Merge from gz-msgs10

Signed-off-by: Ian Chen <ichen@openrobotics.org>
gazebosim · Feb 20, 2025 · 6bf1288 · 6bf1288
2 parents 21a942b + 3c0ca94
commit 6bf1288
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Showing 4 changed files with 40 additions and 10 deletions.
diff --git a/BUILD.bazel b/BUILD.bazel
@@ -18,6 +18,7 @@ load(
     "gz_proto_library",
 )
 load("@rules_license//rules:license.bzl", "license")
+load("@rules_python//python:proto.bzl", "py_proto_library")
 
 package(
     default_applicable_licenses = [GZ_ROOT + "msgs:license"],
@@ -90,6 +91,11 @@ proto_library(
     ],
 )
 
+py_proto_library(
+    name = "gzmsgs_proto_py_pb2",
+    deps = [":gzmsgs_proto"]
+)
+
 gz_proto_library(
     name = "gzmsgs_cc_proto",
     proto_deps = [":gzmsgs_proto"],

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -100,8 +100,6 @@ set(GZ_UTILS_VER ${gz-utils3_VERSION_MAJOR})
 gz_find_package(gz-math8 REQUIRED)
 set(GZ_MATH_VER ${gz-math8_VERSION_MAJOR})
 
-find_package(Python3 REQUIRED COMPONENTS Interpreter)
-
 #--------------------------------------
 # Find if command is available. This is used to enable tests.
 # Note that CLI files are installed regardless of whether the dependency is

diff --git a/Changelog.md b/Changelog.md
@@ -60,6 +60,24 @@
 
 ## Gazebo Msgs 10.x
 
+### Gazebo Msgs 10.3.2 (2025-02-10)
+
+1. cmake extras: only find Python3 if needed
+    * [Pull request #479](https://github.com/gazebosim/gz-msgs/pull/479)
+
+### Gazebo Msgs 10.3.1 (2024-11-11)
+
+1. Add rule to build python version of protos
+    * [Pull request #474](https://github.com/gazebosim/gz-msgs/pull/474)
+
+1. Return only unique message types in `MessageFactory::Types` function
+    * [Pull request #472](https://github.com/gazebosim/gz-msgs/pull/472)
+
+### Gazebo Msgs 10.3.0 (2024-06-18)
+
+1. Backport: Adding cone primitives.
+    * [Pull request #442](https://github.com/gazebosim/gz-msgs/pull/442)
+
 ### Gazebo Msgs 10.2.0 (2024-05-17)
 
 1. CameraTrack message for advanced tracking and following.

diff --git a/core/src/MessageFactory.cc b/core/src/MessageFactory.cc
@@ -15,6 +15,8 @@
  *
 */
 
+#include <unordered_set>
+
 #ifdef _MSC_VER
 #pragma warning(push)
 #pragma warning(disable: 4146 4251)
@@ -60,16 +62,16 @@ MessageFactory::MessagePtr MessageFactory::New(
   {
     type = kGzMsgsPrefix + _msgType.substr(8);
   }
-  // Convert ".gz_msgs." prefix
-  else if (_msgType.find(".gz_msgs.") == 0)
-  {
-    type = kGzMsgsPrefix +  _msgType.substr(9);
-  }
   // Convert ".gz.msgs." prefix
   else if (_msgType.find(".gz.msgs.") == 0)
   {
     type = kGzMsgsPrefix + _msgType.substr(9);
   }
+  // Convert ".gz_msgs." prefix
+  else if (_msgType.find(".gz_msgs.") == 0)
+  {
+    type = kGzMsgsPrefix +  _msgType.substr(9);
+  }
   else
   {
     type = _msgType;
@@ -130,15 +132,21 @@ void MessageFactory::Types(std::vector<std::string> &_types)
 {
   _types.clear();
 
+  // Add the types loaded from descriptor files
+  std::vector<std::string> dynTypes;
+  this->dynamicFactory->Types(dynTypes);
+
+  // Use set to remove duplicates
+  std::unordered_set<std::string> typesSet(dynTypes.begin(), dynTypes.end());
+
   // Return the list of all known message types.
   std::map<std::string, FactoryFn>::const_iterator iter;
   for (iter = msgMap.begin(); iter != msgMap.end(); ++iter)
   {
-    _types.push_back(iter->first);
+    typesSet.insert(iter->first);
   }
 
-  // Add the types loaded from descriptor files
-  this->dynamicFactory->Types(_types);
+  std::copy(typesSet.begin(), typesSet.end(), std::back_inserter(_types));
 }
 
 /////////////////////////////////////////////////