From dfc155f77ad97f100d4486c1db3b1b818af7aa0f Mon Sep 17 00:00:00 2001
From: Sheung Ying Yuen-Wille <SheungYing.Yuen@bosch.com>
Date: Wed, 6 Nov 2024 18:10:57 +0100
Subject: [PATCH] update to Locator 1.10

Signed-off-by: Sheung Ying Yuen-Wille <SheungYing.Yuen@bosch.com>
---
 bosch_locator_bridge/README.md                |  6 ++++-
 .../src/locator_bridge_node.cpp               | 24 ++++++++++---------
 .../src/server/server_bridge_node.cpp         | 23 +++++++++---------
 3 files changed, 30 insertions(+), 23 deletions(-)

diff --git a/bosch_locator_bridge/README.md b/bosch_locator_bridge/README.md
index bad5c46..3cf45fc 100755
--- a/bosch_locator_bridge/README.md
+++ b/bosch_locator_bridge/README.md
@@ -9,7 +9,7 @@ It translates ROS 2 messages to the ROKIT Locator API (as described in the ROKIT
 It also allows to control the ROKIT Locator via ROS 2 service calls.
 
 The package has been tested under [ROS 2] Humble and Ubuntu 22.04.
-The bridge is compatible with ROKIT Locator version 1.9.
+The bridge is compatible with ROKIT Locator version 1.10.
 If you have an earlier version, see [Support of earlier versions of ROKIT Locator](#support-of-earlier-versions-of-rokit-locator).
 
 ## Quick Start
@@ -357,6 +357,10 @@ touch locator_ros_bridge/bosch_locator_bridge_utils/COLCON_IGNORE
 
 But if you need the `bosch_locator_bridge_utils` package, see [issue #50](https://github.com/boschglobal/locator_ros_bridge/issues/50).
 
+If you have version 1.9, checkout the corresponding tag:
+
+    git checkout 2.1.11 -b humble-v1.9
+
 If you have version 1.8, checkout the corresponding tag:
 
     git checkout 2.1.10 -b humble-v1.8
diff --git a/bosch_locator_bridge/src/locator_bridge_node.cpp b/bosch_locator_bridge/src/locator_bridge_node.cpp
index 333c9a3..6d7fa5a 100755
--- a/bosch_locator_bridge/src/locator_bridge_node.cpp
+++ b/bosch_locator_bridge/src/locator_bridge_node.cpp
@@ -41,23 +41,25 @@ using std::placeholders::_2;
 /// locator module versions to check against. Format is name, { major_version, minor_version }
 static const std::unordered_map<std::string, std::pair<int32_t, int32_t>> REQUIRED_MODULE_VERSIONS({
   {"AboutModules", {5, 0}},
-  {"Session", {3, 1}},
-  {"System", {3, 2}},
-//  {"Diagnostic", {5, 1}},
-  {"Licensing", {7, 1}},
+  {"Session", {4, 0}},
+  // {"System", {3, 2}},
+  // {"Diagnostic", {7, 0}},
+  // {"Licensing", {7, 2}},
   {"Config", {8, 0}},
   {"AboutBuild", {3, 1}},
-  {"Certificate", {3, 0}},
-//  {"User", {1, 0}},
-//  {"ClientApplication", {1, 1}},
+  // {"Certificate", {3, 0}},
+  // {"User", {1, 0}},
+  // {"Internal", {1, 1}},
+  // {"DataExchange", {1, 0}},
+  // {"ClientApplication", {1, 2}},
   {"ClientControl", {3, 2}},
-  {"ClientRecording", {4, 0}},
-  {"ClientMap", {4, 0}},
+  {"ClientRecording", {5, 0}},
+  {"ClientMap", {4, 1}},
   {"ClientLocalization", {7, 2}},
 //  {"ClientManualAlign", {5, 0}},
   {"ClientGlobalAlign", {4, 0}},
-//  {"ClientLaserMask", {6, 0}},
-  {"ClientSensor", {7, 0}},
+//  {"ClientLaserMask", {6, 1}},
+  {"ClientSensor", {7, 1}},
 //  {"ClientUser", {4, 0}},
   {"ClientExpandMap", {4, 0}},
 });
diff --git a/bosch_locator_bridge/src/server/server_bridge_node.cpp b/bosch_locator_bridge/src/server/server_bridge_node.cpp
index 6fefaf8..9db0cd0 100644
--- a/bosch_locator_bridge/src/server/server_bridge_node.cpp
+++ b/bosch_locator_bridge/src/server/server_bridge_node.cpp
@@ -38,19 +38,20 @@ using std::placeholders::_2;
 static const std::unordered_map<std::string, std::pair<int32_t, int32_t>>
 REQUIRED_MODULE_VERSIONS({
   {"AboutModules", {5, 0}},
-  {"Session", {3, 1}},
-  {"System", {3, 2}},
-  {"Diagnostic", {5, 1}},
-  {"Licensing", {7, 1}},
+  {"Session", {4, 0}},
+//  {"System", {3, 2}},
+//  {"Diagnostic", {7, 0}},
+//  {"Licensing", {7, 2}},
   {"Config", {8, 0}},
   {"AboutBuild", {3, 1}},
-  {"Certificate", {3, 0}},
-  {"User", {1, 0}},
-  {"Internal", {1, 0}},
-  {"ServerInternal", {3, 0}},
-  {"ServerMap", {7, 0}},
-  {"ServerPostAlign", {1, 0}},
-  {"ServerUser", {4, 0}}
+//  {"Certificate", {3, 0}},
+//  {"User", {1, 0}},
+//  {"Internal", {1, 1}},
+//  {"DataExchange", {1, 0}},
+//  {"ServerInternal", {3, 1}},
+  {"ServerMap", {8, 0}},
+//  {"ServerPostAlign", {1, 0}},
+//  {"ServerUser", {4, 0}},
 });
 
 ServerBridgeNode::ServerBridgeNode(const std::string & nodeName)