Using MCEntityMatch.

Signed-off-by: Benjamin Perseghetti <[email protected]>
gazebosim · Feb 1, 2024 · e27a19c · e27a19c
1 parent 0d1108d
commit e27a19c
Showing 1 changed file with 8 additions and 6 deletions.
diff --git a/ros_gz_bridge/src/convert/ros_gz_interfaces.cpp b/ros_gz_bridge/src/convert/ros_gz_interfaces.cpp
@@ -14,6 +14,10 @@
 
 #include "ros_gz_bridge/convert/ros_gz_interfaces.hpp"
 
+#if HAVE_MATERIALCOLOR
+using MCEntityMatch = gz::msgs::MaterialColor::EntityMatch;
+#endif  // HAVE_MATERIALCOLOR
+
 namespace ros_gz_bridge
 {
 
@@ -389,12 +393,10 @@ convert_ros_to_gz(
 {
   switch (ros_msg.entity_match) {
     case ros_gz_interfaces::msg::MaterialColor::FIRST:
-      gz_msg.set_entity_match(
-        gz::msgs::MaterialColor::EntityMatch::MaterialColor_EntityMatch_FIRST);
+      gz_msg.set_entity_match(MCEntityMatch::MaterialColor_EntityMatch_FIRST);
       break;
     case ros_gz_interfaces::msg::MaterialColor::ALL:
-      gz_msg.set_entity_match(
-        gz::msgs::MaterialColor::EntityMatch::MaterialColor_EntityMatch_ALL);
+      gz_msg.set_entity_match(MCEntityMatch::MaterialColor_EntityMatch_ALL);
       break;
     default:
       std::cerr << "Unsupported entity match type ["
@@ -417,9 +419,9 @@ convert_gz_to_ros(
   const gz::msgs::MaterialColor & gz_msg,
   ros_gz_interfaces::msg::MaterialColor & ros_msg)
 {
-  if (gz_msg.entity_match() == gz::msgs::MaterialColor::EntityMatch::MaterialColor_EntityMatch_FIRST) {
+  if (gz_msg.entity_match() == MCEntityMatch::MaterialColor_EntityMatch_FIRST) {
     ros_msg.entity_match = ros_gz_interfaces::msg::MaterialColor::FIRST;
-  } else if (gz_msg.entity_match() == gz::msgs::MaterialColor::EntityMatch::MaterialColor_EntityMatch_ALL) {
+  } else if (gz_msg.entity_match() == MCEntityMatch::MaterialColor_EntityMatch_ALL) {
     ros_msg.entity_match = ros_gz_interfaces::msg::MaterialColor::ALL;
   } else {
     std::cerr << "Unsupported EntityMatch [" <<