Add new mappings and interface definitions for ROS1/ROS2 bridge

[Fouad-Smaoui]

🧾 Overview

This PR improves the ROS1/ROS2 bridge by:

• Adding new message, service, and action mappings

• Updating interface definitions to ensure functional parity between ROS1 and ROS2

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✅ Summary of Changes

1. 🧩 Message / Service / Action Mappings

File: ros2_ws/src/bridge_mapping/ros1_mapping.yaml

ROS1 Message / Service | ROS2 Equivalent | Description -- | -- | -- rosgraph_msgs/Log | rcl_interfaces/Log | Added full field mapping for logging std_msgs/String | std_msgs/String | Mapped data field geometry_msgs/Pose | geometry_msgs/Pose | Mapped position and orientation

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2. 📦 Interface Definition Enhancements

🔧 HardwareStatus.msg

• Files Updated:

  • niryo_msgs_definition/niryo_robot_msgs/msg/HardwareStatus.msg

  • ros2_ws/src/niryo_robot_msgs/msg/HardwareStatus.msg

• Change:

  • ➕ Added last_update_time field — tracks the latest hardware status update

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🤖 RobotState.msg

• Files Updated:

  • niryo_msgs_definition/niryo_robot_msgs/msg/RobotState.msg

  • ros2_ws/src/niryo_robot_msgs/msg/RobotState.msg

• Change:

  • ➕ Added battery_level field — monitors the robot’s battery level

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🎯 ObjectPose.msg

• Files Updated:

  • niryo_msgs_definition/niryo_robot_msgs/msg/ObjectPose.msg

  • ros2_ws/src/niryo_robot_msgs/msg/ObjectPose.msg

• Change:

  • ➕ Added confidence field — indicates the detection confidence for object pose

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📋 GetNameDescriptionList.srv

• Files Updated:

  • niryo_msgs_definition/niryo_robot_msgs/srv/GetNameDescriptionList.srv

  • ros2_ws/src/niryo_robot_msgs/srv/GetNameDescriptionList.srv

• Change:

  • ➕ Added timestamp field — indicates when the list was last updated