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[Personalrobots-commit] SF.net SVN: personalrobots:[7797] pkg/trunk
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From: <tf...@us...> - 2008-12-09 08:54:13
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Revision: 7797
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=7797&view=rev
Author: tfoote
Date: 2008-12-09 08:54:08 +0000 (Tue, 09 Dec 2008)
Log Message:
-----------
removing all dependencies on rosTF. Temporarily moving old message formats into tf before converting to new type only.
Modified Paths:
--------------
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/manifest.xml
pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller.cpp
pkg/trunk/demos/2dnav_gazebo/manifest.xml
pkg/trunk/mechanism/mechanism_control/include/mechanism_control/mechanism_control.h
pkg/trunk/mechanism/mechanism_control/src/mechanism_control.cpp
pkg/trunk/util/tf/include/tf/message_notifier.h
pkg/trunk/util/tf/include/tf/transform_broadcaster.h
pkg/trunk/util/tf/include/tf/transform_listener.h
pkg/trunk/util/tf/manifest.xml
pkg/trunk/util/tf/src/transform_listener.cpp
pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/robot_model_display.cpp
Added Paths:
-----------
pkg/trunk/util/tf/msg/TransformArray.msg
pkg/trunk/util/tf/msg/TransformDH.msg
pkg/trunk/util/tf/msg/TransformEuler.msg
pkg/trunk/util/tf/msg/TransformMatrix.msg
pkg/trunk/util/tf/msg/TransformQuaternion.msg
Removed Paths:
-------------
pkg/trunk/util/rosTF/msg/TransformArray.msg
pkg/trunk/util/rosTF/msg/TransformDH.msg
pkg/trunk/util/rosTF/msg/TransformEuler.msg
pkg/trunk/util/rosTF/msg/TransformMatrix.msg
pkg/trunk/util/rosTF/msg/TransformQuaternion.msg
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_controller.h 2008-12-09 08:19:00 UTC (rev 7796)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_controller.h 2008-12-09 08:54:08 UTC (rev 7797)
@@ -59,8 +59,7 @@
#include <misc_utils/realtime_publisher.h>
-#include <rosTF/rosTF.h>
-#include <rosTF/TransformEuler.h>
+#include <tf/TransformArray.h>
#include <pthread.h>
@@ -476,7 +475,7 @@
misc_utils::RealtimePublisher <std_msgs::RobotBase2DOdom>* publisher_ ; //!< Publishes the odometry msg from the update() realtime loop
- misc_utils::RealtimePublisher <rosTF::TransformArray>* transform_publisher_ ; //!< Publishes the odom to base transform msg from the update() realtime loop
+ misc_utils::RealtimePublisher <tf::TransformArray>* transform_publisher_ ; //!< Publishes the odom to base transform msg from the update() realtime loop
misc_utils::RealtimePublisher <pr2_msgs::Odometer>* odometer_publisher_ ; //!< Publishes the odom to base transform msg from the update() realtime loop
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/manifest.xml
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/manifest.xml 2008-12-09 08:19:00 UTC (rev 7796)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/manifest.xml 2008-12-09 08:54:08 UTC (rev 7797)
@@ -13,7 +13,6 @@
<depend package="robot_mechanism_controllers" />
<depend package="rospy" />
<depend package="libTF" />
- <depend package="rosTF" />
<depend package="std_msgs" />
<depend package="pr2_msgs" />
<depend package="robot_kinematics" />
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller.cpp 2008-12-09 08:19:00 UTC (rev 7796)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller.cpp 2008-12-09 08:54:08 UTC (rev 7797)
@@ -810,7 +810,7 @@
{
double x=0,y=0,yaw=0,vx,vy,vyaw;
this->getOdometry(x,y,yaw,vx,vy,vyaw);
- rosTF::TransformEuler &out = transform_publisher_->msg_.eulers[0];
+ tf::TransformEuler &out = transform_publisher_->msg_.eulers[0];
out.header.stamp.from_double(time);
out.header.frame_id = "odom";
out.parent = "base_footprint";
@@ -822,7 +822,7 @@
out.yaw = angles::normalize_angle(-yaw);
- rosTF::TransformEuler &out2 = transform_publisher_->msg_.eulers[1];
+ tf::TransformEuler &out2 = transform_publisher_->msg_.eulers[1];
out2.header.stamp.from_double(time);
out2.header.frame_id = "base_footprint";
out2.parent = "base_link";
@@ -936,7 +936,7 @@
if (transform_publisher_ != NULL)// Make sure that we don't memory leak if initXml gets called twice
delete transform_publisher_ ;
- transform_publisher_ = new misc_utils::RealtimePublisher <rosTF::TransformArray> ("TransformArray", 5) ;
+ transform_publisher_ = new misc_utils::RealtimePublisher <tf::TransformArray> ("TransformArray", 5) ;
node->param<double>("base_controller/odom_publish_rate",odom_publish_rate_,100);
Modified: pkg/trunk/demos/2dnav_gazebo/manifest.xml
===================================================================
--- pkg/trunk/demos/2dnav_gazebo/manifest.xml 2008-12-09 08:19:00 UTC (rev 7796)
+++ pkg/trunk/demos/2dnav_gazebo/manifest.xml 2008-12-09 08:54:08 UTC (rev 7797)
@@ -15,7 +15,7 @@
<depend package="teleop_arm_keyboard"/>
<depend package="laser_view"/>
<depend package="pr2_gui"/>
- <depend package="world_3d_map"/>
+ <!--depend package="world_3d_map"/ Commented due to breaking 12/9/08 Tully-->
<depend package="highlevel_controllers"/>
<depend package="executive_trex_pr2"/>
<depend package="robot_pose_ekf"/>
Modified: pkg/trunk/mechanism/mechanism_control/include/mechanism_control/mechanism_control.h
===================================================================
--- pkg/trunk/mechanism/mechanism_control/include/mechanism_control/mechanism_control.h 2008-12-09 08:19:00 UTC (rev 7796)
+++ pkg/trunk/mechanism/mechanism_control/include/mechanism_control/mechanism_control.h 2008-12-09 08:54:08 UTC (rev 7797)
@@ -51,7 +51,7 @@
#include <robot_srvs/SpawnController.h>
#include <robot_srvs/KillController.h>
#include <robot_msgs/MechanismState.h>
-#include "rosTF/TransformArray.h"
+#include "tf/TransformArray.h"
typedef controller::Controller* (*ControllerAllocator)();
@@ -129,7 +129,7 @@
const char* const mechanism_state_topic_;
misc_utils::RealtimePublisher<robot_msgs::MechanismState> publisher_;
- misc_utils::RealtimePublisher<rosTF::TransformArray> transform_publisher_;
+ misc_utils::RealtimePublisher<tf::TransformArray> transform_publisher_;
AdvertisedServiceGuard list_controllers_guard_, list_controller_types_guard_,
spawn_controller_guard_, kill_controller_guard_;
Modified: pkg/trunk/mechanism/mechanism_control/src/mechanism_control.cpp
===================================================================
--- pkg/trunk/mechanism/mechanism_control/src/mechanism_control.cpp 2008-12-09 08:19:00 UTC (rev 7796)
+++ pkg/trunk/mechanism/mechanism_control/src/mechanism_control.cpp 2008-12-09 08:54:08 UTC (rev 7797)
@@ -304,7 +304,7 @@
tf::Vector3 pos = mc_->state_->link_states_[i].rel_frame_.getOrigin();
tf::Quaternion quat = mc_->state_->link_states_[i].rel_frame_.getRotation();
- rosTF::TransformQuaternion &out = transform_publisher_.msg_.quaternions[ti++];
+ tf::TransformQuaternion &out = transform_publisher_.msg_.quaternions[ti++];
out.header.stamp.fromSec(mc_->hw_->current_time_);
out.header.frame_id = mc_->model_.links_[i]->name_;
Deleted: pkg/trunk/util/rosTF/msg/TransformArray.msg
===================================================================
--- pkg/trunk/util/rosTF/msg/TransformArray.msg 2008-12-09 08:19:00 UTC (rev 7796)
+++ pkg/trunk/util/rosTF/msg/TransformArray.msg 2008-12-09 08:54:08 UTC (rev 7797)
@@ -1,5 +0,0 @@
-Header header
-TransformEuler[] eulers
-TransformQuaternion[] quaternions
-TransformDH[] dhparams
-TransformMatrix[] matrices
Deleted: pkg/trunk/util/rosTF/msg/TransformDH.msg
===================================================================
--- pkg/trunk/util/rosTF/msg/TransformDH.msg 2008-12-09 08:19:00 UTC (rev 7796)
+++ pkg/trunk/util/rosTF/msg/TransformDH.msg 2008-12-09 08:54:08 UTC (rev 7797)
@@ -1,6 +0,0 @@
-Header header
-string parent
-float64 length
-float64 twist
-float64 offset
-float64 angle
\ No newline at end of file
Deleted: pkg/trunk/util/rosTF/msg/TransformEuler.msg
===================================================================
--- pkg/trunk/util/rosTF/msg/TransformEuler.msg 2008-12-09 08:19:00 UTC (rev 7796)
+++ pkg/trunk/util/rosTF/msg/TransformEuler.msg 2008-12-09 08:54:08 UTC (rev 7797)
@@ -1,8 +0,0 @@
-Header header
-string parent
-float64 x
-float64 y
-float64 z
-float64 yaw
-float64 pitch
-float64 roll
Deleted: pkg/trunk/util/rosTF/msg/TransformMatrix.msg
===================================================================
--- pkg/trunk/util/rosTF/msg/TransformMatrix.msg 2008-12-09 08:19:00 UTC (rev 7796)
+++ pkg/trunk/util/rosTF/msg/TransformMatrix.msg 2008-12-09 08:54:08 UTC (rev 7797)
@@ -1,3 +0,0 @@
-Header header
-string parent
-float64[] matrix #always 16 elements a 4x4 matrix unwrapped as row major
\ No newline at end of file
Deleted: pkg/trunk/util/rosTF/msg/TransformQuaternion.msg
===================================================================
--- pkg/trunk/util/rosTF/msg/TransformQuaternion.msg 2008-12-09 08:19:00 UTC (rev 7796)
+++ pkg/trunk/util/rosTF/msg/TransformQuaternion.msg 2008-12-09 08:54:08 UTC (rev 7797)
@@ -1,9 +0,0 @@
-Header header
-string parent
-float64 xt
-float64 yt
-float64 zt
-float64 xr
-float64 yr
-float64 zr
-float64 w
Modified: pkg/trunk/util/tf/include/tf/message_notifier.h
===================================================================
--- pkg/trunk/util/tf/include/tf/message_notifier.h 2008-12-09 08:19:00 UTC (rev 7796)
+++ pkg/trunk/util/tf/include/tf/message_notifier.h 2008-12-09 08:54:08 UTC (rev 7797)
@@ -42,7 +42,7 @@
#include <boost/thread.hpp>
/// \todo remove backward compatability
-#include "rosTF/TransformArray.h"
+#include "tf/TransformArray.h"
namespace tf
{
@@ -446,7 +446,7 @@
Message message_; ///< The incoming message
tfMessage transforms_message_; ///< The incoming TF transforms message
- rosTF::TransformArray old_transforms_message_; ///< The incoming old TF (rosTF) TransformArray message
+ tf::TransformArray old_transforms_message_; ///< The incoming old TF (rosTF) TransformArray message
bool destructing_; ///< Used to notify the worker thread that it needs to shutdown
boost::thread* thread_handle_; ///< Thread handle for the worker thread
Modified: pkg/trunk/util/tf/include/tf/transform_broadcaster.h
===================================================================
--- pkg/trunk/util/tf/include/tf/transform_broadcaster.h 2008-12-09 08:19:00 UTC (rev 7796)
+++ pkg/trunk/util/tf/include/tf/transform_broadcaster.h 2008-12-09 08:54:08 UTC (rev 7797)
@@ -37,7 +37,7 @@
#include "tf/tf.h"
#include "tf/tfMessage.h"
///\todo only for backwards compatabilty, remove!
-#include "rosTF/TransformArray.h"
+#include "tf/TransformArray.h"
namespace tf
{
@@ -54,7 +54,7 @@
{
node_.advertise<tfMessage>("/tf_message", 100);
///\todo remove when no longer backwards compatable
- node_.advertise<rosTF::TransformArray>("TransformArray", 100);
+ node_.advertise<tf::TransformArray>("TransformArray", 100);
};
/** \brief Send a Stamped<Transform> with parent parent_id
* The stamped data structure includes frame_id, and time, and parent_id already. */
@@ -67,7 +67,7 @@
///\todo removed for non collision with backwards compatability node_.publish("/tf_message", message);
///\todo only for backwards compatabilty, remove!
- rosTF::TransformArray tfArray;
+ tf::TransformArray tfArray;
tfArray.set_quaternions_size(1);
tfArray.quaternions[0].header.frame_id = transform.frame_id_;
@@ -99,7 +99,7 @@
///\todo removed for non collision with backwards compatability node_.publish("/tf_message", message);
///\todo only for backwards compatabilty, remove!
- rosTF::TransformArray tfArray;
+ tf::TransformArray tfArray;
tfArray.set_quaternions_size(1);
tfArray.quaternions[0].header.frame_id = frame_id;
Modified: pkg/trunk/util/tf/include/tf/transform_listener.h
===================================================================
--- pkg/trunk/util/tf/include/tf/transform_listener.h 2008-12-09 08:19:00 UTC (rev 7796)
+++ pkg/trunk/util/tf/include/tf/transform_listener.h 2008-12-09 08:54:08 UTC (rev 7797)
@@ -39,7 +39,7 @@
#include "ros/node.h"
/// \todo remove backward compatability only
-#include "rosTF/TransformArray.h"
+#include "tf/TransformArray.h"
// end remove
namespace tf{
@@ -52,7 +52,7 @@
/// \todo remove backward compatability only
//Temporary storage for callbacks(todo check threadsafe? make scoped in call?)
- rosTF::TransformArray tfArrayIn;
+ tf::TransformArray tfArrayIn;
public:
/**@brief Constructor for transform listener
Modified: pkg/trunk/util/tf/manifest.xml
===================================================================
--- pkg/trunk/util/tf/manifest.xml 2008-12-09 08:19:00 UTC (rev 7796)
+++ pkg/trunk/util/tf/manifest.xml 2008-12-09 08:54:08 UTC (rev 7797)
@@ -16,7 +16,6 @@
<depend package="roscpp"/>
<depend package="bullet"/>
<depend package="laser_scan"/>
-<depend package="rosTF"/> <!-- For backwards compatibility only Fixme remove /-->
<depend package="boost"/>
<export>
<cpp cflags="-I${prefix}/include -I${prefix}/msg/cpp" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -ltf"/>
Copied: pkg/trunk/util/tf/msg/TransformArray.msg (from rev 2888, pkg/trunk/util/rosTF/msg/TransformArray.msg)
===================================================================
--- pkg/trunk/util/tf/msg/TransformArray.msg (rev 0)
+++ pkg/trunk/util/tf/msg/TransformArray.msg 2008-12-09 08:54:08 UTC (rev 7797)
@@ -0,0 +1,5 @@
+Header header ### DO NOT USE THIS MESSAGE IT"S BEING PHASED OUT
+TransformEuler[] eulers
+TransformQuaternion[] quaternions
+TransformDH[] dhparams
+TransformMatrix[] matrices
Copied: pkg/trunk/util/tf/msg/TransformDH.msg (from rev 3240, pkg/trunk/util/rosTF/msg/TransformDH.msg)
===================================================================
--- pkg/trunk/util/tf/msg/TransformDH.msg (rev 0)
+++ pkg/trunk/util/tf/msg/TransformDH.msg 2008-12-09 08:54:08 UTC (rev 7797)
@@ -0,0 +1,6 @@
+Header header # DO NO USE MESSAGE
+string parent
+float64 length
+float64 twist
+float64 offset
+float64 angle
\ No newline at end of file
Copied: pkg/trunk/util/tf/msg/TransformEuler.msg (from rev 3240, pkg/trunk/util/rosTF/msg/TransformEuler.msg)
===================================================================
--- pkg/trunk/util/tf/msg/TransformEuler.msg (rev 0)
+++ pkg/trunk/util/tf/msg/TransformEuler.msg 2008-12-09 08:54:08 UTC (rev 7797)
@@ -0,0 +1,8 @@
+Header header # DO NOT USE MESSAGE
+string parent
+float64 x
+float64 y
+float64 z
+float64 yaw
+float64 pitch
+float64 roll
Copied: pkg/trunk/util/tf/msg/TransformMatrix.msg (from rev 3240, pkg/trunk/util/rosTF/msg/TransformMatrix.msg)
===================================================================
--- pkg/trunk/util/tf/msg/TransformMatrix.msg (rev 0)
+++ pkg/trunk/util/tf/msg/TransformMatrix.msg 2008-12-09 08:54:08 UTC (rev 7797)
@@ -0,0 +1,3 @@
+Header header # DO NOT USE MESSAGE
+string parent
+float64[] matrix #always 16 elements a 4x4 matrix unwrapped as row major
\ No newline at end of file
Copied: pkg/trunk/util/tf/msg/TransformQuaternion.msg (from rev 3240, pkg/trunk/util/rosTF/msg/TransformQuaternion.msg)
===================================================================
--- pkg/trunk/util/tf/msg/TransformQuaternion.msg (rev 0)
+++ pkg/trunk/util/tf/msg/TransformQuaternion.msg 2008-12-09 08:54:08 UTC (rev 7797)
@@ -0,0 +1,9 @@
+Header header #DO NOT USE MESSAGE
+string parent
+float64 xt
+float64 yt
+float64 zt
+float64 xr
+float64 yr
+float64 zr
+float64 w
Modified: pkg/trunk/util/tf/src/transform_listener.cpp
===================================================================
--- pkg/trunk/util/tf/src/transform_listener.cpp 2008-12-09 08:19:00 UTC (rev 7796)
+++ pkg/trunk/util/tf/src/transform_listener.cpp 2008-12-09 08:54:08 UTC (rev 7797)
@@ -280,7 +280,7 @@
{
///\todo Use error reporting
std::string temp = ex.what();
- printf("Failure to set recieved transform %s to %s with error: %s\n", msg_in_.transforms[i].header.frame_id.c_str(), msg_in_.transforms[i].parent_id.c_str(), temp.c_str());
+ ROS_ERROR("Failure to set recieved transform %s to %s with error: %s\n", msg_in_.transforms[i].header.frame_id.c_str(), msg_in_.transforms[i].parent_id.c_str(), temp.c_str());
}
}
Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/robot_model_display.cpp
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/robot_model_display.cpp 2008-12-09 08:19:00 UTC (rev 7796)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/robot_model_display.cpp 2008-12-09 08:54:08 UTC (rev 7797)
@@ -33,8 +33,8 @@
#include "properties/property.h"
#include "properties/property_manager.h"
+#include "ros/node.h"
#include "urdf/URDF.h"
-#include "rosTF/rosTF.h"
#include <OgreSceneNode.h>
#include <OgreSceneManager.h>
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