[foxy] gazebo_ros: Add inline keyword to template definitions (#1367)

gazebo_ros/include/gazebo_ros/conversions/builtin_interfaces.hpp

@@ -28,6 +28,7 @@ namespace gazebo_ros
 /// \param[in] in Gazebo Time to convert.
 /// \return A ROS Time message with the same value as in
 template<>
+inline
 builtin_interfaces::msg::Time Convert(const gazebo::common::Time & in)
 {
   builtin_interfaces::msg::Time time;
@@ -40,6 +41,7 @@ builtin_interfaces::msg::Time Convert(const gazebo::common::Time & in)
 /// \param[in] in Gazebo Time message to convert.
 /// \return A ROS Time message with the same value as in
 template<>
+inline
 builtin_interfaces::msg::Time Convert(const gazebo::msgs::Time & in)
 {
   builtin_interfaces::msg::Time time;
@@ -53,6 +55,7 @@ builtin_interfaces::msg::Time Convert(const gazebo::msgs::Time & in)
 /// \return Conversion result
 /// \tparam T Output type
 template<class T>
+inline
 T Convert(const builtin_interfaces::msg::Time &)
 {
   T::ConversionNotImplemented;
@@ -62,6 +65,7 @@ T Convert(const builtin_interfaces::msg::Time &)
 /// \param[in] in ROS Time message to convert.
 /// \return A Gazebo Time with the same value as in
 template<>
+inline
 gazebo::common::Time Convert(const builtin_interfaces::msg::Time & in)
 {
   gazebo::common::Time time;
@@ -75,6 +79,7 @@ gazebo::common::Time Convert(const builtin_interfaces::msg::Time & in)
 /// \return Conversion result
 /// \tparam T Output type
 template<class T>
+inline
 T Convert(const builtin_interfaces::msg::Duration &)
 {
   T::ConversionNotImplemented;
@@ -84,6 +89,7 @@ T Convert(const builtin_interfaces::msg::Duration &)
 /// \param[in] in ROS Time message to convert.
 /// \return A Gazebo Time with the same value as in
 template<>
+inline
 gazebo::common::Time Convert(const builtin_interfaces::msg::Duration & in)
 {
   gazebo::common::Time time;

gazebo_ros/include/gazebo_ros/conversions/gazebo_msgs.hpp

@@ -32,6 +32,7 @@ namespace gazebo_ros
 /// \return Conversion result
 /// \tparam T Output type
 template<class T>
+inline
 T Convert(const gazebo::msgs::Contacts &)
 {
   T::ConversionNotImplemented;
@@ -41,6 +42,7 @@ T Convert(const gazebo::msgs::Contacts &)
 /// \param[in] in Input message;
 /// \return A ROS Contacts state message with the same data as the input message
 template<>
+inline
 gazebo_msgs::msg::ContactsState Convert(const gazebo::msgs::Contacts & in)
 {
   gazebo_msgs::msg::ContactsState contact_state_msg;

gazebo_ros/include/gazebo_ros/conversions/generic.hpp

@@ -35,6 +35,7 @@ static rclcpp::Logger conversions_logger = rclcpp::get_logger("gazebo_ros_conver
 /// \return Conversion result
 /// \tparam T Output type
 template<class T>
+inline
 T Convert(const ignition::math::Vector3d &)
 {
   T::ConversionNotImplemented;
@@ -45,6 +46,7 @@ T Convert(const ignition::math::Vector3d &)
 /// \return Conversion result
 /// \tparam T Output type
 template<class T>
+inline
 T Convert(const ignition::math::Quaterniond &)
 {
   T::ConversionNotImplemented;
@@ -55,6 +57,7 @@ T Convert(const ignition::math::Quaterniond &)
 /// \return Conversion result
 /// \tparam T Output type
 template<class T>
+inline
 T Convert(const ignition::math::Pose3d &)
 {
   T::ConversionNotImplemented;
@@ -65,6 +68,7 @@ T Convert(const ignition::math::Pose3d &)
 /// \return Conversion result
 /// \tparam T Output type
 template<class T>
+inline
 T Convert(const gazebo::common::Time &)
 {
   T::ConversionNotImplemented;
@@ -74,6 +78,7 @@ T Convert(const gazebo::common::Time &)
 /// \param[in] in Gazebo Time to convert.
 /// \return A rclcpp::Time object with the same value as in
 template<>
+inline
 rclcpp::Time Convert(const gazebo::common::Time & in)
 {
   return rclcpp::Time(in.sec, in.nsec, rcl_clock_type_t::RCL_ROS_TIME);
@@ -84,6 +89,7 @@ rclcpp::Time Convert(const gazebo::common::Time & in)
 /// \return Conversion result
 /// \tparam T Output type
 template<class T>
+inline
 T Convert(const gazebo::msgs::Time &)
 {
   T::ConversionNotImplemented;

gazebo_ros/include/gazebo_ros/conversions/geometry_msgs.hpp

@@ -35,6 +35,7 @@ namespace gazebo_ros
 /// \return Conversion result
 /// \tparam T Output type
 template<class T>
+inline
 T Convert(const geometry_msgs::msg::Vector3 &)
 {
   T::ConversionNotImplemented;
@@ -44,6 +45,7 @@ T Convert(const geometry_msgs::msg::Vector3 &)
 /// \param[in] msg ROS message to convert.
 /// \return An Ignition Math vector.
 template<>
+inline
 ignition::math::Vector3d Convert(const geometry_msgs::msg::Vector3 & msg)
 {
   ignition::math::Vector3d vec;
@@ -58,6 +60,7 @@ ignition::math::Vector3d Convert(const geometry_msgs::msg::Vector3 & msg)
 /// \return Conversion result
 /// \tparam T Output type
 template<class T>
+inline
 T Convert(const geometry_msgs::msg::Point32 &)
 {
   T::ConversionNotImplemented;
@@ -67,6 +70,7 @@ T Convert(const geometry_msgs::msg::Point32 &)
 /// \param[in] in ROS message to convert.
 /// \return An Ignition Math vector.
 template<>
+inline
 ignition::math::Vector3d Convert(const geometry_msgs::msg::Point32 & in)
 {
   ignition::math::Vector3d vec;
@@ -81,6 +85,7 @@ ignition::math::Vector3d Convert(const geometry_msgs::msg::Point32 & in)
 /// \return Conversion result
 /// \tparam T Output type
 template<class T>
+inline
 T Convert(const geometry_msgs::msg::Point &)
 {
   T::ConversionNotImplemented;
@@ -91,6 +96,7 @@ T Convert(const geometry_msgs::msg::Point &)
 /// \param[in] in ROS message to convert.
 /// \return A ROS vector message.
 template<>
+inline
 geometry_msgs::msg::Vector3 Convert(const geometry_msgs::msg::Point & in)
 {
   geometry_msgs::msg::Vector3 msg;
@@ -104,6 +110,7 @@ geometry_msgs::msg::Vector3 Convert(const geometry_msgs::msg::Point & in)
 /// \param[in] in ROS message to convert.
 /// \return A ROS vector message.
 template<>
+inline
 ignition::math::Vector3d Convert(const geometry_msgs::msg::Point & in)
 {
   ignition::math::Vector3d out;
@@ -117,6 +124,7 @@ ignition::math::Vector3d Convert(const geometry_msgs::msg::Point & in)
 /// \param[in] vec Ignition vector to convert.
 /// \return ROS geometry vector message
 template<>
+inline
 geometry_msgs::msg::Vector3 Convert(const ignition::math::Vector3d & vec)
 {
   geometry_msgs::msg::Vector3 msg;
@@ -130,6 +138,7 @@ geometry_msgs::msg::Vector3 Convert(const ignition::math::Vector3d & vec)
 /// \param[in] vec Ignition vector to convert.
 /// \return ROS geometry point message
 template<>
+inline
 geometry_msgs::msg::Point Convert(const ignition::math::Vector3d & vec)
 {
   geometry_msgs::msg::Point msg;
@@ -143,6 +152,7 @@ geometry_msgs::msg::Point Convert(const ignition::math::Vector3d & vec)
 /// \param[in] in Ignition Quaternion to convert.
 /// \return ROS geometry quaternion message
 template<>
+inline
 geometry_msgs::msg::Quaternion Convert(const ignition::math::Quaterniond & in)
 {
   geometry_msgs::msg::Quaternion msg;
@@ -157,6 +167,7 @@ geometry_msgs::msg::Quaternion Convert(const ignition::math::Quaterniond & in)
 /// \param[in] in Ignition Pose3d to convert.
 /// \return ROS geometry transform message
 template<>
+inline
 geometry_msgs::msg::Transform Convert(const ignition::math::Pose3d & in)
 {
   geometry_msgs::msg::Transform msg;
@@ -169,6 +180,7 @@ geometry_msgs::msg::Transform Convert(const ignition::math::Pose3d & in)
 /// \param[in] in Ignition Pose3d to convert.
 /// \return ROS geometry pose message
 template<>
+inline
 geometry_msgs::msg::Pose Convert(const ignition::math::Pose3d & in)
 {
   geometry_msgs::msg::Pose msg;
@@ -182,6 +194,7 @@ geometry_msgs::msg::Pose Convert(const ignition::math::Pose3d & in)
 /// \return Conversion result
 /// \tparam T Output type
 template<class T>
+inline
 T Convert(const geometry_msgs::msg::Quaternion &)
 {
   T::ConversionNotImplemented;
@@ -191,6 +204,7 @@ T Convert(const geometry_msgs::msg::Quaternion &)
 /// \param[in] in Input quaternion message
 /// \return Ignition math quaternion with same values as the input message
 template<>
+inline
 ignition::math::Quaterniond Convert(const geometry_msgs::msg::Quaternion & in)
 {
   return ignition::math::Quaterniond(in.w, in.x, in.y, in.z);
@@ -201,6 +215,7 @@ ignition::math::Quaterniond Convert(const geometry_msgs::msg::Quaternion & in)
 /// \return Conversion result
 /// \tparam T Output type
 template<class T>
+inline
 T Convert(const geometry_msgs::msg::Transform &)
 {
   T::ConversionNotImplemented;
@@ -210,6 +225,7 @@ T Convert(const geometry_msgs::msg::Transform &)
 /// \param[in] in ROS message to convert.
 /// \return A Ignition Math pose3d.
 template<>
+inline
 ignition::math::Pose3d Convert(const geometry_msgs::msg::Transform & in)
 {
   ignition::math::Pose3d msg;
@@ -223,6 +239,7 @@ ignition::math::Pose3d Convert(const geometry_msgs::msg::Transform & in)
 /// \return Conversion result
 /// \tparam T Output type
 template<class T>
+inline
 T Convert(const geometry_msgs::msg::Pose &)
 {
   T::ConversionNotImplemented;
@@ -232,6 +249,7 @@ T Convert(const geometry_msgs::msg::Pose &)
 /// \param[in] in ROS pose message to convert.
 /// \return A ROS geometry transform message.
 template<>
+inline
 geometry_msgs::msg::Transform Convert(const geometry_msgs::msg::Pose & in)
 {
   geometry_msgs::msg::Transform msg;
@@ -244,6 +262,7 @@ geometry_msgs::msg::Transform Convert(const geometry_msgs::msg::Pose & in)
 /// \param[in] in ROS pose message to convert.
 /// \return Ignition Math pose.
 template<>
+inline
 ignition::math::Pose3d Convert(const geometry_msgs::msg::Pose & in)
 {
   return {Convert<ignition::math::Vector3d>(in.position),

gazebo_ros/include/gazebo_ros/conversions/sensor_msgs.hpp

@@ -40,6 +40,7 @@ namespace gazebo_ros
 /// \return Conversion result
 /// \tparam T Output type
 template<class T>
+inline
 T Convert(const gazebo::msgs::LaserScanStamped &, double min_intensity = 0.0)
 {
   (void)min_intensity;
@@ -53,6 +54,7 @@ T Convert(const gazebo::msgs::LaserScanStamped &, double min_intensity = 0.0)
 /// \note If multiple vertical rays are present, the LaserScan will be the
 ///       horizontal scan in the center of the vertical range
 template<>
+inline
 sensor_msgs::msg::LaserScan Convert(const gazebo::msgs::LaserScanStamped & in, double min_intensity)
 {
   sensor_msgs::msg::LaserScan ls;
@@ -95,6 +97,7 @@ sensor_msgs::msg::LaserScan Convert(const gazebo::msgs::LaserScanStamped & in, d
 /// \param[in] min_intensity The minimum intensity value to clip the output intensities
 /// \return A ROS PointCloud message with the same data as the input message
 template<>
+inline
 sensor_msgs::msg::PointCloud Convert(
   const gazebo::msgs::LaserScanStamped & in,
   double min_intensity)
@@ -178,6 +181,7 @@ sensor_msgs::msg::PointCloud Convert(
 /// \param[in] min_intensity The minimum intensity value to clip the output intensities
 /// \return A ROS PointCloud2 message with the same data as the input message
 template<>
+inline
 sensor_msgs::msg::PointCloud2 Convert(
   const gazebo::msgs::LaserScanStamped & in,
   double min_intensity)
@@ -283,6 +287,7 @@ sensor_msgs::msg::PointCloud2 Convert(
 /// \param[in] min_intensity Ignored.
 /// \return A ROS Range message with minimum range of the rays in the laser scan
 template<>
+inline
 sensor_msgs::msg::Range Convert(const gazebo::msgs::LaserScanStamped & in, double min_intensity)
 {
   (void) min_intensity;