit
+  - msg: multirotor_motor_limits
     id: 42
   - msg: obstacle_distance
     id: 43
@@ -207,7 +207,7 @@ rtps:
     id: 89
   - msg: vehicle_command_ack
     id: 90
-  - msg: vehicle_constraint
+  - msg: vehicle_constraints
     id: 91
   - msg: vehicle_control_mode
     id: 92
@@ -246,46 +246,54 @@ rtps:
   - msg: collision_constraints
     id: 107
     send: true
-  - msg: multirotor_motor_limits
-    id: 108
-  - msg: vehicle_constraints
-    id: 109
   - msg: orbit_status
-    id: 110
+    id: 108
   - msg: power_monitor
-    id: 111
+    id: 109
   - msg: landing_gear
-    id: 112
+    id: 110
   # multi topics
   - msg: actuator_controls_0
     id: 120
+    alias: actuactor_controls
   - msg: actuator_controls_1
     id: 121
+    alias: actuactor_controls
   - msg: actuator_controls_2
     id: 122
+    alias: actuactor_controls
   - msg: actuator_controls_3
     id: 123
+    alias: actuactor_controls
   - msg: actuator_controls_virtual_fw
     id: 124
+    alias: actuactor_controls
   - msg: actuator_controls_virtual_mc
     id: 125
+    alias: actuactor_controls
   - msg: mc_virtual_attitude_setpoint
     id: 126
+    alias: vehicle_attitude_setpoint
   - msg: fw_virtual_attitude_setpoint
     id: 127
+    alias: vehicle_attitude_setpoint
   - msg: vehicle_attitude_groundtruth
     id: 128
+    alias: vehicle_attitude
   - msg: vehicle_global_position_groundtruth
     id: 129
+    alias: vehicle_global_position
   - msg: vehicle_local_position_groundtruth
     id: 130
+    alias: vehicle_local_position
   - msg: vehicle_mocap_odometry
+    alias: vehicle_odometry
     id: 131
+    receive: true
   - msg: vehicle_visual_odometry
     id: 132
-  - msg: mc_virtual_rates_setpoint
-    id: 133
-  - msg: fw_virtual_rates_setpoint
-    id: 134
+    alias: vehicle_odometry
+    receive: true
   - msg: vehicle_trajectory_waypoint_desired
-    id: 135
+    id: 133
+    alias: vehicle_trajectory_waypoint

src/drivers/gps/devices

@@ -1 +1 @@
-Subproject commit 69e38ecc846df03f0bb71aa136bcc830dd3316a9
+Subproject commit a4999f111d13bcb209754823a3c503fa659a0d15

src/lib/ecl

@@ -1 +1 @@
-Subproject commit e1751188fd15b799cbfae86bd7373bb91206069b
+Subproject commit 54ac147ae8930f1c280a0bd5c25fa90eaf4c6e0d

src/modules/micrortps_bridge/CMakeLists.txt

@@ -41,25 +41,37 @@ if(NOT FASTRTPSGEN)
 endif()
 
 if (EXISTS "${PX4_SOURCE_DIR}/msg/tools/uorb_rtps_message_ids.yaml")
-
-  set(config_rtps_send_topics)
+	set(config_rtps_send_topics)
 	execute_process(
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/uorb_rtps_classifier.py -s
+		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/uorb_rtps_classifier.py -sa
 		OUTPUT_VARIABLE config_rtps_send_topics
 	)
-
+	set(config_rtps_send_alias_topics "")
+	string(FIND ${config_rtps_send_topics} "alias" found_send_alias)
+	if (NOT ${found_send_alias} EQUAL "-1")
+		STRING(REGEX REPLACE ".*alias " "" config_rtps_send_alias_topics "${config_rtps_send_topics}")
+		STRING(REPLACE ", " ";" config_rtps_send_alias_topics "${config_rtps_send_alias_topics}")
+		STRING(REPLACE "\n" "" config_rtps_send_alias_topics "${config_rtps_send_alias_topics}")
+		STRING(REGEX REPLACE " alias.*" "" config_rtps_send_topics "${config_rtps_send_topics}")
+	endif()
 	STRING(REGEX REPLACE ", " ";" config_rtps_send_topics "${config_rtps_send_topics}")
 	STRING(REGEX REPLACE "\n" "" config_rtps_send_topics "${config_rtps_send_topics}")
 
 	set(config_rtps_receive_topics)
 	execute_process(
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/uorb_rtps_classifier.py -r
+		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/msg/tools/uorb_rtps_classifier.py -ra
 		OUTPUT_VARIABLE config_rtps_receive_topics
 	)
-
-	STRING(REGEX REPLACE ", " ";" config_rtps_receive_topics "${config_rtps_receive_topics}")
-	STRING(REGEX REPLACE "\n" "" config_rtps_receive_topics "${config_rtps_receive_topics}")
-
+	set(config_rtps_receive_alias_topics "")
+	string(FIND ${config_rtps_receive_topics} "alias" found_receive_alias)
+	if (NOT ${found_receive_alias} EQUAL "-1")
+		STRING(REGEX REPLACE ".*alias " "" config_rtps_receive_alias_topics "${config_rtps_receive_topics}")
+		STRING(REPLACE ", " ";" config_rtps_receive_alias_topics "${config_rtps_receive_alias_topics}")
+		STRING(REPLACE "\n" "" config_rtps_receive_alias_topics "${config_rtps_receive_alias_topics}")
+		STRING(REGEX REPLACE " alias.*" "" config_rtps_receive_topics "${config_rtps_receive_topics}")
+	endif()
+	STRING(REPLACE ", " ";" config_rtps_receive_topics "${config_rtps_receive_topics}")
+	STRING(REPLACE "\n" "" config_rtps_receive_topics "${config_rtps_receive_topics}")
 endif()
 
 if (FASTRTPSGEN AND (config_rtps_send_topics OR config_rtps_receive_topics))
@@ -87,7 +99,8 @@ if (GENERATE_RTPS_BRIDGE)
 	set(uorb_sources_microcdr)
 
 	# send topic files
-	message(STATUS "RTPS send: ${config_rtps_send_topics}")
+	STRING(REGEX REPLACE ";" ", " send_list "${config_rtps_send_topics};${config_rtps_send_alias_topics}")
+	message(STATUS "RTPS send: ${send_list}")
 	set(send_topic_files)
 	foreach(topic ${config_rtps_send_topics})
 		list(APPEND send_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
@@ -96,7 +109,8 @@ if (GENERATE_RTPS_BRIDGE)
 	endforeach()
 
 	# receive topic files
-	message(STATUS "RTPS receive: ${config_rtps_receive_topics}")
+	STRING(REGEX REPLACE ";" ", " rcv_list "${config_rtps_receive_topics};${config_rtps_receive_alias_topics}")
+	message(STATUS "RTPS receive: ${rcv_list}")
 	set(receive_topic_files)
 	foreach(topic ${config_rtps_receive_topics})
 		list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)

src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt

@@ -45,6 +45,14 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
 		list(APPEND receive_topic_files ${PX4_SOURCE_DIR}/msg/${topic}.msg)
 	endforeach()
 
+	if (NOT "${config_rtps_send_alias_topics}" STREQUAL "")
+		set(config_rtps_send_topics "${config_rtps_send_topics};${config_rtps_send_alias_topics}")
+	endif()
+
+	if (NOT "${config_rtps_receive_alias_topics}" STREQUAL "")
+		set(config_rtps_receive_topics "${config_rtps_receive_topics};${config_rtps_receive_alias_topics}")
+	endif()
+
 	foreach(topic ${config_rtps_send_topics})
 		list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Publisher.cpp)
 		list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Publisher.h)
@@ -55,16 +63,6 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
 		list(APPEND topic_bridge_files_out ${msg_out_path}/micrortps_agent/${topic}_Subscriber.h)
 	endforeach()
 
-	set(send_topic_files_opt)
-	if (NOT "${send_topic_files}" STREQUAL "")
-		set(send_topic_opt "--send")
-	endif()
-
-	set(receive_topic_files_opt)
-	if (NOT "${receive_topic_files}" STREQUAL "")
-		set(receive_topic_opt "--receive")
-	endif()
-
 	list(APPEND topic_bridge_files_out
 		${msg_out_path}/micrortps_client/microRTPS_client.cpp
 		${msg_out_path}/micrortps_client/microRTPS_transport.cpp