Merge pull request #343 from tier4/r2fu-services

Update Ros2ForUnity asset and add service hanling

Assets/AWSIM/Scripts/Environments/V2I/V2IRos2Publisher.cs

@@ -77,12 +77,12 @@ private void UpdateTrafficSignalArrayMsg(V2I.OutputData data)
                         //Get bulbData
                         var trafficLightBulbData = trafficLight.GetBulbData();
                         //Fill TrafficSignal with bulbData
-                        var trafficLightElementList = new List<autoware_perception_msgs.msg.TrafficLightElement>();
+                        var trafficLightElementList = new List<autoware_perception_msgs.msg.TrafficSignalElement>();
                         foreach (var bulbData in trafficLightBulbData)
                         {
                             if (isBulbTurnOn(bulbData.Status))
                             {
-                                var trafficLightElementMsg = new autoware_perception_msgs.msg.TrafficLightElement();
+                                var trafficLightElementMsg = new autoware_perception_msgs.msg.TrafficSignalElement();
                                 trafficLightElementMsg.Color = V2IROS2Utility.UnityToRosBulbColor(bulbData.Color);
                                 trafficLightElementMsg.Shape = V2IROS2Utility.UnityToRosBulbShape(bulbData.Type);
                                 trafficLightElementMsg.Status = V2IROS2Utility.UnityToRosBulbStatus(bulbData.Status);

Assets/AWSIM/Scripts/ROS/SimulatorROS2Node.cs

@@ -86,6 +86,32 @@ static void OnTimeSourceChanged()
             return node.CreateSubscription<T>(topicName, callback, qos);
         }
 
+        /// <summary>
+        /// Create a service
+        /// </summary>
+        /// <returns>The service</returns>
+        /// <param name="topicName">topic under which the service will be requestable</param>
+        /// <param name="qos">QoS for requests. If no QoS is selected, it will default to reliable, keep 10 last</param>
+        static public IService<T, S> CreateService<T, S>(string topicName, Func<T, S> callback,  QualityOfServiceProfile qos = null)
+            where T: Message, new()
+            where S: Message, new()
+        {
+            return node.CreateService<T, S>(topicName, callback, qos);
+        }
+
+        /// <summary>
+        /// Create a client service
+        /// </summary>
+        /// <returns>The client</returns>
+        /// <param name="topicName">topic under which the client will call the service</param>
+        /// <param name="qos">QoS for requests. If no QoS is selected, it will default to reliable, keep 10 last</param>
+        static public Client<T, S> CreateClient<T, S>(string topicName,  QualityOfServiceProfile qos = null)
+            where T: Message, new()
+            where S: Message, new()
+        {
+            return node.CreateClient<T, S>(topicName, qos);
+        }
+
         /// <summary>
         /// Update header timestamp
         /// </summary>
@@ -130,6 +156,31 @@ static public void RemoveSubscription<T>(ISubscriptionBase subscription)
             }
         }
 
+        /// <summary>
+        /// Remove ros2 service
+        /// </summary>
+        /// <typeparam name="T"></typeparam>
+        /// <param name="service"></param>
+        static public void RemoveService(IServiceBase service)
+        {
+            if (ros2UnityCore.Ok())
+            {
+                node.RemoveService(service);
+            }
+        }
+
+        /// <summary>
+        /// Remove ros2 client
+        /// </summary>
+        /// <param name="client"></param>
+        static public void RemoveClient(IClientBase client)
+        {
+            if (ros2UnityCore.Ok())
+            {
+                node.RemoveClient(client);
+            }
+        }
+
         /// <summary>
         /// Get current time
         /// </summary>