eclipse-ecal · mbeards · Mar 25, 2025
diff --git a/rosidl_adapter_proto/bin/rosidl_adapter_proto b/rosidl_adapter_proto/bin/rosidl_adapter_proto
@@ -23,7 +23,7 @@ import sys
 import pathlib
 import os
 
-from rosidl_cmake import read_generator_arguments
+from rosidl_cmake import read_generator_arguments, convert_camel_case_to_lower_case_underscore
 from rosidl_adapter_proto import generate_proto
 from rosidl_adapter_proto import compile_proto
 
@@ -65,10 +65,11 @@ def main(argv=sys.argv[1:]):
         assert len(idl_parts) == 2
         idl_rel_path = pathlib.Path(idl_parts[1])
         idl_stem = idl_rel_path.stem
+        proto_stem = convert_camel_case_to_lower_case_underscore(idl_stem)
         generated_file = os.path.join(
                     generator_args['output_dir'],
                     str(idl_rel_path.parent),
-                    idl_stem + ".proto"
+                    proto_stem + ".proto"
         )
         proto_files.append(str(pathlib.Path(generated_file).resolve()))
 

diff --git a/rosidl_adapter_proto/cmake/rosidl_adapt_proto_interfaces.cmake b/rosidl_adapter_proto/cmake/rosidl_adapt_proto_interfaces.cmake
@@ -62,9 +62,11 @@ foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
   get_filename_component(_parent_folder "${_abs_idl_file}" DIRECTORY)
   get_filename_component(_parent_folder "${_parent_folder}" NAME)
   get_filename_component(_idl_name "${_abs_idl_file}" NAME_WE)
-  list(APPEND rosidl_adapter_proto_GENERATED_CPP "${rosidl_adapter_proto_OUTPUT_DIR}/${_parent_folder}/${_idl_name}.pb.cc")
-  list(APPEND rosidl_adapter_proto_GENERATED_H "${rosidl_adapter_proto_OUTPUT_DIR}/${_parent_folder}/${_idl_name}.pb.h")
-  list(APPEND rosidl_adapter_proto_GENERATED_PROTO "${rosidl_adapter_proto_OUTPUT_DIR}/${_parent_folder}/${_idl_name}.proto")
+  string_camel_case_to_lower_case_underscore("${_idl_name}" _idl_name_lower)
+
+  list(APPEND rosidl_adapter_proto_GENERATED_CPP "${rosidl_adapter_proto_OUTPUT_DIR}/${_parent_folder}/${_idl_name_lower}.pb.cc")
+  list(APPEND rosidl_adapter_proto_GENERATED_H "${rosidl_adapter_proto_OUTPUT_DIR}/${_parent_folder}/${_idl_name_lower}.pb.h")
+  list(APPEND rosidl_adapter_proto_GENERATED_PROTO "${rosidl_adapter_proto_OUTPUT_DIR}/${_parent_folder}/${_idl_name_lower}.proto")
 endforeach()
 
 add_custom_command(

diff --git a/rosidl_adapter_proto/resource/idl.proto.em b/rosidl_adapter_proto/resource/idl.proto.em
@@ -124,4 +124,4 @@ for action in content.get_elements_of_type(Action):
         interface_path=interface_path,
         action=action,
     )
-}@
+}@
diff --git a/rosidl_adapter_proto/rosidl_adapter_proto/__init__.py b/rosidl_adapter_proto/rosidl_adapter_proto/__init__.py
@@ -19,7 +19,7 @@
 import subprocess
 import zlib
 
-from rosidl_cmake import generate_files
+from rosidl_cmake import generate_files, convert_camel_case_to_lower_case_underscore
 import rosidl_parser.definition as rosidl
 
 # A postfix for the protobuf package name / the c++ namespace
@@ -83,7 +83,7 @@ def compute_proto_field_number(variable_name):
 
 def to_proto_import(namespaced_type):
     assert isinstance(namespaced_type, rosidl.NamespacedType)
-    return '/'.join(namespaced_type.namespaces + [namespaced_type.name]) + '.proto'
+    return '/'.join(namespaced_type.namespaces + [convert_camel_case_to_lower_case_underscore(namespaced_type.name)]) + '.proto'
 
 
 def collect_proto_imports(rosidl_message):
@@ -108,7 +108,12 @@ def generate_proto(generator_arguments_file):
     mapping = {
         'idl.proto.em': '%s.proto',
     }
-    generate_files(generator_arguments_file, mapping, keep_case=True)
+    generate_files(
+        generator_arguments_file,
+        mapping,
+        # Don't keep case - we want snake case
+        keep_case=False
+    )
     return 0
 
 

diff --git a/rosidl_adapter_proto/test/test_adapter_proto_message.py b/rosidl_adapter_proto/test/test_adapter_proto_message.py
@@ -88,7 +88,7 @@ def test_message_proto_generated(message_idl_file):
 
     proto_file_name = IdlLocator(
         pathlib.Path(__file__).parent,
-        pathlib.Path('msg') / 'BoolTest.proto')
+        pathlib.Path('msg') / 'bool_test.proto')
 
     assert search_word(proto_file_name.get_absolute_path(), member.name) is True
     assert search_word(proto_file_name.get_absolute_path(), str(field_number)) is True
@@ -150,7 +150,7 @@ def test_to_proto_import(message_idl_file):
     messages = message_idl_file.content.get_elements_of_type(Message)
     namespace_type = messages[0].structure.namespaced_type
     proto_import = to_proto_import(namespace_type)
-    assert proto_import == 'rosidl_adapter_proto/Bool.proto'
+    assert proto_import == 'rosidl_adapter_proto/bool.proto'
 
 
 def test_to_proto_import_invalid_argument():
@@ -164,7 +164,7 @@ def test_collect_proto_import(message_idl_file):
     for message in messages:
         proto_import_set.update(collect_proto_imports(message))
     for proto_file in proto_import_set:
-        assert proto_file == 'rosidl_adapter_proto/Bool.proto'
+        assert proto_file == 'rosidl_adapter_proto/bool.proto'
 
 
 def test_collect_proto_import_invalid_argument():

diff --git a/rosidl_typesupport_protobuf/rosidl_typesupport_protobuf/__init__.py b/rosidl_typesupport_protobuf/rosidl_typesupport_protobuf/__init__.py
@@ -80,7 +80,7 @@ def ros_message_functions_header_c_from_namespace(namespace, name):
 
 def protobuf_message_header(package_name, interface_path):
     include_parts = [package_name] + list(interface_path.parents[0].parts)
-    include_prefix = interface_path.stem
+    include_prefix = convert_camel_case_to_lower_case_underscore(interface_path.stem)
 
     return '/'.join(include_parts + [include_prefix + '.pb.h'])
-Original file line number
+Diff line change
@@ Expand Up / @@ -124,4 +124,4 @@ for action in content.get_elements_of_type(Action): @@
             interface_path=interface_path,
             action=action,
         )
-    }@
+    }@