Bug fix for fields in service calls with different names.

Signed-off-by: Tommy Persson <@[email protected]>
Signed-off-by: Tommy Persson <[email protected]>

Author: Tommy Persson

resource/interface_factories.cpp.em

@@ -317,11 +317,20 @@ void ServiceFactory<
   auto & @(field["ros2"]["name"])2 = req2.@(field["ros2"]["name"]);
 @[        end if]@
 @[        if field["basic"]]@
+@[      if frm == "1"]@
   @(field["ros2"]["name"])@(to) = @(field["ros1"]["name"])@(frm);
+@[        else]@
+  @(field["ros1"]["name"])@(to) = @(field["ros2"]["name"])@(frm);
+@[        end if]@
+@[        else]@
+@[      if frm == "1"]@
+  Factory<@(field["ros1"]["cpptype"]),@(field["ros2"]["cpptype"])>::convert_@(frm)_to_@(to)(@
+@(field["ros1"]["name"])@(frm), @(field["ros2"]["name"])@(to));
 @[        else]@
   Factory<@(field["ros1"]["cpptype"]),@(field["ros2"]["cpptype"])>::convert_@(frm)_to_@(to)(@
 @(field["ros2"]["name"])@(frm), @(field["ros1"]["name"])@(to));
 @[        end if]@
+@[        end if]@
 @[        if field["array"]]@
   }
 @[        end if]@

ros1_bridge/__init__.py

@@ -607,7 +607,9 @@ def determine_common_services(
                 ros2_type = str(ros2_fields[direction][i].type)
                 ros1_name = ros1_field[1]
                 ros2_name = ros2_fields[direction][i].name
-                if ros1_type != ros2_type or ros1_name != ros2_name:
+                # This must be wrong, different name with same type will now be allowed, changing it
+                #if ros1_type != ros2_type or ros1_name != ros2_name:
+                if ros1_type != ros2_type:
                     # if the message types have a custom mapping their names
                     # might not be equal, therefore check the message pairs
                     if (ros1_type, ros2_type) not in message_string_pairs: