json stuff improved

qgroundcontrol.pro

@@ -437,8 +437,7 @@ HEADERS += \
     src/Wima/Geometry/PolygonArray.h \
     src/Wima/Snake/QNemoHeartbeat.h \
     src/Wima/Snake/QNemoProgress.h \
-    src/Wima/Snake/QtROSJsonFactory.h \
-    src/Wima/Snake/QtROSTypeFactory.h \
+    src/Wima/Snake/QNemoProgress.h \
     src/Wima/Snake/SnakeTiles.h \
     src/Wima/Snake/SnakeTilesLocal.h \
     src/Wima/Snake/SnakeWorker.h \
@@ -483,17 +482,21 @@ HEADERS += \
     src/Wima/Geometry/testplanimetrycalculus.h \
     src/Settings/WimaSettings.h \
     src/QmlControls/QmlObjectVectorModel.h \
-    src/comm/ros_bridge/include/CasePacker.h \
-    src/comm/ros_bridge/include/ComPrivateInclude.h \
-    src/comm/ros_bridge/include/GenericMessages.h \
-    src/comm/ros_bridge/include/JsonMethodes.h \
-    src/comm/ros_bridge/include/MessageTag.h \
-    src/comm/ros_bridge/include/MessageTraits.h \
     src/comm/ros_bridge/include/RosBridgeClient.h \
-    src/comm/ros_bridge/include/Server.h \
-    src/comm/ros_bridge/include/TopicPublisher.h \
-    src/comm/ros_bridge/include/TopicSubscriber.h \
-    src/comm/ros_bridge/include/TypeFactory.h \
+    src/comm/ros_bridge/include/com_private.h \
+    src/comm/ros_bridge/include/message_traits.h \
+    src/comm/ros_bridge/include/messages/geographic_msgs/geopoint.h \
+    src/comm/ros_bridge/include/messages/geometry_msgs/point32.h \
+    src/comm/ros_bridge/include/messages/geometry_msgs/polygon.h \
+    src/comm/ros_bridge/include/messages/geometry_msgs/polygon_stamped.h \
+    src/comm/ros_bridge/include/messages/jsk_recognition_msgs/polygon_array.h \
+    src/comm/ros_bridge/include/messages/nemo_msgs/heartbeat.h \
+    src/comm/ros_bridge/include/messages/nemo_msgs/progress.h \
+    src/comm/ros_bridge/include/messages/std_msgs/header.h \
+    src/comm/ros_bridge/include/server.h \
+    src/comm/ros_bridge/include/time.h \
+    src/comm/ros_bridge/include/topic_publisher.h \
+    src/comm/ros_bridge/include/topic_subscriber.h \
     src/comm/utilities.h
 SOURCES += \
     src/Snake/clipper/clipper.cpp \
@@ -511,13 +514,11 @@ SOURCES += \
     src/Wima/WaypointManager/Slicer.cpp \
     src/Wima/WaypointManager/Utils.cpp \
     src/Wima/WimaBridge.cc \
-    src/comm/ros_bridge/include/ComPrivateInclude.cpp \
-    src/comm/ros_bridge/include/MessageTag.cpp \
     src/comm/ros_bridge/include/RosBridgeClient.cpp \
-    src/comm/ros_bridge/include/Server.cpp \
-    src/comm/ros_bridge/include/TopicPublisher.cpp \
-    src/comm/ros_bridge/include/TopicSubscriber.cpp \
-    src/comm/ros_bridge/src/CasePacker.cpp \
+    src/comm/ros_bridge/include/com_private.cpp \
+    src/comm/ros_bridge/include/server.cpp \
+    src/comm/ros_bridge/include/topic_publisher.cpp \
+    src/comm/ros_bridge/include/topic_subscriber.cpp \
     src/Wima/Snake/snaketile.cpp \
     src/api/QGCCorePlugin.cc \
     src/api/QGCOptions.cc \
@@ -549,7 +550,7 @@ SOURCES += \
     src/Wima/Geometry/testplanimetrycalculus.cpp \
     src/Settings/WimaSettings.cc \
     src/QmlControls/QmlObjectVectorModel.cc \
-    src/comm/ros_bridge/src/ROSBridge.cpp
+    src/comm/ros_bridge/src/ros_bridge.cpp
 
 #
 # Unit Test specific configuration goes here (requires full debug build with all plugins)

src/Wima/Geometry/GeoPoint3D.h

 #pragma once
 
-#include "ros_bridge/include/JsonMethodes.h"
-#include "ros_bridge/include/MessageBaseClass.h"
-#include "ros_bridge/include/GenericMessages.h"
-
 #include <QGeoCoordinate>
 #include <QObject>
 
 
-typedef ROSBridge::MessageBaseClass ROSMsg;
-typedef ROSBridge::GenericMessages::GeographicMsgs::GeoPoint ROSGeoPoint;
-namespace MsgGroups = ROSBridge::MessageGroups;
+typedef ros_bridge::GenericMessages::GeographicMsgs::GeoPoint ROSGeoPoint;
+namespace MsgGroups = ros_bridge::MessageGroups;
 class GeoPoint3D : public QObject, public ROSGeoPoint
 {
     Q_OBJECT

src/Wima/Geometry/Polygon2D.h

@@ -8,14 +8,14 @@
 #include "ros_bridge/include/MessageBaseClass.h"
 #include "ros_bridge/include/JsonMethodes.h"
 
-namespace MsgGroupsNS = ROSBridge::MessageGroups;
-namespace PolyStampedNS = ROSBridge::JsonMethodes::GeometryMsgs::PolygonStamped;
+namespace MsgGroupsNS = ros_bridge::MessageGroups;
+namespace PolyStampedNS = ros_bridge::JsonMethodes::GeometryMsgs::PolygonStamped;
 
-typedef ROSBridge::MessageBaseClass ROSMsg;
+typedef ros_bridge::MessageBaseClass ROSMsg;
 
 template <class PointType = QPointF, template <class, class...> class ContainerType = QVector>
 class Polygon2DTemplate : public ROSMsg{ //
-    typedef ROSBridge::GenericMessages::GeometryMsgs::GenericPolygon<PointType, ContainerType> Poly;
+    typedef ros_bridge::GenericMessages::GeometryMsgs::GenericPolygon<PointType, ContainerType> Poly;
 public:
     typedef MsgGroupsNS::PolygonStampedGroup Group; // has no header
 

src/Wima/Geometry/PolygonArray.h

@@ -4,7 +4,7 @@
 
 #include "ros_bridge/include/MessageBaseClass.h"
 
-typedef ROSBridge::MessageBaseClass ROSMsgBase;
+typedef ros_bridge::MessageBaseClass ROSMsgBase;
 template <class PolygonType, template <class,class...> class ContainerType >
 class PolygonArray : public ROSMsgBase, public ContainerType<PolygonType> {
 public:

src/Wima/Geometry/WimaPolygonArray.h

 #pragma once
-#include "ros_bridge/include/MessageBaseClass.h"
-#include "ros_bridge/include/MessageGroups.h"
 
 #include "QmlObjectListModel.h"
 
 #include <QVector>
 #include <QString>
 
-typedef ROSBridge::MessageBaseClass ROSMsg;
-namespace MsgGroups = ROSBridge::MessageGroups;
-typedef MsgGroups::EmptyGroup EmptyGroup;
-template <class PolygonType, template <class, class...> class ContainerType = QVector, typename GroupType = EmptyGroup>
-class WimaPolygonArray : public ROSMsg
+template <class PolygonType, template <class, class...> class ContainerType = QVector>
+class WimaPolygonArray
 {
 public:
-    typedef GroupType Group;
     WimaPolygonArray() {}
     WimaPolygonArray(const WimaPolygonArray &other) :
-        ROSMsg()
-      , _polygons(other._polygons), _dirty(true)
+        _polygons(other._polygons), _dirty(true)
     {}
 
-    virtual WimaPolygonArray *Clone() const override{
-        return new WimaPolygonArray(*this);
-    }
-
     class QmlObjectListModel *QmlObjectListModel(){
         if (_dirty)
             _updateObjects();

src/Wima/Snake/QNemoHeartbeat.h

 #pragma once
 
-#include "ros_bridge/include/GenericMessages.h"
+#include "ros_bridge/include/messages/nemo_msgs/heartbeat.h"
 
-using QNemoHeartbeat = ROSBridge::GenericMessages::NemoMsgs::Heartbeat;
+using QNemoHeartbeat = ros_bridge::messages::nemo_msgs::heartbeat::Heartbeat;

src/Wima/Snake/QNemoProgress.h

 #pragma once
-#include <QVector>
-#include <QObject>
-
-#include "ros_bridge/include/GenericMessages.h"
 
-namespace NemoMsgs = ROSBridge::GenericMessages::NemoMsgs;
-typedef NemoMsgs::GenericProgress<int, QVector> QNemoProgress;
+#include <QVector>
 
+#include "ros_bridge/include/messages/nemo_msgs/progress.h"
 
+namespace nemo_msgs = ros_bridge::messages::nemo_msgs;
+typedef nemo_msgs::progress::GenericProgress<int, QVector> QNemoProgress;

src/Wima/Snake/QtROSJsonFactory.h

-#pragma once
-#include "ros_bridge/include/JsonFactory.h"
-#include <QString>
-
-typedef ROSBridge::GenericJsonFactory<> QtROSJsonFactory;

src/Wima/Snake/QtROSTypeFactory.h

-#pragma once
-#include "ros_bridge/include/TypeFactory.h"
-#include <QString>
-
-typedef ROSBridge::TypeFactory QtROSTypeFactory;

src/Wima/Snake/SnakeTilesLocal.h

@@ -4,5 +4,4 @@
 #include "Wima/Geometry/Polygon2D.h"
 #include "Wima/Geometry/WimaPolygonArray.h"
 
-namespace  MsgGroups = ROSBridge::MessageGroups;
-typedef WimaPolygonArray<Polygon2D, QVector, MsgGroups::PolygonArrayGroup> SnakeTilesLocal;
+typedef WimaPolygonArray<Polygon2D, QVector> SnakeTilesLocal;

src/Wima/WimaController.cc

 #include "WimaController.h"
+
 #include "utilities.h"
-#include "ros_bridge/include/JsonMethodes.h"
+
 #include "ros_bridge/rapidjson/include/rapidjson/document.h"
 #include "ros_bridge/rapidjson/include/rapidjson/writer.h"
 #include "ros_bridge/rapidjson/include/rapidjson/ostreamwrapper.h"
-#include "ros_bridge/include/CasePacker.h"
+#include "ros_bridge/include/messages/geographic_msgs/geopoint.h"
+#include "ros_bridge/include/messages/jsk_recognition_msgs/polygon_array.h"
+#include "ros_bridge/include/messages/nemo_msgs/progress.h"
+#include "ros_bridge/include/messages/nemo_msgs/heartbeat.h"
 
 #include "Snake/QtROSJsonFactory.h"
 #include "Snake/QtROSTypeFactory.h"
@@ -94,11 +98,11 @@ WimaController::WimaController(QObject *parent)
     auto connectionStringFact       = wimaSettings->rosbridgeConnectionString();
     auto setConnectionString = [connectionStringFact, this]{
         auto connectionString = connectionStringFact->rawValue().toString();
-        if ( ROSBridge::isValidConnectionString(connectionString.toLocal8Bit().data()) ){
-            this->_pRosBridge.reset(new ROSBridge::ROSBridge(connectionString.toLocal8Bit().data()));
+        if ( ros_bridge::isValidConnectionString(connectionString.toLocal8Bit().data()) ){
+            this->_pRosBridge.reset(new ros_bridge::ROSBridge(connectionString.toLocal8Bit().data()));
         } else {
             qgcApp()->showMessage("ROS Bridge connection string invalid: " + connectionString);
-            this->_pRosBridge.reset(new ROSBridge::ROSBridge("localhost:9090"));
+            this->_pRosBridge.reset(new ros_bridge::ROSBridge("localhost:9090"));
         }
     };
     setConnectionString();
@@ -939,22 +943,40 @@ void WimaController::_switchSnakeManager(QVariant variant)
 
 void WimaController::_setupTopicService()
 {
+    using namespace ros_bridge::messages;
     if ( _snakeTilesLocal.polygons().size() > 0){
-        _pRosBridge->publish(_snakeOrigin, "/snake/origin");
-        _pRosBridge->publish(_snakeTilesLocal, "/snake/tiles");
+        // Publish snake origin.
+        JsonDocUPtr jOrigin(rapidjson::kObjectType);
+        Q_ASSERT(geographic_msgs::geo_point::toJson(
+                     _snakeOrigin, *jOrigin, jOrigin->GetAllocator()));
+        _pRosBridge->publish(std::move(jOrigin), "/snake/origin");
+        // Publish snake tiles.
+        JsonDocUPtr jSnakeTiles(rapidjson::kObjectType);
+        Q_ASSERT(jsk_recognition_msgs::polygon_array::toJson(
+                     _snakeTilesLocal, *jSnakeTiles, jSnakeTiles->GetAllocator()));
+        _pRosBridge->publish(std::move(jSnakeTiles), "/snake/tiles");
     }
+    // Subscribe nemo progress.
     _pRosBridge->subscribe("/nemo/progress",
                            /* callback */ [this](JsonDocUPtr pDoc){
         int requiredSize = this->_snakeTilesLocal.polygons().size();
-        auto& progress = this->_nemoProgress;
-        if ( !this->_pRosBridge->casePacker()->unpack(pDoc, progress)
-             || progress.progress().size() != requiredSize ) { // Some error occured.
+        auto& progress_msg = this->_nemoProgress;
+        if ( !nemo_msgs::progress::fromJson(*pDoc, progress_msg)
+             || progress_msg.progress().size() != requiredSize ) { // Some error occured.
             // Set progress to default.
-            progress.progress().fill(0, requiredSize);
-            // Publish origin and tiles again.
+            progress_msg.progress().fill(0, requiredSize);
+            // Publish origin and tiles again, if valid.
             if ( this->_snakeTilesLocal.polygons().size() > 0){
-                this->_pRosBridge->publish(this->_snakeOrigin, "/snake/origin");
-                this->_pRosBridge->publish(this->_snakeTilesLocal, "/snake/tiles");
+                // Publish snake origin.
+                JsonDocUPtr jOrigin(rapidjson::kObjectType);
+                Q_ASSERT(geographic_msgs::geo_point::toJson(
+                             this->_snakeOrigin, *jOrigin, jOrigin->GetAllocator()));
+                this->_pRosBridge->publish(std::move(jOrigin), "/snake/origin");
+                // Publish snake tiles.
+                JsonDocUPtr jSnakeTiles(rapidjson::kObjectType);
+                Q_ASSERT(jsk_recognition_msgs::polygon_array::toJson(
+                             this->_snakeTilesLocal, *jSnakeTiles, jSnakeTiles->GetAllocator()));
+                this->_pRosBridge->publish(std::move(jSnakeTiles), "/snake/tiles");
             }
         }
 
@@ -962,10 +984,11 @@ void WimaController::_setupTopicService()
     });
     _pRosBridge->subscribe("/nemo/heartbeat",
                            /* callback */ [this](JsonDocUPtr pDoc){
-        if ( !this->_pRosBridge->casePacker()->unpack(pDoc, this->_nemoHeartbeat) ) {
-            if ( this->_nemoHeartbeat.status() == this->_fallbackStatus )
+        auto &heartbeat_msg = this->_nemoHeartbeat;
+        if ( !nemo_msgs::heartbeat(*pDoc, heartbeat_msg) ) {
+            if ( heartbeat_msg.status() == this->_fallbackStatus )
                 return;
-            this->_nemoHeartbeat.setStatus(this->_fallbackStatus);
+            heartbeat_msg.setStatus(this->_fallbackStatus);
         }
 
         this->_nemoTimeoutTicker.reset();
@@ -975,30 +998,29 @@ void WimaController::_setupTopicService()
     });
 
     _pRosBridge->advertiseService("/snake/get_origin", "snake_msgs/GetOrigin",
-                                  [this](JsonDocUPtr) -> JsonDocUPtr {
-        JsonDocUPtr pDoc;
+                                  [this](JsonDocUPtr) -> JsonDocUPtr
+    {
+        JsonDocUPtr pDoc(std::make_unique(rapidjson::kObjectType));
+        rapidjson::Value jOrigin(rapidjson::kObjectType);
         if ( this->_snakeTilesLocal.polygons().size() > 0){
-            pDoc = this->_pRosBridge->casePacker()->pack(this->_snakeOrigin, "");
+            geometry_msg::geo_point::toJson(
+                        this->_snakeOrigin, jOrigin, pDoc->GetAllocator());
         } else {
-            pDoc = this->_pRosBridge->casePacker()->pack(::GeoPoint3D(0,0,0), "");
+            geometry_msg::geo_point::polygon_array::toJson(
+                        ::GeoPoint3D(0,0,0), jOrigin, pDoc->GetAllocator());
         }
-        this->_pRosBridge->casePacker()->removeTag(pDoc);
-        rapidjson::Document value(rapidjson::kObjectType);
-        JsonDocUPtr         pReturn(new rapidjson::Document(rapidjson::kObjectType));
-        value.CopyFrom(*pDoc, pReturn->GetAllocator());
-        pReturn->AddMember("origin", value, pReturn->GetAllocator());
-
-        return pReturn;
+        pDoc->AddMember("origin", jOrigin, pDoc->GetAllocator());
+        return pDoc;
     });
 
     _pRosBridge->advertiseService("/snake/get_tiles", "snake_msgs/GetTiles",
-                                  [this](JsonDocUPtr) -> JsonDocUPtr {
-        JsonDocUPtr pDoc = this->_pRosBridge->casePacker()->pack(this->_snakeTilesLocal, "");
-        this->_pRosBridge->casePacker()->removeTag(pDoc);
-        rapidjson::Document value(rapidjson::kObjectType);
-        JsonDocUPtr         pReturn(new rapidjson::Document(rapidjson::kObjectType));
-        value.CopyFrom(*pDoc, pReturn->GetAllocator());
-        pReturn->AddMember("tiles", value, pReturn->GetAllocator());
-        return pReturn;
+                                  [this](JsonDocUPtr) -> JsonDocUPtr
+    {
+        JsonDocUPtr pDoc(std::make_unique(rapidjson::kObjectType));
+        rapidjson::Value jSnakeTiles(rapidjson::kObjectType);
+        jsk_recognition_msgs::polygon_array::toJson(
+                    this->_snakeTilesLocal, jSnakeTiles, pDoc->GetAllocator());
+        pDoc->AddMember("tiles", jSnakeTiles, pDoc->GetAllocator());
+        return pDoc;
     });
 }

src/Wima/WimaController.h

@@ -35,8 +35,7 @@
 #include "Snake/QNemoProgress.h"
 #include "Snake/QNemoHeartbeat.h"
 
-#include "ros_bridge/include/ROSBridge.h"
-#include "ros_bridge/include/CasePacker.h"
+#include "ros_bridge/include/ros_bridge.h"
 
 #include "WaypointManager/DefaultManager.h"
 #include "WaypointManager/RTLManager.h"
@@ -54,7 +53,7 @@ class WimaController : public QObject
 
     enum FileType {WimaFile, PlanFile};
 
-    typedef QScopedPointer<ROSBridge::ROSBridge> ROSBridgePtr;
+    typedef QScopedPointer<ros_bridge::ROSBridge> ROSBridgePtr;
 
 public:
 
@@ -344,7 +343,7 @@ private slots:
 
 private:
     using StatusMap = std::map<int, QString>;
-    using CasePacker = ROSBridge::CasePacker;
+    using CasePacker = ros_bridge::CasePacker;
 
     // Controllers.
     PlanMasterController   *_masterController;

src/comm/ros_bridge/include/CasePacker.h

-#pragma once
-#include "ros_bridge/include/MessageBaseClass.h"
-#include "ros_bridge/include/MessageTag.h"
-#include "ros_bridge/include/TypeFactory.h"
-#include "ros_bridge/include/JsonFactory.h"
-
-#include <memory>
-#include "rapidjson/include/rapidjson/document.h"
-
-namespace ROSBridge {
-
-class CasePacker
-{
-    typedef MessageTag Tag;
-    typedef rapidjson::Document JsonDoc;
-    typedef std::unique_ptr<JsonDoc> JsonDocUPtr;
-public:
-    CasePacker() = delete;
-    CasePacker(TypeFactory *typeFactory, JsonFactory *jsonFactory);
-
-    template<class T>
-    JsonDocUPtr pack(const T &msg, const std::string &topic) const
-    {
-        JsonDocUPtr docPt(_jsonFactory->create(msg));
-        std::string messageType = T::Group::messageType();
-        addTag(docPt, topic, messageType.c_str());
-        return docPt;
-    }
-
-    template<class T>
-    bool unpack(JsonDocUPtr &pDoc, T &msg) const {
-        removeTag(pDoc);
-        return _typeFactory->create(*pDoc.get(), msg);
-    }
-
-
-    bool getTag(const JsonDocUPtr &pDoc, Tag &tag) const;
-    void addTag        (JsonDocUPtr &doc,
-                         const std::string &topic,
-                         const std::string &messageType) const;
-    void addTag        (JsonDocUPtr &doc, const Tag &tag) const;
-    void removeTag     (JsonDocUPtr &pDoc) const;
-    bool getTopic      (const JsonDocUPtr &pDoc, std::string &topic) const;
-    bool getMessageType(const JsonDocUPtr &pDoc, std::string &messageType) const;
-
-    static const char* topicKey;
-    static const char* messageTypeKey;
-
-private:
-    TypeFactory *_typeFactory;
-    JsonFactory *_jsonFactory;
-};
-}
-

src/comm/ros_bridge/include/ComPrivateInclude.cpp

-#include "ros_bridge/include/ComPrivateInclude.h"
-#include <functional>
-
-std::size_t ROSBridge::ComPrivate::getHash(const std::string &str)
-{
-    std::hash<std::string> hash;
-    return hash(str);
-}
-
-std::size_t ROSBridge::ComPrivate::getHash(const char *str)
-{
-    return ROSBridge::ComPrivate::getHash(std::string(str));
-}

src/comm/ros_bridge/include/JsonFactory.h

-#pragma once
-
-#include "ros_bridge/rapidjson/include/rapidjson/document.h"
-#include "ros_bridge/include/JsonMethodes.h"
-#include "MessageBaseClass.h"
-#include "utilities.h"
-
-#include "ros_bridge/include/MessageTraits.h"
-#include "ros_bridge/include/MessageGroups.h"
-#include "ros_bridge/include/GenericMessages.h"
-
-#include "boost/type_traits.hpp"
-#include "boost/type_traits/is_base_of.hpp"
-
-namespace ROSBridge {
-
-class StdHeaderPolicy;
-
-//!
-//! \brief The JsonFactory class is used to create ROS messages.
-//!
-//! The JsonFactory class is used to create \class rapidjson::Document documents containing ROS messages
-//! from classes derived from \class MessageBaseClass. Each class has a group mark (typedef ... Group) which allows the
-//! JsonFactory to determine the ROS message type it will create.
-template <class HeaderPolicy = StdHeaderPolicy>
-class GenericJsonFactory : public HeaderPolicy
-{
-    typedef MessageBaseClass ROSMsg;
-public:
-
-    GenericJsonFactory() : HeaderPolicy() {}
-
-    //!
-    //! \brief Creates a \class rapidjson::Document document containing a ROS mesage from \p msg.
-    //!
-    //! Creates a \class rapidjson::Document document containing a ROS message from \p msg.
-    //! A compile-time error will occur, if \p msg belongs to the \struct EmptyGroup or is
-    //! not derived from \class MessageBaseClass.
-    //! \param msg Instance of a \class MessageBaseClass subclass belonging to a ROSMessageGroup.
-    //! \return rapidjson::Document document containing a ROS message.
-    template <class T>
-    rapidjson::Document *create(const T &msg){
-        static_assert(boost::is_base_of<ROSMsg, T>::value, "Type of msg must be derived from MessageBaseClass.");
-        static_assert(!::boost::is_same<typename T::Group, MessageGroups::EmptyGroup>::value,
-                "msg belongs to group EmptyGroup (not allowed). Please specify Group (typedef MessageGroup Group)");
-        //cout << T::Group::label() << endl;
-        return _create(msg, Type2Type<typename T::Group>());
-    }
-
-private:
-
-    // ===========================================================================
-    // EmptyGroup and not implemented Groups
-    // ===========================================================================
-    template<class U, class V>
-    rapidjson::Document *_create(const U &msg, Type2Type<V>){
-        (void)msg;
-        assert(false); // Implementation missing for group U::Group!
-        return nullptr;
-    }
-
-    // ===========================================================================
-    // Point32Group
-    // ===========================================================================
-    template<class U>
-    rapidjson::Document *_create(const U &msg, Type2Type<MessageGroups::Point32Group>){
-        using namespace ROSBridge;
-        rapidjson::Document *doc = new rapidjson::Document(rapidjson::kObjectType);
-        bool ret = JsonMethodes::GeometryMsgs::Point32::toJson<_Float32>(msg, *doc, doc->GetAllocator());
-        assert(ret);
-        (void)ret;
-
-        return doc;
-    }
-
-    // ===========================================================================
-    // GeoPointGroup
-    // ===========================================================================
-    template<class U>
-    rapidjson::Document *_create(const U &msg, Type2Type<MessageGroups::GeoPointGroup>){
-        using namespace ROSBridge;
-        rapidjson::Document *doc = new rapidjson::Document(rapidjson::kObjectType);
-        bool ret = JsonMethodes::GeographicMsgs::GeoPoint::toJson(msg, *doc, doc->GetAllocator());
-        assert(ret);
-        (void)ret;
-
-        return doc;
-    }
-
-    // ===========================================================================
-    // PolygonGroup
-    // ===========================================================================
-    template<class U>
-    rapidjson::Document *_create(const U &msg, Type2Type<MessageGroups::PolygonGroup>){
-        using namespace ROSBridge;
-        rapidjson::Document *doc = new rapidjson::Document(rapidjson::kObjectType);
-        bool ret = JsonMethodes::GeometryMsgs::Polygon::toJson(msg, *doc, doc->GetAllocator());
-        assert(ret);
-        (void)ret;
-
-        return doc;
-    }
-
-    // ===========================================================================
-    // PolygonStampedGroup
-    // ===========================================================================
-    template<class U>
-    rapidjson::Document *_create(const U &msg, Type2Type<MessageGroups::PolygonStampedGroup>){
-        using namespace ROSBridge;
-        using namespace ROSBridge::traits;
-        typedef HasMemberHeader<U> HasHeader;
-
-        return _createPolygonStamped(msg, Int2Type<HasHeader::value>());
-    }
-
-    template<class U, int k>
-    rapidjson::Document *_createPolygonStamped(const U &msg, Int2Type<k>){ // U has member header(), use integraded header.
-        using namespace ROSBridge;
-        rapidjson::Document *doc = new rapidjson::Document(rapidjson::kObjectType);
-        bool ret = JsonMethodes::GeometryMsgs::PolygonStamped::toJson(msg, *doc, doc->GetAllocator());
-        assert(ret);
-        (void)ret;
-
-        return doc;
-
-    }
-
-    template<class U>
-    rapidjson::Document *_createPolygonStamped(const U &msg, Int2Type<0>){// U has no member header(), generate one on the fly.
-        using namespace ROSBridge;
-        GenericMessages::StdMsgs::Header header(HeaderPolicy::header(msg));
-        rapidjson::Document *doc = new rapidjson::Document(rapidjson::kObjectType);
-        bool ret = JsonMethodes::GeometryMsgs::PolygonStamped::toJson(msg.polygon(), header, *doc, doc->GetAllocator());
-        assert(ret);
-        (void)ret;
-
-        return doc;
-    }
-
-    // ===========================================================================
-    // PolygonArrayGroup
-    // ===========================================================================
-    template<class U>
-    rapidjson::Document *_create(const U &msg, Type2Type<MessageGroups::PolygonArrayGroup>){
-        using namespace ROSBridge;
-        using namespace ROSBridge::traits;
-        typedef HasMemberHeader<U> HasHeader;
-
-        return _createPolygonArray(msg, Int2Type<HasHeader::value>());
-    }
-
-    template<class U, int k>
-    rapidjson::Document *_createPolygonArray(const U &msg, Int2Type<k>){ // U has member header(), use integraded header.
-        using namespace ROSBridge;
-        rapidjson::Document *doc = new rapidjson::Document(rapidjson::kObjectType);
-        bool ret = JsonMethodes::JSKRecognitionMsgs::PolygonArray::toJson(msg, *doc, doc->GetAllocator());
-        assert(ret);
-        (void)ret;
-
-        return doc;
-
-    }
-
-    template<class U>
-    rapidjson::Document *_createPolygonArray(const U &msg, Int2Type<0>){// U has no member header(), generate one on the fly.
-        using namespace ROSBridge;
-        GenericMessages::StdMsgs::Header header(HeaderPolicy::header(msg));
-        rapidjson::Document *doc = new rapidjson::Document(rapidjson::kObjectType);
-        bool ret = JsonMethodes::JSKRecognitionMsgs::PolygonArray::toJson(msg, header, *doc, doc->GetAllocator());
-        assert(ret);
-        (void)ret;
-
-        return doc;
-    }
-
-    // ===========================================================================
-    // ProgressGroup
-    // ===========================================================================
-    template<class U>
-    rapidjson::Document *_create(const U &msg, Type2Type<MessageGroups::ProgressGroup>){
-        using namespace ROSBridge;
-        rapidjson::Document *doc = new rapidjson::Document(rapidjson::kObjectType);
-        bool ret = JsonMethodes::NemoMsgs::Progress::toJson(msg, *doc, doc->GetAllocator());
-        assert(ret);
-        (void)ret;
-
-        return doc;
-    }
-
-    // ===========================================================================
-    // HeartbeatGroup
-    // ===========================================================================
-    template<class U>
-    rapidjson::Document *_create(const U &msg, Type2Type<MessageGroups::HeartbeatGroup>){
-        using namespace ROSBridge;
-        rapidjson::Document *doc = new rapidjson::Document(rapidjson::kObjectType);
-        bool ret = JsonMethodes::NemoMsgs::Heartbeat::toJson(msg, *doc, doc->GetAllocator());
-        assert(ret);
-        (void)ret;
-
-        return doc;
-    }
-};
-
-class StdHeaderPolicy
-{
-    typedef ROSBridge::GenericMessages::StdMsgs::Header Header;
-    typedef ROSBridge::GenericMessages::StdMsgs::Time Time;
-public:
-    StdHeaderPolicy():_seq(-1){}
-
-    //!
-    //! \brief header Returns the header belonging to msg.
-    //! \return Returns the header belonging to msg.
-    template<class T>
-    Header header(const T &msg) {
-        return Header(std::uint32_t(++_seq), time(msg), "/map");
-    }
-
-
-    //!
-    //! \brief time Returns the current time.
-    //! \return Returns the current time.    
-    template<class T>
-    Time time(const T &msg) {
-        (void)msg;
-        return Time(0,0);
-    }
-
-private:
-    long _seq;
-};
-
-typedef GenericJsonFactory<> JsonFactory;
-
-} // end namespace ros_bridge
-
-

src/comm/ros_bridge/include/MessageBaseClass.h

-#pragma once
-
-#include "MessageGroups.h"
-
-namespace ROSBridge {
-
-//! @brief Abstract base class for all ROS Messages Types.
-//!
-//! Abstract base class for all ROS Messages Types. This class defines a basic interface
-//! every class must fullfill if it takes advantages of the \class ROSJsonFactory.
-//! Every class must define the public typedef Group, which associates it to a message Group (\see MessageGroups). The Group type
-//! is used by the \class ROSJsonFactory to determine the type of the message it creates. The
-//! MessageBaseClass belongs to the \struct EmptyGroup. Passing a class belonging to the \struct EmptyGroup to the
-//! \class ROSJsonFactory will yield an error.
-class MessageBaseClass{
-public:
-    typedef MessageGroups::EmptyGroup Group;
-
-    MessageBaseClass() {};
-    virtual ~MessageBaseClass() {};
-    // Avoid sliceing (copy with ROSMessage::Clone or define subclass operator=)!
-    MessageBaseClass(const MessageBaseClass &) = delete;
-    MessageBaseClass& operator=(const MessageBaseClass &) = delete;
-
-    virtual MessageBaseClass* Clone() const = 0;
-};
-typedef MessageBaseClass MsgBase;
-} // namespace ROSBridge
-
-

src/comm/ros_bridge/include/MessageGroups.h

-#pragma once
-
-#include <string>
-
-namespace ROSBridge {
-
-namespace MessageGroups {
-
-typedef std::string StringType;
-
-template<typename Group, typename SubGroup, typename...MoreSubGroups>
-struct MessageGroup {
-    static StringType messageType() {return _full<Group, SubGroup, MoreSubGroups...>();}
-
-    template<typename G, typename SubG, typename...MoreSubG>
-    static StringType _full() {return G::label()+ "/" + _full<SubG, MoreSubG...>(); }
-    template<typename G>
-    static StringType _full() {return G::label(); }
-
-
-    static StringType messageTypeLast() {return _last<Group, SubGroup, MoreSubGroups...>();}
-
-    template<typename G, typename SubG, typename...MoreSubG>
-    static StringType _last() {return _last<SubG, MoreSubG...>(); }
-    template<typename G>
-    static StringType _last() {return G::label(); }
-};
-
-//!
-//! \note Each class belonging to a ROS message group must derive from \class MessageBaseClass.
-
-namespace detail {
-
-//!
-//! \brief The EmptyGroup struct is used by the \class MessageBaseClass base class.
-//!
-//! The EmptyGroup struct is used by the \class MessageBaseClass base class. Passing a class using this
-//! group will to the \class JsonFactory will lead to a compile-time error.
-struct EmptyGroup        {
-    static StringType label() {return "";}
-};
-}
-
-
-struct GeometryMsgs {
-
-    static StringType label() {return "geometry_msgs";}
-    //!
-    //! \brief The Point32Group struct is used the mark a class as a ROS Point32 message.
-    //!
-    //! The Point32Group struct is used the mark a class as a ROS Point32 message.
-    struct Point32Group {
-        static StringType label() {return "Point32";}
-    };
-
-    //!
-    //! \brief The GeoPointGroup struct is used the mark a class as a ROS geographic_msgs/GeoPoint message.
-    //!
-    //! The GeoPointGroup struct is used the mark a class as a ROS geographic_msgs/GeoPoint message.
-    struct GeoPointGroup {
-        static StringType label() {return "GeoPoint";}
-    };
-
-
-    //!
-    //! \brief The PolygonGroup struct is used the mark a class as a ROS Polygon message.
-    //!
-    //! The PolygonGroup struct is used the mark a class as a ROS Polygon message.
-    struct PolygonGroup {
-        static StringType label() {return "Polygon";}
-    };
-
-    //!
-    //! \brief The PolygonStampedGroup struct is used the mark a class as a ROS PolygonStamped message.
-    //!
-    //! The PolygonStampedGroup struct is used the mark a class as a ROS PolygonStamped message.
-    struct PolygonStampedGroup {
-        static StringType label() {return "PolygonStamped";}
-    };
-};
-
-struct GeographicMsgs {
-
-    static StringType label() {return "geographic_msgs";}
-
-    //!
-    //! \brief The GeoPointGroup struct is used the mark a class as a ROS geographic_msgs/GeoPoint message.
-    struct GeoPointGroup {
-        static StringType label() {return "GeoPoint";}
-    };
-};
-
-struct JSKRecognitionMsgs {
-
-    static StringType label() {return "jsk_recognition_msgs";}
-
-    //!
-    //! \brief The PolygonArrayGroup struct is used the mark a class as a ROS jsk_recognition_msgs/PolygonArray message.
-    //!
-    //! The PolygonArrayGroup struct is used the mark a class as a ROS jsk_recognition_msgs/PolygonArray message.
-    struct PolygonArrayGroup {
-        static StringType label() {return "PolygonArray";}
-    };
-};
-
-struct NemoMsgs {
-
-    static StringType label() {return "nemo_msgs";}
-
-    //!
-    //! \brief The ProgressGroup struct is used the mark a class as a ROS nemo_msgs/Progress message.
-    struct ProgressGroup {
-        static StringType label() {return "Progress";}
-    };
-
-    //!
-    //! \brief The HeartbeatGroup struct is used the mark a class as a ROS nemo_msgs/Heartbeat message.
-    struct HeartbeatGroup {
-        static StringType label() {return "Heartbeat";}
-    };
-};
-
-
-typedef MessageGroup<detail::EmptyGroup,
-                     detail::EmptyGroup>
-        EmptyGroup;
-
-typedef MessageGroups::MessageGroup<MessageGroups::GeometryMsgs,
-                                    MessageGroups::GeometryMsgs::Point32Group>
-        Point32Group;
-
-typedef MessageGroups::MessageGroup<MessageGroups::GeographicMsgs,
-                                    MessageGroups::GeographicMsgs::GeoPointGroup>
-        GeoPointGroup;
-
-typedef MessageGroups::MessageGroup<MessageGroups::GeometryMsgs,
-                                    MessageGroups::GeometryMsgs::PolygonGroup>
-        PolygonGroup;
-
-typedef MessageGroups::MessageGroup<MessageGroups::GeometryMsgs,
-                                    MessageGroups::GeometryMsgs::PolygonStampedGroup>
-        PolygonStampedGroup;
-
-typedef MessageGroups::MessageGroup<MessageGroups::JSKRecognitionMsgs,
-                                    MessageGroups::JSKRecognitionMsgs::PolygonArrayGroup>
-        PolygonArrayGroup;
-
-typedef MessageGroups::MessageGroup<MessageGroups::NemoMsgs,
-                                    MessageGroups::NemoMsgs::ProgressGroup>
-        ProgressGroup;
-
-typedef MessageGroups::MessageGroup<MessageGroups::NemoMsgs,
-                                    MessageGroups::NemoMsgs::HeartbeatGroup>
-        HeartbeatGroup;
-
-} // end namespace MessageGroups
-
-} // end namespace ros_bridge

src/comm/ros_bridge/include/MessageTag.cpp

-#include "MessageTag.h"
-
-MessageTag::MessageTag()
-{
-
-}
-
-MessageTag::MessageTag(const std::string &topic, const std::string &messageType) :
-    _topic(topic)
-  , _messagType(messageType)
-{
-
-}
-
-const std::string &MessageTag::topic() const
-{
-    return _topic;
-}
-
-const std::string &MessageTag::messageType() const
-{
-    return _messagType;
-}
-
-std::string &MessageTag::topic()
-{
-    return _topic;
-}
-
-std::string &MessageTag::messageType()
-{
-    return _messagType;
-}
-
-void MessageTag::setTopic(const std::string &topic)
-{
-    _topic = topic;
-}
-
-void MessageTag::setMessageType(const std::string &messageType)
-{
-    _messagType = messageType;
-}

src/comm/ros_bridge/include/MessageTag.h

-#pragma once
-
-#include <string>
-
-
-class MessageTag {
-public:
-    MessageTag();
-    MessageTag(const std::string &topic, const std::string &messageType);
-
-    const std::string &topic() const;
-    const std::string &messageType() const;
-
-    std::string &topic();
-    std::string &messageType();
-
-    void setTopic(const std::string &topic);
-    void setMessageType(const std::string &messageType);
-
-private:
-   std::string _topic;
-   std::string _messagType;
-};
-typedef MessageTag Tag;

src/comm/ros_bridge/include/ThreadSafeQueue.h

-#pragma once
-
-#include <queue>
-#include <mutex>
-#include <condition_variable>
-
-namespace ROSBridge {
-
-template <class T>
-class ThreadSafeQueue
-{
-public:
-    ThreadSafeQueue();
-    ~ThreadSafeQueue();
-
-    T pop_front();
-
-    void push_back(const T& item);
-    void push_back(T&& item);
-
-    int size();
-    bool empty();
-
-private:
-    std::deque<T> _queue;
-    std::mutex _mutex;
-    std::condition_variable _cond;
-};
-
-template <typename T>
-ThreadSafeQueue<T>::ThreadSafeQueue(){}
-
-template <typename T>
-ThreadSafeQueue<T>::~ThreadSafeQueue(){}
-
-template <typename T>
-T ThreadSafeQueue<T>::pop_front()
-{
-    std::unique_lock<std::mutex> mlock(_mutex);
-    while (_queue.empty())
-    {
-        _cond.wait(mlock);
-    }
-    T t = std::move(_queue.front());
-    _queue.pop_front();
-    return t;
-}
-
-template <typename T>
-void ThreadSafeQueue<T>::push_back(const T& item)
-{
-    std::unique_lock<std::mutex> mlock(_mutex);
-    _queue.push_back(item);
-    mlock.unlock();     // unlock before notificiation to minimize mutex con
-    _cond.notify_one(); // notify one waiting thread
-
-}
-
-template <typename T>
-void ThreadSafeQueue<T>::push_back(T&& item)
-{
-    std::unique_lock<std::mutex> mlock(_mutex);
-    _queue.push_back(std::move(item));
-    mlock.unlock();     // unlock before notificiation to minimize mutex con
-    _cond.notify_one(); // notify one waiting thread
-
-}
-
-template <typename T>
-int ThreadSafeQueue<T>::size()
-{
-    std::unique_lock<std::mutex> mlock(_mutex);
-    int size = _queue.size();
-    mlock.unlock();
-    return size;
-}
-
-} // namespace
-

src/comm/ros_bridge/include/TypeFactory.h

-#pragma once
-
-#include "ros_bridge/rapidjson/include/rapidjson/document.h"
-#include "ros_bridge/include/JsonMethodes.h"
-#include "ros_bridge/include/MessageBaseClass.h"
-#include "utilities.h"
-#include "ros_bridge/include/MessageTraits.h"
-
-#include "ros_bridge/include/MessageGroups.h"
-
-#include "boost/type_traits.hpp"
-#include "boost/type_traits/is_base_of.hpp"
-
-namespace ROSBridge {
-
-//!
-//! \brief The TypeFactory class is used to create C++ representatives of ROS messages.
-//!
-//! The TypeFactory class is used to create C++ representatives of ROS messages
-//! (classes derived from \class MessageBaseClass) from a \class rapidjson::Document document.
-class TypeFactory
-{
-    typedef MessageBaseClass ROSMsg;
-public:
-
-    TypeFactory(){}
-
-    //!
-    //! \brief Creates a \class rapidjson::Document document containing a ROS mesage from \p msg.
-    //!
-    //! Creates a \class rapidjson::Document document containing a ROS message from \p msg.
-    //! A compile-time error will occur, if \p msg belongs to the \struct EmptyGroup or is
-    //! not derived from \class MessageBaseClass.
-    //! \param msg Instance of a \class MessageBaseClass subclass belonging to a ROSMessageGroup.
-    //! \return rapidjson::Document document containing a ROS message.
-    template <class T>
-    bool create(const rapidjson::Document &doc, T &type){
-        static_assert(boost::is_base_of<ROSMsg, T>::value, "Type of msg must be derived from MessageBaseClass.");
-        static_assert(!::boost::is_same<typename T::Group, MessageGroups::EmptyGroup>::value,
-                "msg belongs to group EmptyGroup (not allowed). Please specify Group (typedef MessageGroup Group)");
-        return _create(doc, type, Type2Type<typename T::Group>());
-    }
-
-private:
-
-    // ===========================================================================
-    // EmptyGroup and not implemented Groups
-    // ===========================================================================
-    template<class U, class V>
-    bool _create(const rapidjson::Document &doc, U &type, Type2Type<V>){
-        (void)type;
-        (void)doc;
-        assert(false); // Implementation missing for group U::Group!
-        return false;
-    }
-
-    // ===========================================================================
-    // Point32Group
-    // ===========================================================================
-    template<class U>
-    bool _create(const rapidjson::Document &doc, U &type, Type2Type<MessageGroups::Point32Group>){
-        using namespace ROSBridge;
-        bool ret = JsonMethodes::GeometryMsgs::Point32::fromJson(doc, type);
-        assert(ret);
-        return ret;
-    }
-
-    // ===========================================================================
-    // GeoPointGroup
-    // ===========================================================================
-    template<class U>
-    bool _create(const rapidjson::Document &doc, U &type, Type2Type<MessageGroups::GeoPointGroup>){
-        using namespace ROSBridge;
-        bool ret = JsonMethodes::GeographicMsgs::GeoPoint::fromJson(doc, type);
-        assert(ret);
-        return ret;
-    }
-
-    // ===========================================================================
-    // PolygonGroup
-    // ===========================================================================
-    template<class U>
-    bool _create(const rapidjson::Document &doc, U &type, Type2Type<MessageGroups::PolygonGroup>){
-        using namespace ROSBridge;
-        bool ret = JsonMethodes::GeometryMsgs::Polygon::fromJson(doc, type);
-        assert(ret);
-        return ret;
-    }
-
-    // ===========================================================================
-    // PolygonStampedGroup
-    // ===========================================================================
-    template<class U>
-    bool _create(const rapidjson::Document &doc, U &type, Type2Type<MessageGroups::PolygonStampedGroup>){
-        using namespace ROSBridge;
-        bool ret = JsonMethodes::GeometryMsgs::PolygonStamped::fromJson(doc, type);
-        assert(ret);
-        return ret;
-    }
-
-    // ===========================================================================
-    // PolygonArrayGroup
-    // ===========================================================================
-    template<class U>
-    bool _create(const rapidjson::Document &doc, U &type, Type2Type<MessageGroups::PolygonArrayGroup>){
-        using namespace ROSBridge;
-        bool ret = JsonMethodes::JSKRecognitionMsgs::PolygonArray::fromJson(doc, type);
-        assert(ret);
-        return ret;
-    }
-
-    // ===========================================================================
-    // ProgressGroup
-    // ===========================================================================
-    template<class U>
-    bool _create(const rapidjson::Document &doc, U &type, Type2Type<MessageGroups::ProgressGroup>){
-        using namespace ROSBridge;
-        bool ret = JsonMethodes::NemoMsgs::Progress::fromJson(doc, type);
-        assert(ret);
-        return ret;
-    }
-
-    // ===========================================================================
-    // HeartbeatGroup
-    // ===========================================================================
-    template<class U>
-    bool _create(const rapidjson::Document &doc, U &type, Type2Type<MessageGroups::HeartbeatGroup>){
-        using namespace ROSBridge;
-        bool ret = JsonMethodes::NemoMsgs::Heartbeat::fromJson(doc, type);
-        assert(ret);
-        return ret;
-    }
-
-
-};
-
-} // end namespace ros_bridge

src/comm/ros_bridge/include/com_private.cpp

+#include "ros_bridge/include/com_private.h"
+#include <functional>
+
+std::size_t ros_bridge::com_private::getHash(const std::string &str)
+{
+    std::hash<std::string> hash;
+    return hash(str);
+}
+
+std::size_t ros_bridge::com_private::getHash(const char *str)
+{
+    return ros_bridge::com_private::getHash(std::string(str));
+}
+
+bool ros_bridge::com_private::getTopic(const ros_bridge::com_private::JsonDoc &doc, std::string &topic)
+{
+    if ( doc.HasMember("topic") && doc["topic"].IsString() ){
+        topic = doc["topic"].GetString();
+        return true;
+    } else
+        return false;
+}
+
+bool ros_bridge::com_private::removeTopic(ros_bridge::com_private::JsonDoc &doc)
+{
+    if ( doc.HasMember("topic") && doc["topic"].IsString() ){
+        doc.RemoveMember("topic");
+        return true;
+    } else
+        return false;
+}
+
+bool ros_bridge::com_private::getType(const ros_bridge::com_private::JsonDoc &doc, std::string &type)
+{
+    if ( doc.HasMember("type") && doc["type"].IsString() ){
+        type = doc["type"].GetString();
+        return true;
+    } else
+        return false;
+}
+
+bool ros_bridge::com_private::removeType(ros_bridge::com_private::JsonDoc &doc)
+{
+    if ( doc.HasMember("type") && doc["type"].IsString() ){
+        doc.RemoveMember("type");
+        return true;
+    } else
+        return false;
+}

src/comm/ros_bridge/include/ComPrivateInclude.h → src/comm/ros_bridge/include/com_private.h

@@ -7,8 +7,8 @@
 #include <deque>
 #include <unordered_map>
 
-namespace ROSBridge {
-namespace ComPrivate {
+namespace ros_bridge {
+namespace com_private {
 
 typedef MessageTag Tag;
 typedef rapidjson::Document JsonDoc;
@@ -26,5 +26,11 @@ static const char* _topicSubscriberKey = "topic_subscriber";
 std::size_t getHash(const std::string &str);
 std::size_t getHash(const char *str);
 
+bool getTopic(const JsonDoc &doc, std::string &topic);
+bool getType(const JsonDoc &doc, std::string &type);
+
+bool removeTopic(JsonDoc &doc);
+bool removeType(JsonDoc &doc);
+
 }
 }

src/comm/ros_bridge/include/MessageTraits.h → src/comm/ros_bridge/include/message_traits.h

 #pragma once
 
-namespace ROSBridge {
+namespace ros_bridge {
 namespace traits {
 
 
@@ -182,5 +182,19 @@ struct Select<0, T, U> {typedef U Result;};
 struct HasComponents {};
 struct Has3Components : public HasComponents {};
 struct Has2Components : public HasComponents {};
+
+
+
+template <typename T>
+struct Type2Type{
+    typedef T OriginalType;
+};
+
+
+template <int k>
+struct Int2Type{
+    enum {value = k};
+};
+
 }
 }

src/comm/ros_bridge/include/messages/geographic_msgs/geopoint.h

+#pragma once
+
+#include <string>
+
+#include "ros_bridge/include/message_traits.h"
+#include "ros_bridge/rapidjson/include/rapidjson/document.h"
+
+namespace ros_bridge {
+//! @brief Namespace containing classes and methodes ros message generation.
+namespace messages {
+//! @brief Namespace containing classes and methodes for geometry_msgs generation.
+namespace geographic_msgs {
+//! @brief Namespace containing methodes for geometry_msgs/GeoPoint message generation.
+namespace geo_point {
+
+std::string messageType(){
+    return "geometry_msgs/GeoPoint";
+}
+
+//! @brief C++ representation of geographic_msgs/GeoPoint.
+template<class FloatType = _Float64, class OStream = std::ostream>
+class GenericGeoPoint{
+public:
+    GenericGeoPoint()
+        : _latitude(0)
+        , _longitude(0)
+        , _altitude(0)
+    {}
+    GenericGeoPoint(const GenericGeoPoint &other)
+        : _latitude(other.latitude())
+        , _longitude(other.longitude())
+        , _altitude(other.altitude())
+    {}
+    GenericGeoPoint(FloatType latitude, FloatType longitude, FloatType altitude)
+        : _latitude(latitude)
+        , _longitude(longitude)
+        , _altitude(altitude)
+    {}
+
+    FloatType latitude()     const {return _latitude;}
+    FloatType longitude()    const {return _longitude;}
+    FloatType altitude()     const {return _altitude;}
+
+    void setLatitude    (FloatType latitude)    {_latitude  = latitude;}
+    void setLongitude   (FloatType longitude)   {_longitude = longitude;}
+    void setAltitude    (FloatType altitude)    {_altitude  = altitude;}
+
+    bool operator==(const GenericGeoPoint &p1) {
+        return (   p1._latitude == this->_latitude
+                && p1._longitude == this->_longitude
+                && p1._altitude == this->_altitude);
+    }
+
+    bool operator!=(const GenericGeoPoint &p1) {
+        return !this->operator==(p1);
+    }
+
+    friend OStream& operator<<(OStream& os, const GenericGeoPoint& p)
+    {
+        os << "lat: " << p._latitude << " lon: " << p._longitude<< " alt: " << p._altitude;
+        return os;
+    }
+
+private:
+    FloatType _latitude;
+    FloatType _longitude;
+    FloatType _altitude;
+};
+typedef GenericGeoPoint<> GeoPoint;
+
+namespace detail {
+
+    template <class T>
+    auto getAltitude(const T &p, traits::Type2Type<traits::Has3Components>)
+    {
+        return p.altitude();
+    }
+
+    template <class T>
+    auto getAltitude(const T &p, traits::Type2Type<traits::Has2Components>)
+    {
+        (void)p;
+        return 0.0;
+    }
+
+    template <class T>
+    void setAltitude(const rapidjson::Value &doc, T &p, traits::Type2Type<traits::Has3Components>)
+    {
+        p.setAltitude(doc.GetFloat());
+    }
+
+    template <class T>
+    void setAltitude(const rapidjson::Value &doc, T &p, traits::Type2Type<traits::Has2Components>)
+    {
+        (void)doc;
+        (void)p;
+    }
+} // namespace detail
+
+template <class T>
+bool toJson(const T&p, rapidjson::Value &value, rapidjson::Document::AllocatorType &allocator)
+{
+    value.AddMember("latitude", rapidjson::Value().SetFloat((_Float64)p.latitude()), allocator);
+    value.AddMember("longitude", rapidjson::Value().SetFloat((_Float64)p.longitude()), allocator);
+
+    typedef typename traits::Select<
+            traits::HasMemberAltitude<T>::value,
+            traits::Has3Components,
+            traits::Has2Components>::Result
+            Components; // Check if PointType has 2 or 3 dimensions.
+    auto altitude = detail::getAltitude(p, traits::Type2Type<Components>()); // If T has no member altitude() replace it by 0.0;
+
+    value.AddMember("altitude", rapidjson::Value().SetFloat((_Float64)altitude), allocator);
+    value.AddMember("type", rapidjson::Value().SetString(messageType().c_str()), allocator);
+    return true;
+}
+
+
+
+template <class PointType>
+bool fromJson(const rapidjson::Value &value,
+              PointType &p)     {
+    if (!value.HasMember("latitude") || !value["latitude"].IsFloat()){
+        assert(false);
+        return false;
+    }
+    if (!value.HasMember("longitude") || !value["longitude"].IsFloat()){
+        assert(false);
+        return false;
+    }
+    if (!value.HasMember("altitude") || !value["altitude"].IsFloat()){
+        assert(false);
+        return false;
+    }
+
+    p.setLatitude(value["latitude"].GetFloat());
+    p.setLongitude(value["longitude"].GetFloat());
+    typedef typename traits::Select<
+            traits::HasMemberSetAltitude<PointType>::value,
+            traits::Has3Components,
+            traits::Has2Components>::Result
+            Components; // Check if PointType has 2 or 3 dimensions.
+    detail::setAltitude(value["altitude"], p,  traits::Type2Type<Components>()); // If T has no member altitude() discard doc["altitude"];
+
+    return true;
+} // namespace detail
+
+
+} // namespace geopoint
+} // namespace geometry_msgs
+} // namespace messages
+} // namespace ros_bridge

src/comm/ros_bridge/include/messages/geometry_msgs/point32.h

+#pragma once
+
+#include "ros_bridge/include/message_traits.h"
+#include "ros_bridge/rapidjson/include/rapidjson/document.h"
+
+namespace ros_bridge {
+//! @brief Namespace containing classes and methodes ros message generation.
+namespace messages {
+//! @brief Namespace containing classes and methodes for geometry_msgs generation.
+namespace geometry_msgs {
+//! @brief Namespace containing methodes for geometry_msgs/Point32 message generation.
+namespace point32 {
+
+
+std::string messageType(){
+    return "geometry_msgs/Point32";
+}
+
+namespace detail {
+using namespace ros_bridge::traits;
+
+template <class T>
+auto getZ(const T &p, Type2Type<Has3Components>)
+{
+    return p.z();
+}
+
+template <class T>
+auto getZ(const T &p, Type2Type<Has2Components>)
+{
+    (void)p;
+    return 0.0; // p has no member z() -> add 0.
+}
+
+template <class T, typename V>
+bool setZ(const rapidjson::Value &doc, const T &p, Type2Type<V>)
+{
+    p.setZ(doc["z"].GetFloat());
+    return true;
+}
+
+template <class T>
+bool setZ(const rapidjson::Value &doc, const T &p, Type2Type<Has2Components>)
+{
+    (void)doc;
+    (void)p;
+    return true;
+}
+
+} // namespace detail
+
+//! @brief C++ representation of a geometry_msgs/Point/Point32
+template<typename FloatType = _Float64, class OStream = std::ostream>
+class GenericPoint {
+public:
+    GenericPoint(FloatType x, FloatType y, FloatType z) : _x(x), _y(y), _z(z){}
+
+    FloatType x() const {return _x;}
+    FloatType y() const {return _y;}
+    FloatType z() const {return _z;}
+
+    void setX(FloatType x) {_x = x;}
+    void setY(FloatType y) {_y = y;}
+    void setZ(FloatType z) {_z = z;}
+
+
+
+    bool operator==(const GenericPoint &p1) {
+        return (p1._x == this->_x
+                && p1._y == this->_y
+                && p1._z == this->_z);
+    }
+
+    bool operator!=(const GenericPoint &p1) {
+        return !this->operator==(p1);
+    }
+
+    friend OStream& operator<<(OStream& os, const GenericPoint& p)
+    {
+        os << "x: " << p._x << " y: " << p._y<< " z: " << p._z;
+        return os;
+    }
+
+private:
+    FloatType _x;
+    FloatType _y;
+    FloatType _z;
+};
+
+typedef GenericPoint<> Point;
+typedef GenericPoint<_Float32> Point32;
+
+
+
+template <class T>
+bool toJson(const T&p, rapidjson::Value &value, rapidjson::Document::AllocatorType &allocator)
+{
+    using namespace ros_bridge::traits;
+
+    value.AddMember("x", rapidjson::Value().SetFloat(p.x()), allocator);
+    value.AddMember("y", rapidjson::Value().SetFloat(p.y()), allocator);
+
+    typedef typename Select<HasMemberZ<T>::value, Has3Components, Has2Components>::Result
+            Components; // Check if PointType has 2 or 3 dimensions.
+    auto z = detail::getZ(p, Type2Type<Components>()); // If T has no member z() replace it by 0.
+
+    value.AddMember("z", rapidjson::Value().SetFloat(z), allocator);
+    value.AddMember("type", rapidjson::Value().SetString(messageType().c_str()), allocator);
+    return true;
+}
+
+template <class PointType>
+bool fromJson(const rapidjson::Value &value,
+              PointType &p)     {
+    using namespace ros_bridge::traits;
+
+    if (!value.HasMember("x") || !value["x"].IsFloat()){
+        assert(false);
+        return false;
+    }
+    if (!value.HasMember("y") || !value["y"].IsFloat()){
+        assert(false);
+        return false;
+    }
+    if (!value.HasMember("z") || !value["z"].IsFloat()){
+        assert(false);
+        return false;
+    }
+
+    p.setX(value["x"].GetFloat());
+    p.setY(value["y"].GetFloat());
+    typedef typename Select<HasMemberSetZ<PointType>::value, Has3Components, Has2Components>::Result
+            Components; // Check if PointType has 2 or 3 dimensions.
+    (void)detail::setZ(value["z"], p,  Type2Type<Components>()); // If PointType has no member z() discard doc["z"].
+
+    return true;
+}
+
+} // namespace point32
+} // namespace geometry_msgs
+} // namespace messages
+} // namespace ros_bridge

src/comm/ros_bridge/include/messages/geometry_msgs/polygon.h

+#pragma once
+#include "ros_bridge/rapidjson/include/rapidjson/document.h"
+#include "ros_bridge/include/messages/geometry_msgs/point32.h"
+
+#include <type_traits>
+#include <vector>
+
+namespace ros_bridge {
+//! @brief Namespace containing classes and methodes ros message generation.
+namespace messages {
+//! @brief Namespace containing classes and methodes for geometry_msgs generation.
+namespace geometry_msgs {
+//! @brief Namespace containing methodes for geometry_msgs/Polygon message generation.
+namespace polygon {
+
+
+std::string messageType(){
+    return "geometry_msgs/Polygon";
+}
+
+//! @brief C++ representation of geometry_msgs/Polygon
+template <class PointTypeCVR,
+          template <class, class...> class ContainerType = std::vector>
+class GenericPolygon {
+    typedef typename std::remove_cv_ref_t<PointTypeCVR> PointType;
+public:
+    GenericPolygon() {}
+    GenericPolygon(const GenericPolygon &poly) : _points(poly.points()){}
+
+
+    const ContainerType<PointType> &points() const {return _points;}
+          ContainerType<PointType> &points()       {return _points;}
+
+          GenericPolygon &operator=(const GenericPolygon &other) {
+              this->_points = other._points;
+              return *this;
+          }
+
+private:
+    ContainerType<PointType> _points;
+};
+typedef GenericPolygon<geometry_msgs::point32::Point> Polygon;
+
+
+template <class PolygonType>
+bool toJson(const PolygonType &poly, rapidjson::Value &value, rapidjson::Document::AllocatorType &allocator)
+{
+    using namespace geometry_msgs::point32;
+
+    rapidjson::Value points(rapidjson::kArrayType);
+
+    for(unsigned long i=0; i < std::uint64_t(poly.points().size()); ++i) {
+        rapidjson::Document point(rapidjson::kObjectType);
+        if ( !point32::toJson(poly.points()[i], point, allocator) ){
+            assert(false);
+            return false;
+        }
+        points.PushBack(point, allocator);
+    }
+
+    value.AddMember("points", points, allocator);
+    value.AddMember("type", rapidjson::Value().SetString(messageType().c_str()), allocator);
+
+    return true;
+}
+
+template <class PolygonType>
+bool fromJson(const rapidjson::Value &value, PolygonType &poly)
+{
+    using namespace geometry_msgs::point32;
+
+    if (!value.HasMember("points") || !value["points"].IsArray()){
+        assert(false);
+        return false;
+    }
+    const auto &jsonArray = value["points"].GetArray();
+    poly.points().clear();
+    poly.points().reserve(jsonArray.Size());
+    typedef decltype (poly.points()[0]) PointTypeCVR;
+    typedef typename std::remove_cv_t<typename std::remove_reference_t<PointTypeCVR>> PointType;
+    for (long i=0; i < jsonArray.Size(); ++i){
+        PointType pt;
+        if ( !point32::fromJson(jsonArray[i], pt) ){
+            assert(false);
+            return false;
+        }
+        poly.points().push_back(std::move(pt));
+    }
+    return true;
+}
+
+} // namespace polygon
+} // namespace geometry_msgs
+} // namespace messages
+} // namespace ros_bridge

src/comm/ros_bridge/include/messages/geometry_msgs/polygon_stamped.h

+#pragma once
+
+#include "ros_bridge/rapidjson/include/rapidjson/document.h"
+#include "ros_bridge/include/messages/geometry_msgs/polygon.h"
+#include "ros_bridge/include/messages/std_msgs/header.h"
+#include "ros_bridge/include/message_traits.h"
+
+#include <type_traits>
+
+namespace ros_bridge {
+//! @brief Namespace containing classes and methodes ros message generation.
+namespace messages {
+//! @brief Namespace containing classes and methodes for geometry_msgs generation.
+namespace geometry_msgs {
+//! @brief Namespace containing methodes for geometry_msgs/PolygonStamped message generation.
+namespace polygon_stamped {
+
+
+std::string messageType(){
+    return "geometry_msgs/PolygonStamped";
+}
+
+//! @brief C++ representation of geometry_msgs/PolygonStamped
+template <class PolygonType  = geometry_msgs::polygon::Polygon,
+          class HeaderType = std_msgs::header::Header>
+class GenericPolygonStamped {
+    typedef PolygonType Polygon;
+public:
+    GenericPolygonStamped(){}
+    GenericPolygonStamped(const GenericPolygonStamped &other) :
+        _header(other.header())
+      , _polygon(other.polygon())
+    {}
+    GenericPolygonStamped(const HeaderType &header, Polygon &polygon) :
+        _header(header)
+      , _polygon(polygon)
+    {}
+
+
+    const HeaderType  &header()  const   {return _header;}
+    const Polygon     &polygon() const   {return _polygon;}
+
+    HeaderType  &header()  {return _header;}
+    Polygon     &polygon() {return _polygon;}
+
+private:
+    HeaderType   _header;
+    Polygon      _polygon;
+};
+
+typedef GenericPolygonStamped<> PolygonStamped;
+
+// ===================================================================================
+namespace detail {
+
+template <class PolygonStampedType>
+bool setHeader(const rapidjson::Value &doc,
+               PolygonStampedType &polyStamped,
+               traits::Int2Type<1>) { // polyStamped.header() exists
+    using namespace std_msgs::header;
+
+    typedef decltype (polyStamped.header()) HeaderTypeCVR;
+    typedef typename std::remove_cv_t<typename std::remove_reference_t<HeaderTypeCVR>> HeaderType;
+    HeaderType header;
+    bool ret = Header::fromJson(doc, header);
+    polyStamped.header() = header;
+    return ret;
+}
+template <class PolygonStampedType>
+bool setHeader(const rapidjson::Value &doc,
+               PolygonStampedType &polyStamped,
+               traits::Int2Type<0>) { // polyStamped.header() does not exists
+    (void)doc;
+    (void)polyStamped;
+    return true;
+}
+
+
+template <class PolygonType, class HeaderType>
+bool _toJson(const PolygonType &poly,
+             const HeaderType &h,
+             rapidjson::Value &value,
+             rapidjson::Document::AllocatorType &allocator)
+{
+    using namespace std_msgs::header;
+    using namespace geometry_msgs::polygon;
+
+    rapidjson::Document header(rapidjson::kObjectType);
+    if (!header::toJson(h, header, allocator)){
+        assert(false);
+        return false;
+    }
+    rapidjson::Document polygon(rapidjson::kObjectType);
+    if (!polygon::toJson(poly, polygon, allocator)){
+        assert(false);
+        return false;
+    }
+    value.AddMember("header", header, allocator);
+    value.AddMember("polygon", polygon, allocator);
+    value.AddMember("type", rapidjson::Value().SetString(messageType().c_str()), allocator);
+
+    return true;
+}
+
+template<class PolyStamped, int k>
+bool _toJson(const PolyStamped &polyStamped,
+             rapidjson::Value &value,
+             rapidjson::Document::AllocatorType &allocator,
+             traits::Int2Type<k>){ // PolyStamped has member header(), use integraded header.
+return _toJson(polyStamped, polyStamped.header(), value, allocator);
+}
+
+template<class PolyStamped>
+bool _toJson(const PolyStamped &polyStamped,
+             rapidjson::Value &value,
+             rapidjson::Document::AllocatorType &allocator,
+             traits::Int2Type<0>){ // PolyStamped has no member header(), generate one on the fly.
+using namespace std_msgs::header;
+return _toJson(polyStamped, Header(), value, allocator);
+}
+
+} // namespace detail
+// ===================================================================================
+
+
+template <class PolygonType, class HeaderType>
+bool toJson(const PolygonType &poly,
+            const HeaderType &h,
+            rapidjson::Value &value,
+            rapidjson::Document::AllocatorType &allocator)
+{
+    return detail::_toJson(poly, h, value, allocator);
+}
+
+template <class PolyStamped>
+bool toJson(const PolyStamped &polyStamped,
+            rapidjson::Value &value,
+            rapidjson::Document::AllocatorType &allocator)
+{
+    typedef traits::HasMemberHeader<PolyStamped> HasHeader;
+    return detail::_toJson(polyStamped, value, allocator, traits::Int2Type<HasHeader::value>());
+}
+
+template <class PolygonType, class HeaderType>
+bool fromJson(const rapidjson::Value &value, PolygonType &polyStamped)
+{
+    using namespace geometry_msgs::polygon;
+
+    if ( !value.HasMember("header") ){
+        assert(false);
+        return false;
+    }
+    if ( !value.HasMember("polygon") ){
+        assert(false);
+        return false;
+    }
+
+    typedef traits::HasMemberSetHeader<PolygonType> HasHeader;
+    if ( !detail::setHeader(value["header"], polyStamped, traits::Int2Type<HasHeader::value>())){
+        assert(false);
+        return false;
+    }
+
+    if ( !polygon::fromJson(value["polygon"], polyStamped.polygon()) ){
+        assert(false);
+        return false;
+    }
+
+    return true;
+}
+
+} // namespace polygon_stamped
+} // namespace geometry_msgs
+} // namespace messages
+} // namespace ros_bridge

src/comm/ros_bridge/include/messages/nemo_msgs/heartbeat.h

+#pragma once
+
+#include "ros_bridge/rapidjson/include/rapidjson/document.h"
+
+namespace ros_bridge {
+//! @brief Namespace containing classes and methodes ros message generation.
+namespace messages {
+//! @brief Namespace containing classes and methodes for geometry_msgs generation.
+namespace nemo_msgs {
+//! @brief Namespace containing methodes for geometry_msgs/GeoPoint message generation.
+namespace heartbeat {
+
+
+std::string messageType(){
+    return "nemo_msgs/Heartbeat";
+}
+
+
+//! @brief C++ representation of nemo_msgs/Heartbeat message
+class Heartbeat{
+public:
+    Heartbeat(){}
+    Heartbeat(int status) :_status(status){}
+    Heartbeat(const Heartbeat &heartbeat) : _status(heartbeat.status()){}
+
+    virtual int     status      (void)const    {return _status;}
+    virtual void    setStatus   (int status)    {_status = status;}
+protected:
+    int _status;
+};
+
+
+template <class HeartbeatType>
+bool toJson(const HeartbeatType &heartbeat, rapidjson::Value &value, rapidjson::Document::AllocatorType &allocator)
+{
+    value.AddMember("status", std::int32_t(heartbeat.status()), allocator);
+    value.AddMember("type", rapidjson::Value().SetString(messageType().c_str()), allocator);
+    return true;
+}
+
+template <class HeartbeatType>
+bool fromJson(const rapidjson::Value &value, HeartbeatType &heartbeat)
+{
+    if (!value.HasMember("status") || !value["status"].IsInt()){
+        assert(false);
+        return false;
+    }
+
+    heartbeat.setStatus(value["status"].GetInt());
+    return true;
+}
+
+} // namespace heartbeat
+} // namespace nemo_msgs
+} // namespace messages
+} // namespace ros_bridge

src/comm/ros_bridge/include/messages/nemo_msgs/progress.h

+#pragma once
+
+#include "ros_bridge/rapidjson/include/rapidjson/document.h"
+
+#include <vector>
+
+
+namespace ros_bridge {
+//! @brief Namespace containing classes and methodes ros message generation.
+namespace messages {
+//! @brief Namespace containing classes and methodes for geometry_msgs generation.
+namespace nemo_msgs {
+//! @brief Namespace containing methodes for geometry_msgs/Point32 message generation.
+namespace progress {
+
+
+std::string messageType(){
+    return "nemo_msgs/Progress";
+}
+
+//! @brief C++ representation of nemo_msgs/Progress message
+template <class IntType = long, template <class, class...> class ContainterType = std::vector>
+class GenericProgress{
+public:
+    GenericProgress() {}
+    GenericProgress(const ContainterType<IntType> &progress) : _progress(progress){}
+    GenericProgress(const GenericProgress &p) : _progress(p.progress()){}
+
+    virtual const ContainterType<IntType> &progress(void) const {return _progress;}
+    virtual       ContainterType<IntType> &progress(void)       {return _progress;}
+
+protected:
+    ContainterType<IntType> _progress;
+};
+typedef GenericProgress<> Progress;
+
+
+template <class ProgressType>
+bool toJson(const ProgressType &p, rapidjson::Value &value, rapidjson::Document::AllocatorType &allocator)
+{
+    rapidjson::Value jProgress(rapidjson::kArrayType);
+    for(unsigned long i=0; i < std::uint64_t(p.progress().size()); ++i){
+        jProgress.PushBack(rapidjson::Value().SetInt(std::int32_t(p.progress()[i])), allocator);
+    }
+    value.AddMember("progress", jProgress, allocator);
+    value.AddMember("type", rapidjson::Value().SetString(messageType().c_str()), allocator);
+    return true;
+}
+
+template <class ProgressType>
+bool fromJson(const rapidjson::Value &value, ProgressType &p)
+{
+    if (!value.HasMember("progress") || !value["progress"].IsArray()){
+        assert(false);
+        return false;
+    }
+
+    const auto& jsonProgress = value["progress"];
+    unsigned long sz = jsonProgress.Size();
+    p.progress().clear();
+    p.progress().reserve(sz);
+    for (unsigned long i=0; i < sz; ++i)
+        p.progress().push_back(std::int32_t(jsonProgress[i].GetInt()));
+    return true;
+}
+
+} // namespace progress
+} // namespace nemo_msgs
+} // namespace messages
+} // namespace ros_bridge

src/comm/ros_bridge/include/messages/std_msgs/header.h

+#pragma once
+
+#include "ros_bridge/rapidjson/include/rapidjson/document.h"
+#include "ros_bridge/include/messages/std_msgs/time.h"
+
+#include <string>
+
+namespace ros_bridge {
+//! @brief Namespace containing classes and methodes ros message generation.
+namespace messages {
+//! @brief Namespace containing classes and methodes for std_msgs generation.
+namespace std_msgs {
+//! @brief Namespace containing classes and methodes for std_msgs/Header message generation.
+namespace header {
+
+
+std::string messageType(){
+    return "std_msgs/Header";
+}
+
+//! @brief C++ representation of std_msgs/Header
+class Header{
+public:
+    using Time = std_msgs::time::Time;
+    Header() : _seq(_defaultSeq++), _stamp(Time()), _frameId("") {}
+    Header(uint32_t seq, const Time &stamp, const std::string &frame_id) :
+        _seq(seq)
+      , _stamp(stamp)
+      , _frameId(frame_id) {}
+
+    Header(const Header &header) :
+        _seq(header.seq())
+      , _stamp(header.stamp())
+      , _frameId(header.frameId()) {}
+
+    uint32_t            seq()       const {return _seq;}
+    const Time          &stamp()     const {return _stamp;}
+    const std::string   &frameId()   const {return _frameId;}
+
+    Time            &stamp()         {return _stamp;}
+    std::string     &frameId()       {return _frameId;}
+
+    void setSeq     (uint32_t seq)                  {_seq = seq;}
+    void setStamp   (const Time &stamp)             {_stamp = stamp;}
+    void setFrameId (const std::string  &frameId)   {_frameId = frameId;}
+private:
+    static uint32_t _defaultSeq = 0;
+    uint32_t    _seq;
+    Time        _stamp;
+    std::string _frameId;
+};
+
+template <class HeaderType>
+bool toJson(const HeaderType &header,
+            rapidjson::Value &value,
+            rapidjson::Document::AllocatorType &allocator)     {
+    value.AddMember("seq", rapidjson::Value().SetUint(uint32_t(header.seq())), allocator);
+
+    rapidjson::Value stamp(rapidjson::kObjectType);
+    if (!Time::toJson(header.stamp(), stamp, allocator)){
+        assert(false);
+        return false;
+    }
+    value.AddMember("stamp", stamp, allocator);
+
+    value.AddMember("frame_id",
+                  rapidjson::Value().SetString(header.frameId().data(),
+                                               header.frameId().length(),
+                                               allocator),
+                  allocator);
+    value.AddMember("type", rapidjson::Value().SetString(messageType().c_str()), allocator);
+
+    return true;
+}
+
+template <class HeaderType>
+bool fromJson(const rapidjson::Value &value,
+              HeaderType &header)     {
+    if (!value.HasMember("seq")|| !value["seq"].IsUint()){
+        assert(false);
+        return false;
+    }
+    if (!value.HasMember("stamp")){
+        assert(false);
+        return false;
+    }
+    if (!value.HasMember("frame_id")|| !value["frame_id"].IsString()){
+        assert(false);
+        return false;
+    }
+    header.setSeq(value["seq"].GetUint());
+    decltype(header.stamp()) time;
+    if (!Time::fromJson(value["stamp"], time)){
+        assert(false);
+        return false;
+    }
+    header.setStamp(time);
+    header.setFrameId(value["frame_id"].GetString());
+
+    return true;
+}
+
+} // namespace time
+} // namespace std_msgs
+} // namespace messages
+} // namespace ros_bridge

src/comm/ros_bridge/include/messages/std_msgs/time.h

+#pragma once
+
+#include "ros_bridge/rapidjson/include/rapidjson/document.h"
+
+namespace ros_bridge {
+//! @brief Namespace containing classes and methodes ros message generation.
+namespace messages {
+//! @brief Namespace containing classes and methodes for std_msgs generation.
+namespace std_msgs {
+//! @brief Namespace containing classes and methodes for std_msgs/Time message generation.
+namespace time {
+
+std::string messageType(){
+    return "std_msgs/Time";
+}
+
+//! @brief C++ representation of std_msgs/Time
+class Time{
+public:
+    Time(): _secs(0), _nsecs(0) {}
+    Time(uint32_t secs, uint32_t nsecs): _secs(secs), _nsecs(nsecs) {}
+    Time(const Time &time): _secs(time.secs()), _nsecs(time.nSecs()) {}
+
+    uint32_t secs()  const {return _secs;}
+    uint32_t nSecs() const {return _nsecs;}
+
+    void setSecs(uint32_t secs)     {_secs = secs;}
+    void setNSecs(uint32_t nsecs)   {_nsecs = nsecs;}
+
+private:
+    uint32_t _secs;
+    uint32_t _nsecs;
+};
+
+template<class TimeType>
+bool toJson(const TimeType &time,
+            rapidjson::Value &value,
+            rapidjson::Document::AllocatorType &allocator)
+{
+    value.AddMember("secs", rapidjson::Value().SetUint(uint32_t(time.secs())), allocator);
+    value.AddMember("nsecs", rapidjson::Value().SetUint(uint32_t(time.nSecs())), allocator);
+    value.AddMember("type", rapidjson::Value().SetString(messageType().c_str()), allocator);
+
+    return true;
+}
+
+template<class TimeType>
+bool fromJson(const rapidjson::Value &value,
+              TimeType &time)
+{
+    if (!value.HasMember("secs") || !value["secs"].IsUint()){
+        assert(false);
+        return false;
+    }
+    if (!value.HasMember("nsecs")|| !value["nsecs"].IsUint()){
+        assert(false);
+        return false;
+    }
+    time.setSecs(value["secs"].GetUint());
+    time.setNSecs(value["nsecs"].GetUint());
+
+    return true;
+}
+
+} // namespace time
+} // namespace std_msgs
+} // namespace messages
+} // namespace ros_bridge

src/comm/ros_bridge/include/ROSBridge.h → src/comm/ros_bridge/include/ros_bridge.h

@@ -4,37 +4,29 @@
 #include "ros_bridge/include/CasePacker.h"
 #include "ros_bridge/include/TypeFactory.h"
 #include "ros_bridge/include/JsonFactory.h"
-#include "ros_bridge/include/TopicPublisher.h"
-#include "ros_bridge/include/TopicSubscriber.h"
-#include "ros_bridge/include/Server.h"
+#include "ros_bridge/include/topic_publisher.h"
+#include "ros_bridge/include/topic_subscriber.h"
+#include "ros_bridge/include/server.h"
 
 #include <memory>
 #include <functional>
 
-namespace ROSBridge {
+namespace ros_bridge {
 class ROSBridge
 {
-public:    
-    typedef MessageTag Tag;
+public:
     typedef rapidjson::Document JsonDoc;
     typedef std::unique_ptr<JsonDoc> JsonDocUPtr;
 
     explicit ROSBridge();
     explicit ROSBridge(const char* connectionString);
-
-    template<class T>
-    void publish(T &msg, const std::string &topic){
-        _topicPublisher.publish(msg, topic);
-    }
-    void publish(JsonDocUPtr doc);
+    void publish(JsonDocUPtr doc, const char* topic);
     void subscribe(const char *topic,
                    const std::function<void(JsonDocUPtr)> &callBack);
-    void advertiseService(const std::string &service,
-                          const std::string &type,
+    void advertiseService(const char* service,
+                          const char* type,
                           const std::function<JsonDocUPtr(JsonDocUPtr)> &callback);
 
-    const CasePacker *casePacker() const;
-
     //! @brief Start ROS bridge.
     void start();
     //! @brief Stops ROS bridge.
@@ -42,18 +34,14 @@ public:
     //! @return Returns true if connected to the rosbridge_server, false either.
     //! @note This function can block up to 100ms. However normal execution time is smaller.
     bool connected();
-
     bool isRunning();
 
 private:
-    std::shared_ptr<std::atomic_bool> _stopped;
-    TypeFactory             _typeFactory;
-    JsonFactory             _jsonFactory;
-    CasePacker              _casePacker;
-    RosbridgeWsClient       _rbc;
-    ComPrivate::TopicPublisher     _topicPublisher;
-    ComPrivate::TopicSubscriber    _topicSubscriber;
-    ComPrivate::Server             _server;
+    std::shared_ptr<std::atomic_bool>   _stopped;
+    RosbridgeWsClient                   _rbc;
+    com_private::TopicPublisher          _topicPublisher;
+    com_private::TopicSubscriber         _topicSubscriber;
+    com_private::Server                  _server;
 
 };
 

src/comm/ros_bridge/include/Server.cpp → src/comm/ros_bridge/include/server.cpp

-#include "Server.h"
+#include "server.h"
 
 #include "rapidjson/include/rapidjson/ostreamwrapper.h"
 
-ROSBridge::ComPrivate::Server::Server(CasePacker &casePacker, RosbridgeWsClient &rbc) :
+ros_bridge::com_private::Server::Server(CasePacker &casePacker, RosbridgeWsClient &rbc) :
     _rbc(rbc)
   , _casePacker(casePacker)
   , _stopped(std::make_shared<std::atomic_bool>(true))
@@ -10,7 +10,7 @@ ROSBridge::ComPrivate::Server::Server(CasePacker &casePacker, RosbridgeWsClient
 
 }
 
-void ROSBridge::ComPrivate::Server::advertiseService(const std::string &service,
+void ros_bridge::com_private::Server::advertiseService(const std::string &service,
                                                      const std::string &type,
                                                      const Server::CallbackType &userCallback)
 {
@@ -74,17 +74,17 @@ void ROSBridge::ComPrivate::Server::advertiseService(const std::string &service,
     });
 }
 
-ROSBridge::ComPrivate::Server::~Server()
+ros_bridge::com_private::Server::~Server()
 {
     this->reset();
 }
 
-void ROSBridge::ComPrivate::Server::start()
+void ros_bridge::com_private::Server::start()
 {
     _stopped->store(false);
 }
 
-void ROSBridge::ComPrivate::Server::reset()
+void ros_bridge::com_private::Server::reset()
 {
     if ( _stopped->load() )
         return;

src/comm/ros_bridge/include/Server.h → src/comm/ros_bridge/include/server.h

 #pragma once
 
-#include "ros_bridge/include/ComPrivateInclude.h"
+#include "ros_bridge/include/com_private.h"
 #include "ros_bridge/include/RosBridgeClient.h"
 #include "ros_bridge/include/TypeFactory.h"
 #include "ros_bridge/include/CasePacker.h"
 
 #include <unordered_map>
 
-namespace ROSBridge {
-namespace ComPrivate {
+namespace ros_bridge {
+namespace com_private {
 
 class Server
 {

src/comm/ros_bridge/include/TopicPublisher.cpp → src/comm/ros_bridge/include/topic_publisher.cpp

-#include "TopicPublisher.h"
+#include "topic_publisher.h"
 
 #include <unordered_map>
 
-ROSBridge::ComPrivate::TopicPublisher::TopicPublisher(CasePacker &casePacker,
+ros_bridge::com_private::TopicPublisher::TopicPublisher(CasePacker &casePacker,
                                                       RosbridgeWsClient &rbc) :
       _stopped(std::make_shared<std::atomic_bool>(true))
     , _casePacker(casePacker)
@@ -11,12 +11,12 @@ ROSBridge::ComPrivate::TopicPublisher::TopicPublisher(CasePacker &casePacker,
 
 }
 
-ROSBridge::ComPrivate::TopicPublisher::~TopicPublisher()
+ros_bridge::com_private::TopicPublisher::~TopicPublisher()
 {
     this->reset();
 }
 
-void ROSBridge::ComPrivate::TopicPublisher::start()
+void ros_bridge::com_private::TopicPublisher::start()
 {
     if ( !_stopped->load() )  // start called while thread running.
         return;
@@ -26,48 +26,44 @@ void ROSBridge::ComPrivate::TopicPublisher::start()
         std::unordered_map<std::string, std::string> topicMap;
         // Main Loop.
         while( !this->_stopped->load() ){
-            JsonDocUPtr pJsonDoc;
-            {
-                std::unique_lock<std::mutex> lk(this->_mutex);
-                // Check if new data available, wait if not.
-                if (this->_queue.empty()){
-                    if ( _stopped->load() ) // Check condition again while holding the lock.
-                        break;
-                    this->_cv.wait(lk); // Wait for condition, spurious wakeups don't matter in this case.
-                    continue;
-                }
-                // Pop message from queue.
-                pJsonDoc = std::move(this->_queue.front());
-                this->_queue.pop_front();
+            std::unique_lock<std::mutex> lk(this->_mutex);
+            // Check if new data available, wait if not.
+            if (this->_queue.empty()){
+                if ( _stopped->load() ) // Check condition again while holding the lock.
+                    break;
+                this->_cv.wait(lk); // Wait for condition, spurious wakeups don't matter in this case.
+                continue;
             }
+            // Pop message from queue.
+            JsonDocUPtr pJsonDoc = std::move(this->_queue.front());
+            this->_queue.pop_front();
+            lk.unlock();
 
-            // Get tag from Json message and remove it.
-            Tag tag;
-            bool ret = this->_casePacker.getTag(pJsonDoc, tag);
-            assert(ret); // Json message does not contain a tag;
-            (void)ret;
-            this->_casePacker.removeTag(pJsonDoc);
+            // Get topic and type from Json message and remove it.
+            std::string topic;
+            assert(com_private::getTopic(*pJsonDoc, topic));
+            assert(com_private::removeTopic(*pJsonDoc));
+            std::string type;
+            assert(com_private::getType(*pJsonDoc, type));
+            assert(com_private::removeType(*pJsonDoc));
 
             // Check if topic must be advertised.
-            // Advertised topics are stored in advertisedTopicsHashList as
-            // a hash.
-            std::string clientName = ROSBridge::ComPrivate::_topicAdvertiserKey
-                                   + tag.topic();
+            std::string clientName =
+                    ros_bridge::com_private::_topicAdvertiserKey
+                    + topic;
             auto it =  topicMap.find(clientName);
             if ( it ==  topicMap.end()) { // Need to advertise topic?
-                 topicMap.insert(std::make_pair(clientName, tag.topic()));
+                 topicMap.insert(std::make_pair(clientName, topic));
                  this->_rbc.addClient(clientName);
-                 this->_rbc.advertise(clientName,
-                                   tag.topic(),
-                                   tag.messageType() );
-                 this->_rbc.waitForTopic(tag.topic(), [this]{
+                 this->_rbc.advertise(clientName, topic, type);
+                 this->_rbc.waitForTopic(topic, [this]{
                      return this->_stopped->load();
                  }); // Wait until topic is advertised.
             }
 
             // Publish Json message.
             if ( !this->_stopped->load() )
-                this->_rbc.publish(tag.topic(), *pJsonDoc.get());
+                this->_rbc.publish(topic, *pJsonDoc);
         } // while loop
 
         // Tidy up.
@@ -80,24 +76,30 @@ void ROSBridge::ComPrivate::TopicPublisher::start()
     });
 }
 
-void ROSBridge::ComPrivate::TopicPublisher::reset()
+void ros_bridge::com_private::TopicPublisher::reset()
 {
     if ( _stopped->load() )  // stop called while thread not running.
         return;
-    {
-        std::lock_guard<std::mutex> lk(_mutex);
-        std::cout << "TopicPublisher: _stopped->store(true)." << std::endl;
-        _stopped->store(true);
-        std::cout << "TopicPublisher: ask publisher thread to stop." << std::endl;
-        _cv.notify_one(); // Wake publisher thread.
-    }
+    std::unique_lock<std::mutex> lk(_mutex);
+    _stopped->store(true);
+    _cv.notify_one(); // Wake publisher thread.
+    lk.unlock();
+
     if ( !_pThread )
         return;
     _pThread->join();
-    std::cout << "TopicPublisher: publisher thread joined." << std::endl;
-    {
-        _queue.clear();
-        std::cout << "TopicPublisher: queue cleard." << std::endl;
-    }
+
+    lk.lock();
+    _queue.clear();
+}
+
+void ros_bridge::com_private::TopicPublisher::publish(
+        ros_bridge::com_private::JsonDocUPtr docPtr,
+        const char *topic){
+    docPtr->AddMember("topic", topic, doc->GetAllocator());
+    std::unique_lock<std::mutex> lock(_mutex);
+    _queue.push_back(std::move(docPtr));
+    lock.unlock();
+    _cv.notify_one();  // Wake publisher thread.
 }
 

src/comm/ros_bridge/include/TopicPublisher.h → src/comm/ros_bridge/include/topic_publisher.h

 #pragma once
 
-#include "ros_bridge/include/TypeFactory.h"
-#include "ros_bridge/include/CasePacker.h"
-#include "ros_bridge/include/ComPrivateInclude.h"
+#include "ros_bridge/include/com_private.h"
 #include "ros_bridge/include/RosBridgeClient.h"
 
 #include <thread>
-#include <deque>
 #include <atomic>
 #include <mutex>
-#include <set>
 #include <condition_variable>
 
-namespace ROSBridge {
-namespace ComPrivate {
+namespace ros_bridge {
+namespace com_private {
 
 struct ThreadData;
 
@@ -35,25 +31,12 @@ public:
     //! @brief Resets the publisher.
     void reset();
 
-    void publish(JsonDocUPtr docPtr){
-        {
-        std::lock_guard<std::mutex> lock(_mutex);
-        _queue.push_back(std::move(docPtr));
-        }
-        _cv.notify_one();  // Wake publisher thread.
-    }
-
-    template<class T>
-    void publish(const T &msg, const std::string &topic){
-        JsonDocUPtr docPtr(_casePacker.pack(msg, topic));
-        publish(std::move(docPtr));
-    }
+    void publish(JsonDocUPtr docPtr, const char *topic);
 
 private:
     JsonQueue           _queue;
     std::mutex          _mutex;
     std::shared_ptr<std::atomic_bool>   _stopped;
-    CasePacker         &_casePacker;
     RosbridgeWsClient  &_rbc;
     CondVar             _cv;
     ThreadPtr           _pThread;

src/comm/ros_bridge/include/TopicSubscriber.cpp → src/comm/ros_bridge/include/topic_subscriber.cpp

-#include "TopicSubscriber.h"
+#include "topic_subscriber.h"
 
 #include <thread>
 
-ROSBridge::ComPrivate::TopicSubscriber::TopicSubscriber(CasePacker &casePacker,
-        RosbridgeWsClient &rbc) :
-    _casePacker(casePacker)
-  , _rbc(rbc)
+ros_bridge::com_private::TopicSubscriber::TopicSubscriber(RosbridgeWsClient &rbc) :
+    _rbc(rbc)
   , _stopped(std::make_shared<std::atomic_bool>(true))
 {
 
 }
 
-ROSBridge::ComPrivate::TopicSubscriber::~TopicSubscriber()
+ros_bridge::com_private::TopicSubscriber::~TopicSubscriber()
 {
     this->reset();
 }
 
-void ROSBridge::ComPrivate::TopicSubscriber::start()
+void ros_bridge::com_private::TopicSubscriber::start()
 {
     _stopped->store(false);
 }
 
-void ROSBridge::ComPrivate::TopicSubscriber::reset()
+void ros_bridge::com_private::TopicSubscriber::reset()
 {
     if ( !_stopped->load() ){
-        std::cout << "TopicSubscriber: _stopped->store(true) " << std::endl;
         _stopped->store(true);
         {
             for (auto &item : _topicMap){
-                std::cout << "TopicSubscriber: unsubscribe " << item.second << std::endl;
                 _rbc.unsubscribe(item.second);
-                std::cout << "TopicSubscriber: removeClient " << item.first << std::endl;
                 _rbc.removeClient(item.first);
             }
         }
         _topicMap.clear();
-        std::cout << "TopicSubscriber: _topicMap cleared " << std::endl;
     }
 }
 
-void ROSBridge::ComPrivate::TopicSubscriber::subscribe(
+void ros_bridge::com_private::TopicSubscriber::subscribe(
         const char *topic,
         const std::function<void(JsonDocUPtr)> &callback)
 {
     if ( _stopped->load() )
         return;
 
-    std::string clientName = ROSBridge::ComPrivate::_topicSubscriberKey
+    std::string clientName = ros_bridge::com_private::_topicSubscriberKey
                            + std::string(topic);
     auto it = _topicMap.find(clientName);
     if ( it != _topicMap.end() ){ // Topic already subscribed?
@@ -55,7 +49,6 @@ void ROSBridge::ComPrivate::TopicSubscriber::subscribe(
     _topicMap.insert(std::make_pair(clientName, std::string(topic)));
 
     // Wrap callback.
-    using namespace std::placeholders;
     auto callbackWrapper = [callback](
             std::shared_ptr<WsClient::Connection>,
             std::shared_ptr<WsClient::InMessage> in_message)

src/comm/ros_bridge/include/TopicSubscriber.h → src/comm/ros_bridge/include/topic_subscriber.h

 #pragma once
 
-#include "ros_bridge/include/ComPrivateInclude.h"
+#include "ros_bridge/include/com_private.h"
 #include "ros_bridge/include/RosBridgeClient.h"
-#include "ros_bridge/include/TypeFactory.h"
-#include "ros_bridge/include/CasePacker.h"
 
 #include <unordered_map>
 
-namespace ROSBridge {
-namespace ComPrivate {
+namespace ros_bridge {
+namespace com_private {
 
 
 typedef std::function<void(JsonDocUPtr)> CallbackType;
@@ -19,7 +17,7 @@ class TopicSubscriber
 public:
 
     TopicSubscriber() = delete;
-    TopicSubscriber(CasePacker &casePacker, RosbridgeWsClient &rbc);
+    TopicSubscriber(RosbridgeWsClient &rbc);
     ~TopicSubscriber();
 
     //! @brief Starts the subscriber.
@@ -34,11 +32,7 @@ public:
     void subscribe(const char* topic, const CallbackType &callback);
 
 private:
-
-
-
-    CasePacker         &_casePacker;
-    RosbridgeWsClient  &_rbc;
+    RosbridgeWsClient   &_rbc;
     TopicMap            _topicMap;
     std::shared_ptr<std::atomic_bool>   _stopped;
 };

src/comm/ros_bridge/src/CasePacker.cpp

-#include "ros_bridge/include/CasePacker.h"
-
-const char* ROSBridge::CasePacker::topicKey         = "topic";
-const char* ROSBridge::CasePacker::messageTypeKey   = "messageType";
-
-ROSBridge::CasePacker::CasePacker(TypeFactory *typeFactory, JsonFactory *jsonFactory) :
-    _typeFactory(typeFactory)
-  , _jsonFactory(jsonFactory)
-{
-
-}
-
-bool ROSBridge::CasePacker::getTag(const JsonDocUPtr &pDoc, Tag &tag) const
-{
-    if( !getTopic(pDoc, tag.topic()) )
-        return false;
-    if( !getMessageType(pDoc, tag.messageType()) )
-        return false;
-    return true;
-}
-
-void ROSBridge::CasePacker::addTag(JsonDocUPtr &pDoc, const std::string &topic, const std::string &messageType) const
-{
-    using namespace ROSBridge;
-    using namespace rapidjson;
-
-    {
-    // add topic
-    rapidjson::Value key(CasePacker::topicKey, pDoc->GetAllocator());
-    rapidjson::Value value(topic.c_str(), pDoc->GetAllocator());
-    pDoc->AddMember(key, value, pDoc->GetAllocator());
-    }
-
-    // add messageType
-    rapidjson::Value key(CasePacker::messageTypeKey, pDoc->GetAllocator());
-    rapidjson::Value value(messageType.c_str(), pDoc->GetAllocator());
-    pDoc->AddMember(key, value, pDoc->GetAllocator());
-}
-
-void ROSBridge::CasePacker::addTag(JsonDocUPtr &doc, const ROSBridge::CasePacker::Tag &tag) const
-{
-    addTag(doc, tag.topic(), tag.messageType());
-}
-
-void ROSBridge::CasePacker::removeTag(JsonDocUPtr &pDoc) const
-{
-    using namespace ROSBridge;
-    using namespace rapidjson;
-    if ( pDoc->HasMember(CasePacker::topicKey) )
-        pDoc->RemoveMember(CasePacker::topicKey);
-    if ( pDoc->HasMember(CasePacker::messageTypeKey) )
-        pDoc->RemoveMember(CasePacker::messageTypeKey);
-}
-
-bool ROSBridge::CasePacker::getTopic(const JsonDocUPtr &pDoc, std::string &topic) const
-{
-    if (!pDoc->HasMember(CasePacker::topicKey) || !(*pDoc)[CasePacker::topicKey].IsString())
-        return false;
-    topic = (*pDoc)[CasePacker::topicKey].GetString();
-    return true;
-}
-
-bool ROSBridge::CasePacker::getMessageType(const JsonDocUPtr&pDoc, std::string &messageType) const
-{
-    if (!pDoc->HasMember(CasePacker::messageTypeKey) || !(*pDoc)[CasePacker::messageTypeKey].IsString())
-        return false;
-    messageType = (*pDoc)[CasePacker::messageTypeKey].GetString();
-    return true;
-}

src/comm/ros_bridge/src/ROSBridge.cpp → src/comm/ros_bridge/src/ros_bridge.cpp

-#include "ros_bridge/include/ROSBridge.h"
+#include "ros_bridge/include/ros_bridge.h"
 
-ROSBridge::ROSBridge::ROSBridge(const char *connectionString) :
+
+ros_bridge::ROSBridge::ROSBridge(const char *connectionString) :
     _stopped(std::make_shared<std::atomic_bool>(true))
-  ,  _casePacker(&_typeFactory, &_jsonFactory)
   , _rbc(connectionString, false /*run*/)
-  , _topicPublisher(_casePacker, _rbc)
-  , _topicSubscriber(_casePacker, _rbc)
-  , _server(_casePacker, _rbc)
+  , _topicPublisher(_rbc)
+  , _topicSubscriber(_rbc)
+  , _server(_rbc)
 {
 }
 
-ROSBridge::ROSBridge::ROSBridge() :
-    ROSBridge::ROSBridge::ROSBridge("localhost:9090")
+ros_bridge::ROSBridge::ROSBridge() :
+    ros_bridge::ROSBridge::ROSBridge("localhost:9090")
 {
 }
 
-void ROSBridge::ROSBridge::publish(ROSBridge::ROSBridge::JsonDocUPtr doc)
+void ros_bridge::ROSBridge::publish(ros_bridge::ROSBridge::JsonDocUPtr doc, const char* topic)
 {
-    _topicPublisher.publish(std::move(doc));
+    _topicPublisher.publish(std::move(doc), topic);
 }
 
-void ROSBridge::ROSBridge::subscribe(const char *topic, const std::function<void(JsonDocUPtr)> &callBack)
+void ros_bridge::ROSBridge::subscribe(const char *topic, const std::function<void(JsonDocUPtr)> &callBack)
 {
     _topicSubscriber.subscribe(topic, callBack);
 }
 
-void ROSBridge::ROSBridge::advertiseService(const std::string &service,
-                                            const std::string &type,
-                                            const std::function<JsonDocUPtr(JsonDocUPtr)> &callback)
+void ros_bridge::ROSBridge::advertiseService(const char *service,
+                                             const char *type,
+                                             const std::function<JsonDocUPtr(JsonDocUPtr)> &callback)
 {
     _server.advertiseService(service, type, callback);
 }
 
-const ROSBridge::CasePacker *ROSBridge::ROSBridge::casePacker() const
-{
-    return &_casePacker;
-}
-
-void ROSBridge::ROSBridge::start()
+void ros_bridge::ROSBridge::start()
 {
     _stopped->store(false);
     _rbc.run();
@@ -46,7 +41,7 @@ void ROSBridge::ROSBridge::start()
     _server.start();
 }
 
-void ROSBridge::ROSBridge::reset()
+void ros_bridge::ROSBridge::reset()
 {
     auto start = std::chrono::high_resolution_clock::now();
     _stopped->store(true);
@@ -56,21 +51,21 @@ void ROSBridge::ROSBridge::reset()
     _rbc.reset();
     auto end = std::chrono::high_resolution_clock::now();
     auto delta = std::chrono::duration_cast<std::chrono::milliseconds>(end-start).count();
-    std::cout << "ROSBridge reset duration: " << delta << " ms" << std::endl;
+    std::cout << "ros_bridge reset duration: " << delta << " ms" << std::endl;
 }
 
-bool ROSBridge::ROSBridge::connected()
+bool ros_bridge::ROSBridge::connected()
 {
     return _rbc.connected();
 }
 
-bool ROSBridge::ROSBridge::isRunning()
+bool ros_bridge::ROSBridge::isRunning()
 {
     return !_stopped->load();
 }
 
 
-bool ROSBridge::isValidConnectionString(const char *connectionString)
+bool ros_bridge::isValidConnectionString(const char *connectionString)
 {
     return is_valid_port_path(connectionString);
 }

src/comm/utilities.h

@@ -73,15 +73,4 @@ private:
     bool            _isInitialized;
 };
 
-template <typename T>
-struct Type2Type{
-    typedef T OriginalType;
-};
-
-
-template <int k>
-struct Int2Type{
-    enum {value = k};
-};
-
 #endif // UTILITIES_H