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try fix rosrust TimeMsg

This commit is contained in:
stelzo 2024-05-14 16:21:36 +02:00
parent f62f53c1a5
commit 3d85d740e3
1 changed files with 11 additions and 4 deletions
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15
src/ros.rs
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@ -32,7 +32,14 @@ pub struct TimeMsg {
} }
#[cfg(feature = "rosrust_msg")] #[cfg(feature = "rosrust_msg")]
pub use rosrust::Time as TimeMsg; impl From<rosrust::Time> for TimeMsg {
fn from(time: rosrust::Time) -> Self {
Self {
sec: time.sec as i32,
nanosec: time.nsec,
}
}
}
/// Represents the [header of a ROS message](https://docs.ros2.org/latest/api/std_msgs/msg/Header.html). /// Represents the [header of a ROS message](https://docs.ros2.org/latest/api/std_msgs/msg/Header.html).
#[derive(Clone, Debug, Default)] #[derive(Clone, Debug, Default)]
@ -178,9 +185,9 @@ impl From<rosrust_msg::sensor_msgs::PointCloud2> for crate::PointCloud2Msg {
row_step: msg.row_step, row_step: msg.row_step,
data: msg.data, data: msg.data,
dense: if msg.is_dense { dense: if msg.is_dense {
crate::convert::Denseness::Dense crate::Denseness::Dense
} else { } else {
crate::convert::Denseness::Sparse crate::Denseness::Sparse
}, },
} }
} }
@ -218,7 +225,7 @@ impl From<crate::PointCloud2Msg> for rosrust_msg::sensor_msgs::PointCloud2 {
point_step: msg.point_step, point_step: msg.point_step,
row_step: msg.row_step, row_step: msg.row_step,
data: msg.data, data: msg.data,
is_dense: if msg.dense == crate::convert::Denseness::Dense { is_dense: if msg.dense == crate::Denseness::Dense {
true true
} else { } else {
false false