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[Personalrobots-commit] SF.net SVN: personalrobots:[10961] pkg/trunk
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From: <tf...@us...> - 2009-02-11 00:21:04
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Revision: 10961
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=10961&view=rev
Author: tfoote
Date: 2009-02-11 00:20:50 +0000 (Wed, 11 Feb 2009)
Log Message:
-----------
this is a major change. It is changing many messages from std_msgs to robot_msgs. The buildtest passes, I willneed to vet the tests afterwords ros#447 There will be a log migration tool coming out soon to deal with these changes, but this will break logs with tf_messages in it right now.
Modified Paths:
--------------
pkg/trunk/3rdparty/openrave/Makefile
pkg/trunk/calibration/kinematic_calibration/msg/CalibrationData.msg
pkg/trunk/calibration/kinematic_calibration/msg/SensorKinematics.msg
pkg/trunk/calibration/kinematic_calibration/scripts/joy_cmd_head.py
pkg/trunk/calibration/kinematic_calibration/src/sensor_kinematics_grabber.cpp
pkg/trunk/calibration/laser_camera_calibration/octave/startgathering.m
pkg/trunk/calibration/wheel_odometry_calibration/manifest.xml
pkg/trunk/calibration/wheel_odometry_calibration/src/odom_calib.cpp
pkg/trunk/calibration/wheel_odometry_calibration/src/odom_calib.h
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_pos.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_position_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_pan_tilt_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_servoing_controller.h
pkg/trunk/controllers/pr2_mechanism_controllers/msg/TrackLinkCmd.msg
pkg/trunk/controllers/pr2_mechanism_controllers/scripts/control_base_position.py
pkg/trunk/controllers/pr2_mechanism_controllers/scripts/control_base_position_ground_truth.py
pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py
pkg/trunk/controllers/pr2_mechanism_controllers/scripts/send_track_link_cmd.py
pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller_pos.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/base_position_controller.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/src/grasp_point_node.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/srv/GraspPointSrv.srv
pkg/trunk/controllers/pr2_mechanism_controllers/test/test_odom.cpp
pkg/trunk/controllers/pr2_mechanism_controllers/test/test_run_base_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_orientation_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_pose_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_position_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_torque_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_trajectory_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_velocity_controller.h
pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_orientation_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_pose_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_position_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_trajectory_controller.cpp
pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_velocity_controller.cpp
pkg/trunk/demos/2dnav_pr2/parse_logs.py
pkg/trunk/demos/2dnav_pr2/pose_listen.py
pkg/trunk/deprecated/deprecated_srvs/manifest.xml
pkg/trunk/deprecated/deprecated_srvs/srv/PolledStereoCloud.srv
pkg/trunk/deprecated/point_cloud_utils/include/point_cloud_utils/blob_finder.h
pkg/trunk/deprecated/point_cloud_utils/include/point_cloud_utils/scan_assembler.h
pkg/trunk/deprecated/point_cloud_utils/include/point_cloud_utils/timed_scan_assembler.h
pkg/trunk/deprecated/point_cloud_utils/manifest.xml
pkg/trunk/deprecated/point_cloud_utils/src/blob_finder.cpp
pkg/trunk/deprecated/point_cloud_utils/src/scan_assembler.cpp
pkg/trunk/deprecated/point_cloud_utils/src/timed_scan_assembler.cpp
pkg/trunk/deprecated/ransac_ground_plane_extraction/include/ransac_ground_plane_extraction/ransac_ground_plane_extraction.h
pkg/trunk/deprecated/ransac_ground_plane_extraction/include/ransac_ground_plane_extraction/ransac_ground_plane_extraction_node.h
pkg/trunk/deprecated/ransac_ground_plane_extraction/src/ransac_ground_plane_extraction.cpp
pkg/trunk/deprecated/ransac_ground_plane_extraction/src/ransac_ground_plane_extraction_node.cpp
pkg/trunk/deprecated/robot_filter/include/robot_filter/RobotFilter.h
pkg/trunk/deprecated/robot_filter/src/robot_filter.cpp
pkg/trunk/deprecated/scan_utils/include/dataTypes.h
pkg/trunk/deprecated/scan_utils/include/listen_node/scanListenNode.h
pkg/trunk/deprecated/scan_utils/include/smartScan.h
pkg/trunk/deprecated/scan_utils/manifest.xml
pkg/trunk/deprecated/scan_utils/msg/OctreeMsg.msg
pkg/trunk/deprecated/scan_utils/src/cloudToOctree/cloudToOctree.cpp
pkg/trunk/deprecated/scan_utils/src/dataTypes.cpp
pkg/trunk/deprecated/scan_utils/src/listen_node/scanListenNode.cpp
pkg/trunk/deprecated/scan_utils/src/smartScan.cpp
pkg/trunk/drivers/cam/dcam/src/nodes/dcam.cpp
pkg/trunk/drivers/imu/imu_node/imu_node.cc
pkg/trunk/drivers/laser/laser_scan_annotator/manifest.xml
pkg/trunk/drivers/laser/laser_scan_annotator/msg/LaserScanAnnotated.msg
pkg/trunk/drivers/robot/erratic_player/erratic_player.cc
pkg/trunk/drivers/robot/katana/srv/KatanaIK.srv
pkg/trunk/drivers/robot/katana/srv/KatanaPose.srv
pkg/trunk/drivers/robot/pr2/point_cloud_assembler/include/point_cloud_assembler/base_assembler_srv.h
pkg/trunk/drivers/robot/pr2/point_cloud_assembler/manifest.xml
pkg/trunk/drivers/robot/pr2/point_cloud_assembler/src/grab_cloud_data.cpp
pkg/trunk/drivers/robot/pr2/point_cloud_assembler/src/laser_scan_assembler_srv.cpp
pkg/trunk/drivers/robot/pr2/point_cloud_assembler/src/point_cloud_assembler_srv.cpp
pkg/trunk/drivers/robot/pr2/point_cloud_assembler/src/point_cloud_snapshotter.cpp
pkg/trunk/drivers/robot/pr2/point_cloud_assembler/srv/BuildCloud.srv
pkg/trunk/drivers/robot/pr2/point_cloud_assembler/test/test_assembler.cpp
pkg/trunk/drivers/robot/pr2/pr2_phase_space/src/phase_space_fake_localization.cpp
pkg/trunk/drivers/robot/pr2/pr2_phase_space/src/phase_space_odometry.cpp
pkg/trunk/drivers/robot/pr2/pr2_phase_space/src/phase_space_pan_tilt.cpp
pkg/trunk/drivers/robot/pr2/pr2_phase_space/src/phase_space_pose_stamped.cpp
pkg/trunk/drivers/robot/segway_apox/segway.cpp
pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_block_laser.h
pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_f3d.h
pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_p3d.h
pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_stereo_camera.h
pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_block_laser.cpp
pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_f3d.cpp
pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_p3d.cpp
pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_stereo_camera.cpp
pkg/trunk/estimation/robot_pose_ekf/src/odom_estimation_node.h
pkg/trunk/estimation/robot_pose_ekf/test/test_ekf.cpp
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/src/BaseStateAdapter.hh
pkg/trunk/highlevel/executive_trex/executive_trex_pr2/test/groundtruthtransform.cpp
pkg/trunk/highlevel/highlevel_controllers/include/highlevel_controllers/move_base.hh
pkg/trunk/highlevel/highlevel_controllers/src/move_base.cpp
pkg/trunk/highlevel/highlevel_controllers/src/move_base_follow.cpp
pkg/trunk/manip/spacenav_node/manifest.xml
pkg/trunk/manip/spacenav_node/src/spacenav_node.cpp
pkg/trunk/manip/teleop_spacenav/manifest.xml
pkg/trunk/manip/teleop_spacenav/spacenav_teleop.py
pkg/trunk/mapping/collision_map/src/collision_map.cpp
pkg/trunk/mapping/collision_map/src/collision_map_buffer.cpp
pkg/trunk/mapping/door_handle_detector/manifest.xml
pkg/trunk/mapping/door_handle_detector/scripts/find_door.py
pkg/trunk/mapping/door_handle_detector/src/door_handle_detector.cpp
pkg/trunk/mapping/door_handle_detector/src/geometric_helper.cpp
pkg/trunk/mapping/door_handle_detector/src/geometric_helper.h
pkg/trunk/mapping/door_handle_detector/test/door_handle_detection_test.cpp
pkg/trunk/mapping/door_handle_detector/test/open_door_executive_test.cpp
pkg/trunk/mapping/planar_patch_map/manifest.xml
pkg/trunk/mapping/planar_patch_map/src/planar_patch_map.cpp
pkg/trunk/mapping/planar_patch_map/src/planar_patch_map_omp.cpp
pkg/trunk/mapping/point_cloud_mapping/include/cloud_geometry/angles.h
pkg/trunk/mapping/point_cloud_mapping/include/cloud_geometry/areas.h
pkg/trunk/mapping/point_cloud_mapping/include/cloud_geometry/distances.h
pkg/trunk/mapping/point_cloud_mapping/include/cloud_geometry/intersections.h
pkg/trunk/mapping/point_cloud_mapping/include/cloud_geometry/nearest.h
pkg/trunk/mapping/point_cloud_mapping/include/cloud_geometry/point.h
pkg/trunk/mapping/point_cloud_mapping/include/cloud_geometry/projections.h
pkg/trunk/mapping/point_cloud_mapping/include/cloud_geometry/statistics.h
pkg/trunk/mapping/point_cloud_mapping/include/cloud_geometry/transforms.h
pkg/trunk/mapping/point_cloud_mapping/include/cloud_kdtree/kdtree.h
pkg/trunk/mapping/point_cloud_mapping/include/point_cloud_mapping/cloud_io.h
pkg/trunk/mapping/point_cloud_mapping/include/sample_consensus/sac.h
pkg/trunk/mapping/point_cloud_mapping/include/sample_consensus/sac_model.h
pkg/trunk/mapping/point_cloud_mapping/include/sample_consensus/sac_model_circle.h
pkg/trunk/mapping/point_cloud_mapping/include/sample_consensus/sac_model_cylinder.h
pkg/trunk/mapping/point_cloud_mapping/include/sample_consensus/sac_model_line.h
pkg/trunk/mapping/point_cloud_mapping/include/sample_consensus/sac_model_oriented_line.h
pkg/trunk/mapping/point_cloud_mapping/include/sample_consensus/sac_model_plane.h
pkg/trunk/mapping/point_cloud_mapping/include/sample_consensus/sac_model_sphere.h
pkg/trunk/mapping/point_cloud_mapping/src/cloud_downsampler.cpp
pkg/trunk/mapping/point_cloud_mapping/src/cloud_geometry/areas.cpp
pkg/trunk/mapping/point_cloud_mapping/src/cloud_geometry/distances.cpp
pkg/trunk/mapping/point_cloud_mapping/src/cloud_geometry/intersections.cpp
pkg/trunk/mapping/point_cloud_mapping/src/cloud_geometry/nearest.cpp
pkg/trunk/mapping/point_cloud_mapping/src/cloud_geometry/point.cpp
pkg/trunk/mapping/point_cloud_mapping/src/cloud_geometry/statistics.cpp
pkg/trunk/mapping/point_cloud_mapping/src/cloud_geometry/transforms.cpp
pkg/trunk/mapping/point_cloud_mapping/src/cloud_io/misc.cpp
pkg/trunk/mapping/point_cloud_mapping/src/cloud_io/read.cpp
pkg/trunk/mapping/point_cloud_mapping/src/cloud_io/tools/bag_to_pcd.cpp
pkg/trunk/mapping/point_cloud_mapping/src/cloud_io/tools/cloudmsg_to_screen.cpp
pkg/trunk/mapping/point_cloud_mapping/src/cloud_io/tools/pcd_to_msg.cpp
pkg/trunk/mapping/point_cloud_mapping/src/cloud_io/write.cpp
pkg/trunk/mapping/point_cloud_mapping/src/cloud_kdtree/convert.cpp
pkg/trunk/mapping/point_cloud_mapping/src/cloud_kdtree/search.cpp
pkg/trunk/mapping/point_cloud_mapping/src/normal_estimation.cpp
pkg/trunk/mapping/point_cloud_mapping/src/sample_consensus/mlesac.cpp
pkg/trunk/mapping/point_cloud_mapping/src/sample_consensus/sac.cpp
pkg/trunk/mapping/point_cloud_mapping/src/sample_consensus/sac_model_circle.cpp
pkg/trunk/mapping/point_cloud_mapping/src/sample_consensus/sac_model_cylinder.cpp
pkg/trunk/mapping/point_cloud_mapping/src/sample_consensus/sac_model_line.cpp
pkg/trunk/mapping/point_cloud_mapping/src/sample_consensus/sac_model_oriented_line.cpp
pkg/trunk/mapping/point_cloud_mapping/src/sample_consensus/sac_model_plane.cpp
pkg/trunk/mapping/point_cloud_mapping/src/sample_consensus/sac_model_sphere.cpp
pkg/trunk/mapping/point_cloud_mapping/test/cloud_io/test_io.cpp
pkg/trunk/mapping/point_cloud_mapping/test/cloud_kdtree/bunny_model.h
pkg/trunk/mapping/point_cloud_mapping/test/cloud_kdtree/test_kdtree.cpp
pkg/trunk/mapping/point_cloud_mapping/test/sample_consensus/test_circle_fit.cpp
pkg/trunk/mapping/point_cloud_mapping/test/sample_consensus/test_cylinder_fit.cpp
pkg/trunk/mapping/point_cloud_mapping/test/sample_consensus/test_line_fit.cpp
pkg/trunk/mapping/point_cloud_mapping/test/sample_consensus/test_plane_fit.cpp
pkg/trunk/mapping/point_cloud_mapping/test/sample_consensus/test_sphere_fit.cpp
pkg/trunk/mapping/semantic_point_annotator/manifest.xml
pkg/trunk/mapping/semantic_point_annotator/src/sac_ground_removal.cpp
pkg/trunk/mapping/semantic_point_annotator/src/semantic_point_annotator.cpp
pkg/trunk/mapping/semantic_point_annotator/src/semantic_point_annotator_omp.cpp
pkg/trunk/mapping/stereo_convex_patch_histogram/manifest.xml
pkg/trunk/mapping/stereo_convex_patch_histogram/src/convex_patch_histogram.cpp
pkg/trunk/mapping/table_object_detector/src/table_object_detector.cpp
pkg/trunk/mechanism/mechanism_control/src/mechanism_control.cpp
pkg/trunk/motion_planning/kinematic_planning/include/kinematic_planning/CollisionSpaceMonitor.h
pkg/trunk/motion_planning/plan_kinematic_path/src/plan_kinematic_path.cpp
pkg/trunk/motion_planning/planning_research/robarm3d/include/robarm3d/plan_path_node.h
pkg/trunk/motion_planning/planning_research/robarm3d/src/test/sim_grasp_path.cpp
pkg/trunk/motion_planning/planning_research/robarm3d/src/test/test_plan_path.cpp
pkg/trunk/motion_planning/planning_research/robarm3d/srv/PlanPathSrv.srv
pkg/trunk/nav/deadreckon/deadreckon.cpp
pkg/trunk/nav/deadreckon/manifest.xml
pkg/trunk/nav/fake_localization/fake_localization.cpp
pkg/trunk/nav/fake_localization/ground_truth_controller.cpp
pkg/trunk/nav/nav_view/src/nav_view/nav_view_panel.cpp
pkg/trunk/nav/nav_view/src/nav_view/nav_view_panel.h
pkg/trunk/nav/nav_view_sdl/nav_view.cpp
pkg/trunk/nav/teleop_base/teleop_base.cpp
pkg/trunk/nav/teleop_base_keyboard/manifest.xml
pkg/trunk/nav/teleop_base_keyboard/teleop_base_keyboard.cpp
pkg/trunk/nav/trajectory_rollout/include/trajectory_rollout/governor_node.h
pkg/trunk/nav/trajectory_rollout/include/trajectory_rollout/point_grid.h
pkg/trunk/nav/trajectory_rollout/include/trajectory_rollout/trajectory_controller_ros.h
pkg/trunk/nav/trajectory_rollout/src/governor_node.cpp
pkg/trunk/nav/trajectory_rollout/src/point_grid.cpp
pkg/trunk/nav/trajectory_rollout/src/trajectory_controller_ros.cpp
pkg/trunk/nav/wavefront_player/wavefront_player.cc
pkg/trunk/openrave_planning/orrosplanning/src/mocapsystem.h
pkg/trunk/openrave_planning/orrosplanning/src/objecttransformsystem.h
pkg/trunk/pr2_msgs/msg/GraspPoint.msg
pkg/trunk/pr2_msgs/msg/Plane.msg
pkg/trunk/pr2_msgs/msg/PlaneStamped.msg
pkg/trunk/pr2_srvs/manifest.xml
pkg/trunk/pr2_srvs/srv/TransientObstacles.srv
pkg/trunk/prcore/pytf/manifest.xml
pkg/trunk/prcore/robot_msgs/msg/Door.msg
pkg/trunk/prcore/robot_msgs/msg/KinematicSpaceParameters.msg
pkg/trunk/prcore/robot_msgs/msg/MocapBody.msg
pkg/trunk/prcore/robot_msgs/msg/MocapMarker.msg
pkg/trunk/prcore/robot_msgs/msg/ObjectOnTable.msg
pkg/trunk/prcore/robot_msgs/msg/OrientedBoundingBox.msg
pkg/trunk/prcore/robot_msgs/msg/ParticleCloud.msg
pkg/trunk/prcore/robot_msgs/msg/PoseWithCovariance.msg
pkg/trunk/prcore/robot_msgs/msg/PositionMeasurement.msg
pkg/trunk/prcore/robot_msgs/msg/Twist.msg
pkg/trunk/prcore/robot_msgs/msg/VOPose.msg
pkg/trunk/prcore/robot_msgs/msg/Wrench.msg
pkg/trunk/prcore/robot_srvs/srv/GetQuaternion.srv
pkg/trunk/prcore/robot_srvs/srv/GetVector.srv
pkg/trunk/prcore/robot_srvs/srv/IKService.srv
pkg/trunk/prcore/robot_srvs/srv/SetVector.srv
pkg/trunk/prcore/tf/include/tf/transform_broadcaster.h
pkg/trunk/prcore/tf/include/tf/transform_datatypes.h
pkg/trunk/prcore/tf/include/tf/transform_listener.h
pkg/trunk/prcore/tf/manifest.xml
pkg/trunk/prcore/tf/msg/tfMessage.msg
pkg/trunk/prcore/tf/src/tf.cpp
pkg/trunk/prcore/tf/src/transform_listener.cpp
pkg/trunk/prcore/tf/test/test_notifier.cpp
pkg/trunk/prcore/tf/test/tf_unittest.cpp
pkg/trunk/simulators/rosstage/rosstage.cc
pkg/trunk/util/kinematics/libKinematics/src/pr2_ik_node.cpp
pkg/trunk/util/laser_scan/include/laser_scan/laser_scan.h
pkg/trunk/util/laser_scan/src/laser_scan.cc
pkg/trunk/util/laser_scan/src/scan_shadows_filter.cpp
pkg/trunk/util/logsetta/imu/imu_extract.cpp
pkg/trunk/util/message_sequencing/CMakeLists.txt
pkg/trunk/util/message_sequencing/example/testdelay.cpp
pkg/trunk/util/message_sequencing/example/testgen.cpp
pkg/trunk/util/message_sequencing/example/testrecv.cpp
pkg/trunk/util/message_sequencing/manifest.xml
pkg/trunk/util/robot_self_filter/manifest.xml
pkg/trunk/util/robot_self_filter/src/robotlinks_filter_node.cpp
pkg/trunk/vision/calib_converter/manifest.xml
pkg/trunk/vision/calib_converter/src/calib_converter.cpp
pkg/trunk/vision/checkerboard_detector/checkerboard_detector.cpp
pkg/trunk/vision/checkerboard_detector/manifest.xml
pkg/trunk/vision/checkerboard_detector/msg/Object6DPose.msg
pkg/trunk/vision/laser_processor/laser_processor.cpp
pkg/trunk/vision/laser_processor/laser_processor.h
pkg/trunk/vision/people/src/filter/detector_particle.cpp
pkg/trunk/vision/people/src/filter/detector_particle.h
pkg/trunk/vision/people/src/filter/mcpdf_pos_vel.cpp
pkg/trunk/vision/people/src/filter/mcpdf_pos_vel.h
pkg/trunk/vision/people/src/filter/mcpdf_vector.cpp
pkg/trunk/vision/people/src/filter/mcpdf_vector.h
pkg/trunk/vision/people/src/filter/people_tracking_node.cpp
pkg/trunk/vision/people/src/filter/people_tracking_node.h
pkg/trunk/vision/people/src/filter/tracker_kalman.cpp
pkg/trunk/vision/people/src/filter/tracker_particle.cpp
pkg/trunk/vision/people/src/filter/tracker_particle.h
pkg/trunk/vision/people/src/leg_detector.cpp
pkg/trunk/vision/people/src/people_follower.cpp
pkg/trunk/vision/people/src/people_follower.h
pkg/trunk/vision/people/src/py.cpp
pkg/trunk/vision/people/src/stereo_face_feature_tracker.py
pkg/trunk/vision/spacetime_stereo/manifest.xml
pkg/trunk/vision/spacetime_stereo/sts_dynamic.cpp
pkg/trunk/vision/spacetime_stereo/sts_node.cpp
pkg/trunk/vision/stereo_blob_tracker/src/axis_blob_tracker.cpp
pkg/trunk/vision/stereo_blob_tracker/src/listener.cpp
pkg/trunk/vision/stereo_blob_tracker/src/stereo_blob_tracker.cpp
pkg/trunk/vision/stereo_capture/manifest.xml
pkg/trunk/vision/stereo_capture/src/stereo_capture.cpp
pkg/trunk/vision/stereo_image_proc/src/stereoproc.cpp
pkg/trunk/vision/visual_odometry/src/marker.py
pkg/trunk/visualization/cloud_viewer/manifest.xml
pkg/trunk/visualization/cloud_viewer/src/cloud_node/cloud_node.cpp
pkg/trunk/visualization/ogre_visualizer/manifest.xml
pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/collision_map_display.cpp
pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/laser_scan_display.cpp
pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/point_cloud_base.cpp
pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/point_cloud_base.h
pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/point_cloud_display.cpp
pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/point_cloud_display.h
pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/poly_line_2d_display.cpp
pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/poly_line_2d_display.h
pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/polygonal_map_display.cpp
pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/displays/polygonal_map_display.h
pkg/trunk/visualization/ogre_visualizer/src/test/cloud_test.cpp
pkg/trunk/world_models/costmap_2d/include/costmap_2d/basic_observation_buffer.h
pkg/trunk/world_models/costmap_2d/include/costmap_2d/costmap2d_pqueue_benchmark.h
pkg/trunk/world_models/costmap_2d/include/costmap_2d/costmap_2d.h
pkg/trunk/world_models/costmap_2d/include/costmap_2d/observation.h
pkg/trunk/world_models/costmap_2d/manifest.xml
pkg/trunk/world_models/costmap_2d/src/basic_observation_buffer.cc
pkg/trunk/world_models/costmap_2d/src/costmap_2d.cpp
pkg/trunk/world_models/costmap_2d/src/costmap_2d_ros.cpp
pkg/trunk/world_models/costmap_2d/src/observation_buffer.cc
pkg/trunk/world_models/costmap_2d/src/test/benchmark.cc
pkg/trunk/world_models/costmap_2d/src/test/costmap2d_pqueue_benchmark.cpp
pkg/trunk/world_models/costmap_2d/src/test/module-tests.cc
pkg/trunk/world_models/static_map_server/manifest.xml
pkg/trunk/world_models/static_map_server/nodes/map_server
pkg/trunk/world_models/topological_map/manifest.xml
Added Paths:
-----------
pkg/trunk/prcore/robot_msgs/msg/Polygon3D.msg
pkg/trunk/prcore/robot_msgs/msg/PolygonalMap.msg
pkg/trunk/prcore/robot_msgs/msg/Polyline2D.msg
Modified: pkg/trunk/3rdparty/openrave/Makefile
===================================================================
--- pkg/trunk/3rdparty/openrave/Makefile 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/3rdparty/openrave/Makefile 2009-02-11 00:20:50 UTC (rev 10961)
@@ -13,7 +13,7 @@
BOOST_LIBRARY_DIRS=$(shell rosboost-cfg --lib_dirs)
installed: $(SVN_DIR) patched
- @cd $(SVN_DIR) && export PATH="$(shell rospack find soqt)/bin:$(shell rospack find opende)/opende/bin:$(PATH)" && export CPATH="$(shell rospack find bullet)/include:$(CPATH)" && export LD_LIBRARY_PATH=$(shell rospack find bullet)/lib:$(LD_LIBRARY_PATH) && mkdir -p build && cd build && BOOST_INCLUDEDIR=$(BOOST_INCLUDE_DIRS) BOOST_LIBRARYDIR=$(BOOST_LIBRARY_DIRS) cmake -DCMAKE_INSTALL_PREFIX=$(PWD) -DCMAKE_BUILD_TYPE=Release -DBoost_INCLUDE_DIR=$(BOOST_INCLUDE_DIRS) -DBoost_LIBRARY_DIR=$(BOOST_LIBRARY_DIRS) .. && export PARALLEL_JOBS=ROS_PARALLEL_JOBS && make $(ROS_PARALLEL_JOBS) install
+ cd $(SVN_DIR) && export PATH="$(shell rospack find soqt)/bin:$(shell rospack find opende)/opende/bin:$(PATH)" && export CPATH="$(shell rospack find bullet)/include:$(CPATH)" && export LD_LIBRARY_PATH=$(shell rospack find bullet)/lib:$(LD_LIBRARY_PATH) && mkdir -p build && cd build && BOOST_INCLUDEDIR=$(BOOST_INCLUDE_DIRS) BOOST_LIBRARYDIR=$(BOOST_LIBRARY_DIRS) cmake -DCMAKE_INSTALL_PREFIX=$(PWD) -DCMAKE_BUILD_TYPE=Release -DBoost_INCLUDE_DIR=$(BOOST_INCLUDE_DIRS) -DBoost_LIBRARY_DIR=$(BOOST_LIBRARY_DIRS) .. && export PARALLEL_JOBS=ROS_PARALLEL_JOBS && make $(ROS_PARALLEL_JOBS) install
touch installed
clean:
Modified: pkg/trunk/calibration/kinematic_calibration/msg/CalibrationData.msg
===================================================================
--- pkg/trunk/calibration/kinematic_calibration/msg/CalibrationData.msg 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/calibration/kinematic_calibration/msg/CalibrationData.msg 2009-02-11 00:20:50 UTC (rev 10961)
@@ -11,7 +11,7 @@
robot_msgs/MechanismState mechanism_state
# PointCloud generated from the tilt laser
-std_msgs/PointCloud laser_cloud
+robot_msgs/PointCloud laser_cloud
# Data that we captured from phasespace
robot_msgs/MocapSnapshot mocap_snapshot
Modified: pkg/trunk/calibration/kinematic_calibration/msg/SensorKinematics.msg
===================================================================
--- pkg/trunk/calibration/kinematic_calibration/msg/SensorKinematics.msg 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/calibration/kinematic_calibration/msg/SensorKinematics.msg 2009-02-11 00:20:50 UTC (rev 10961)
@@ -16,7 +16,7 @@
robot_msgs/MechanismState mechanism_state
# PointCloud generated from the tilt laser
-std_msgs/PointCloud laser_cloud
+robot_msgs/PointCloud laser_cloud
# Data that we captured from phasespace
robot_msgs/MocapSnapshot phase_space_snapshot
Modified: pkg/trunk/calibration/kinematic_calibration/scripts/joy_cmd_head.py
===================================================================
--- pkg/trunk/calibration/kinematic_calibration/scripts/joy_cmd_head.py 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/calibration/kinematic_calibration/scripts/joy_cmd_head.py 2009-02-11 00:20:50 UTC (rev 10961)
@@ -3,7 +3,7 @@
import roslib; roslib.load_manifest('kinematic_calibration')
import sys
import rospy
-from std_msgs.msg import PointStamped, Point
+from robot_msgs.msg import PointStamped, Point
from time import sleep
from joy.msg import Joy
Modified: pkg/trunk/calibration/kinematic_calibration/src/sensor_kinematics_grabber.cpp
===================================================================
--- pkg/trunk/calibration/kinematic_calibration/src/sensor_kinematics_grabber.cpp 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/calibration/kinematic_calibration/src/sensor_kinematics_grabber.cpp 2009-02-11 00:20:50 UTC (rev 10961)
@@ -40,7 +40,7 @@
#include "robot_msgs/MocapSnapshot.h"
#include "std_msgs/Empty.h"
-#include "std_msgs/PointCloud.h"
+#include "robot_msgs/PointCloud.h"
#include "image_msgs/RawStereo.h"
#include "kinematic_calibration/CalibrationData.h"
@@ -85,8 +85,8 @@
boost::mutex raw_stereo_lock_ ;
// Point Cloud Messages
- std_msgs::PointCloud laser_cloud_ ;
- std_msgs::PointCloud safe_laser_cloud_ ;
+ robot_msgs::PointCloud laser_cloud_ ;
+ robot_msgs::PointCloud safe_laser_cloud_ ;
boost::mutex laser_cloud_lock_ ;
unsigned int capture_count_ ;
Modified: pkg/trunk/calibration/laser_camera_calibration/octave/startgathering.m
===================================================================
--- pkg/trunk/calibration/laser_camera_calibration/octave/startgathering.m 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/calibration/laser_camera_calibration/octave/startgathering.m 2009-02-11 00:20:50 UTC (rev 10961)
@@ -15,6 +15,7 @@
rosoct_add_msgs('std_msgs');
rosoct_add_msgs('checkerboard_detector');
rosoct_add_msgs('robot_msgs');
+rosoct_add_msgs('laser_scan');
queuesize = 1000; % need big buffer
g_calibdata = {};
@@ -28,7 +29,7 @@
lastlaserscan = {};
rosoct_unsubscribe("new_tile_scan");
-success = rosoct_subscribe("new_tilt_scan", @std_msgs_LaserScan, @(msg) laserscancb(msg,robot),queuesize);
+success = rosoct_subscribe("new_tilt_scan", @laser_scan_LaserScan, @(msg) laserscancb(msg,robot),queuesize);
if( ~success )
error('subscribe failed');
end
Modified: pkg/trunk/calibration/wheel_odometry_calibration/manifest.xml
===================================================================
--- pkg/trunk/calibration/wheel_odometry_calibration/manifest.xml 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/calibration/wheel_odometry_calibration/manifest.xml 2009-02-11 00:20:50 UTC (rev 10961)
@@ -4,7 +4,7 @@
<license>BSD</license>
<review status="unreviewed" notes=""/>
<depend package="tf" />
- <depend package="std_msgs" />
+ <depend package="robot_msgs" />
<depend package="deprecated_msgs" />
<depend package="roscpp" />
<depend package="pr2_mechanism_controllers" />
Modified: pkg/trunk/calibration/wheel_odometry_calibration/src/odom_calib.cpp
===================================================================
--- pkg/trunk/calibration/wheel_odometry_calibration/src/odom_calib.cpp 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/calibration/wheel_odometry_calibration/src/odom_calib.cpp 2009-02-11 00:20:50 UTC (rev 10961)
@@ -53,7 +53,7 @@
_completed(false)
{
// advertise the velocity commands
- advertise<std_msgs::PoseDot>("cmd_vel",10);
+ advertise<robot_msgs::PoseDot>("cmd_vel",10);
// subscribe to messages
subscribe("odom", _odom, &odom_calib::odom_callback, 10);
Modified: pkg/trunk/calibration/wheel_odometry_calibration/src/odom_calib.h
===================================================================
--- pkg/trunk/calibration/wheel_odometry_calibration/src/odom_calib.h 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/calibration/wheel_odometry_calibration/src/odom_calib.h 2009-02-11 00:20:50 UTC (rev 10961)
@@ -43,8 +43,8 @@
// messages
#include "deprecated_msgs/RobotBase2DOdom.h"
-#include "std_msgs/PoseDot.h"
-#include "std_msgs/PoseWithRatesStamped.h"
+#include "robot_msgs/PoseDot.h"
+#include "robot_msgs/PoseWithRatesStamped.h"
#include "robot_msgs/MechanismState.h"
namespace calibration
@@ -80,11 +80,11 @@
// messages to receive
deprecated_msgs::RobotBase2DOdom _odom;
- std_msgs::PoseWithRatesStamped _imu;
+ robot_msgs::PoseWithRatesStamped _imu;
robot_msgs::MechanismState _mech;
// estimated robot pose message to send
- std_msgs::PoseDot _vel;
+ robot_msgs::PoseDot _vel;
// service messages
pr2_mechanism_controllers::WheelRadiusMultiplier::Request _srv_snd, _srv_rsp;
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 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_controller.h 2009-02-11 00:20:50 UTC (rev 10961)
@@ -54,7 +54,7 @@
#include <newmat10/newmatap.h>
#include <deprecated_msgs/RobotBase2DOdom.h>
-#include <std_msgs/PoseDot.h>
+#include <robot_msgs/PoseDot.h>
#include <pr2_msgs/Odometer.h>
#include <pr2_msgs/Covariance2D.h>
#include <pr2_msgs/BaseControllerState.h>
@@ -494,7 +494,7 @@
* \brief deal with cmd_vel command from 2dnav stack
*/
void CmdBaseVelReceived();
- std_msgs::PoseDot baseVelMsg;
+ robot_msgs::PoseDot baseVelMsg;
/*!
* \brief mutex lock for setting and getting ros messages
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_controller_pos.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_controller_pos.h 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_controller_pos.h 2009-02-11 00:20:50 UTC (rev 10961)
@@ -56,7 +56,7 @@
#include <newmat10/newmatap.h>
#include <deprecated_msgs/RobotBase2DOdom.h>
-#include <std_msgs/PoseDot.h>
+#include <robot_msgs/PoseDot.h>
#include <pr2_msgs/Odometer.h>
#include <pr2_msgs/Covariance2D.h>
@@ -481,7 +481,7 @@
* \brief deal with cmd_vel command from 2dnav stack
*/
void CmdBaseVelReceived();
- std_msgs::PoseDot baseVelMsg;
+ robot_msgs::PoseDot baseVelMsg;
/*!
* \brief mutex lock for setting and getting ros messages
@@ -489,7 +489,7 @@
boost::mutex ros_lock_;
/*!
- * \brief std_msgs representation of an odometry message
+ * \brief deprecated_msgs representation of an odometry message
*/
deprecated_msgs::RobotBase2DOdom odom_msg_;
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_position_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_position_controller.h 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_position_controller.h 2009-02-11 00:20:50 UTC (rev 10961)
@@ -38,8 +38,8 @@
#include "control_toolbox/base_position_pid.h"
#include "pr2_mechanism_controllers/base_controller.h"
#include "tf/transform_listener.h"
-#include "std_msgs/PoseStamped.h"
-#include "std_msgs/Point.h"
+#include "robot_msgs/PoseStamped.h"
+#include "robot_msgs/Point.h"
#include "misc_utils/advertised_service_guard.h"
@@ -74,7 +74,7 @@
* closest to the orientation of the pose in the odometric frame.
* \param cmd The pose that we want to reach
*/
- void setPoseCommand(std_msgs::PoseStamped cmd) ;
+ void setPoseCommand(robot_msgs::PoseStamped cmd) ;
/**
* Sets an x,y,theta position for the base to reach in wheel odometry frame. This command doesn't do any transforms. It simply sets the PID targets
@@ -106,8 +106,8 @@
std::string odom_frame_name_ ; // Stores the name of the odometric frame. This is the frame that we control in
// Message Holders
- std_msgs::PoseStamped pose_cmd_ ;
- std_msgs::Point pose_odom_frame_cmd_ ;
+ robot_msgs::PoseStamped pose_cmd_ ;
+ robot_msgs::Point pose_odom_frame_cmd_ ;
} ;
}
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_pan_tilt_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_pan_tilt_controller.h 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_pan_tilt_controller.h 2009-02-11 00:20:50 UTC (rev 10961)
@@ -48,7 +48,7 @@
// Services
#include <robot_msgs/JointCmd.h>
#include <robot_srvs/GetJointCmd.h>
-#include <std_msgs/PointStamped.h>
+#include <robot_msgs/PointStamped.h>
#include <robot_msgs/VisualizationMarker.h>
// Math utils
@@ -211,8 +211,8 @@
SubscriptionGuard guard_frame_track_point_; /**< Makes sure the subscription goes down neatly. */
//msgs
- std_msgs::PointStamped head_track_point_; /**< The point from the subscription. */
- std_msgs::PointStamped frame_track_point_; /**< The point from the subscription. */
+ robot_msgs::PointStamped head_track_point_; /**< The point from the subscription. */
+ robot_msgs::PointStamped frame_track_point_; /**< The point from the subscription. */
robot_msgs::JointCmd joint_cmds_; /**< The joint commands from the subscription.*/
//controller
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_servoing_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_servoing_controller.h 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/head_servoing_controller.h 2009-02-11 00:20:50 UTC (rev 10961)
@@ -48,7 +48,7 @@
// Services
#include <robot_msgs/JointCmd.h>
#include <robot_srvs/GetJointCmd.h>
-#include <std_msgs/PointStamped.h>
+#include <robot_msgs/PointStamped.h>
#include <robot_msgs/VisualizationMarker.h>
// Math utils
@@ -213,8 +213,8 @@
SubscriptionGuard guard_frame_track_point_; /**< Makes sure the subscription goes down neatly. */
//msgs
- std_msgs::PointStamped head_track_point_; /**< The point from the subscription. */
- std_msgs::PointStamped frame_track_point_; /**< The point from the subscription. */
+ robot_msgs::PointStamped head_track_point_; /**< The point from the subscription. */
+ robot_msgs::PointStamped frame_track_point_; /**< The point from the subscription. */
robot_msgs::JointCmd joint_cmds_; /**< The joint commands from the subscription.*/
//controller
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/msg/TrackLinkCmd.msg
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/msg/TrackLinkCmd.msg 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/msg/TrackLinkCmd.msg 2009-02-11 00:20:50 UTC (rev 10961)
@@ -1,3 +1,3 @@
int8 enable
string link_name
-std_msgs/Point point
+robot_msgs/Point point
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/scripts/control_base_position.py
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/scripts/control_base_position.py 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/scripts/control_base_position.py 2009-02-11 00:20:50 UTC (rev 10961)
@@ -39,7 +39,7 @@
from time import sleep
import rospy
-from std_msgs.msg import PointStamped, Point
+from robot_msgs.msg import PointStamped, Point
from robot_msgs.msg import JointCmd
def control_base_pose_odom_frame(x,y,w):
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/scripts/control_base_position_ground_truth.py
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/scripts/control_base_position_ground_truth.py 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/scripts/control_base_position_ground_truth.py 2009-02-11 00:20:50 UTC (rev 10961)
@@ -39,7 +39,7 @@
from time import sleep
import rospy
-from std_msgs.msg import PointStamped, Point
+from robot_msgs.msg import PointStamped, Point
from robot_msgs.msg import JointCmd
def control_base_pose_odom_frame(x,y,w):
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/scripts/pointhead.py 2009-02-11 00:20:50 UTC (rev 10961)
@@ -38,7 +38,7 @@
from time import sleep
import rospy
-from std_msgs.msg import PointStamped, Point
+from robot_msgs.msg import PointStamped, Point
from robot_msgs.msg import JointCmd
def point_head_client(pan, tilt):
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/scripts/send_track_link_cmd.py
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/scripts/send_track_link_cmd.py 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/scripts/send_track_link_cmd.py 2009-02-11 00:20:50 UTC (rev 10961)
@@ -11,7 +11,7 @@
import rospy
from std_msgs import *
-from std_msgs.msg import Point
+from robot_msgs.msg import Point
from pr2_mechanism_controllers.msg import TrackLinkCmd
from time import sleep
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller.cpp 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller.cpp 2009-02-11 00:20:50 UTC (rev 10961)
@@ -948,7 +948,7 @@
{
double x=0,y=0,yaw=0,vx,vy,vyaw;
this->getOdometry(x,y,yaw,vx,vy,vyaw);
- std_msgs::TransformStamped &out = transform_publisher_->msg_.transforms[0];
+ robot_msgs::TransformStamped &out = transform_publisher_->msg_.transforms[0];
out.header.stamp.fromSec(time);
out.header.frame_id = "odom";
out.parent_id = "base_footprint";
@@ -971,7 +971,7 @@
//out.yaw =
- std_msgs::TransformStamped &out2 = transform_publisher_->msg_.transforms[1];
+ robot_msgs::TransformStamped &out2 = transform_publisher_->msg_.transforms[1];
out2.header.stamp.fromSec(time);
out2.header.frame_id = "base_footprint";
out2.parent_id = "base_link";
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller_pos.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller_pos.cpp 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/base_controller_pos.cpp 2009-02-11 00:20:50 UTC (rev 10961)
@@ -1011,7 +1011,7 @@
{
double x=0,y=0,yaw=0,vx,vy,vyaw;
this->getOdometry(x,y,yaw,vx,vy,vyaw);
- std_msgs::TransformStamped &out = transform_publisher_->msg_.transforms[0];
+ robot_msgs::TransformStamped &out = transform_publisher_->msg_.transforms[0];
out.header.stamp.fromSec(time);
out.header.frame_id = "odom";
out.parent_id = "base_footprint";
@@ -1037,7 +1037,7 @@
//out.yaw =
- std_msgs::TransformStamped &out2 = transform_publisher_->msg_.transforms[1];
+ robot_msgs::TransformStamped &out2 = transform_publisher_->msg_.transforms[1];
out2.header.stamp.fromSec(time);
out2.header.frame_id = "base_footprint";
out2.parent_id = "base_link";
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/base_position_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/base_position_controller.cpp 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/base_position_controller.cpp 2009-02-11 00:20:50 UTC (rev 10961)
@@ -157,9 +157,9 @@
}
//! \todo This method has not yet been tested
-void BasePositionControllerNode::setPoseCommand(std_msgs::PoseStamped cmd)
+void BasePositionControllerNode::setPoseCommand(robot_msgs::PoseStamped cmd)
{
- std_msgs::PoseStamped pose_odom ; // Stores the pose in the odometric frame
+ robot_msgs::PoseStamped pose_odom ; // Stores the pose in the odometric frame
cmd.header.stamp = ros::Time() ; // Transform using the latest transform
tf_.transformPose(odom_frame_name_, cmd, pose_odom) ;
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/grasp_point_node.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/grasp_point_node.cpp 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/grasp_point_node.cpp 2009-02-11 00:20:50 UTC (rev 10961)
@@ -242,8 +242,8 @@
bool GraspPointNode::processGraspPointService(pr2_mechanism_controllers::GraspPointSrv::Request &req, pr2_mechanism_controllers::GraspPointSrv::Response &resp)
{
- std_msgs::PoseStamped grasp_point_transformed;
- std_msgs::PoseStamped grasp_point_requested = req.transform;
+ robot_msgs::PoseStamped grasp_point_transformed;
+ robot_msgs::PoseStamped grasp_point_requested = req.transform;
tf::Pose grasp_point;
grasp_point_requested.header.stamp = ros::Time::now();
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/srv/GraspPointSrv.srv
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/srv/GraspPointSrv.srv 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/srv/GraspPointSrv.srv 2009-02-11 00:20:50 UTC (rev 10961)
@@ -1,3 +1,3 @@
-std_msgs/PoseStamped transform
+robot_msgs/PoseStamped transform
---
robot_msgs/JointTraj traj
\ No newline at end of file
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/test/test_odom.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/test/test_odom.cpp 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/test/test_odom.cpp 2009-02-11 00:20:50 UTC (rev 10961)
@@ -34,9 +34,9 @@
#include <libTF/libTF.h>
#include <ros/node.h>
-#include <std_msgs/PoseDot.h>
+#include <robot_msgs/PoseDot.h>
#include <deprecated_msgs/RobotBase2DOdom.h>
-#include <std_msgs/Quaternion.h>
+#include <robot_msgs/Quaternion.h>
#include <iostream>
#include <fstream>
@@ -50,7 +50,7 @@
////////////////////////////////////////////////////////////////////////////////
// Return the rotation in Euler angles
-libTF::Vector GetAsEuler(std_msgs::Quaternion quat)
+libTF::Vector GetAsEuler(robot_msgs::Quaternion quat)
{
libTF::Vector vec;
@@ -112,7 +112,7 @@
/*********** Start moving the robot ************/
- std_msgs::PoseDot cmd;
+ robot_msgs::PoseDot cmd;
cmd.vel.vx = 0;
cmd.vel.vy = 0;
cmd.vel.vz = 0;
@@ -144,7 +144,7 @@
file_num = atoi(argv[5]);
}
- node->advertise<std_msgs::PoseDot>("cmd_vel",10);
+ node->advertise<robot_msgs::PoseDot>("cmd_vel",10);
sleep(1);
libTF::Vector ang_rates;
Modified: pkg/trunk/controllers/pr2_mechanism_controllers/test/test_run_base_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/test/test_run_base_controller.cpp 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/test/test_run_base_controller.cpp 2009-02-11 00:20:50 UTC (rev 10961)
@@ -34,10 +34,10 @@
#include <libTF/libTF.h>
#include <ros/node.h>
-#include <std_msgs/PoseWithRatesStamped.h>
-#include <std_msgs/PoseDot.h>
+#include <robot_msgs/PoseWithRatesStamped.h>
+#include <robot_msgs/PoseDot.h>
#include <deprecated_msgs/RobotBase2DOdom.h>
-#include <std_msgs/Quaternion.h>
+#include <robot_msgs/Quaternion.h>
static int done = 0;
@@ -49,7 +49,7 @@
////////////////////////////////////////////////////////////////////////////////
// Return the rotation in Euler angles
-libTF::Vector GetAsEuler(std_msgs::Quaternion quat)
+libTF::Vector GetAsEuler(robot_msgs::Quaternion quat)
{
libTF::Vector vec;
@@ -86,7 +86,7 @@
~test_run_base() {}
- std_msgs::PoseWithRatesStamped ground_truth;
+ robot_msgs::PoseWithRatesStamped ground_truth;
deprecated_msgs::RobotBase2DOdom odom;
@@ -117,7 +117,7 @@
// receive messages from 2dnav stack
- std_msgs::PoseWithRatesStamped ground_truth;
+ robot_msgs::PoseWithRatesStamped ground_truth;
test_run_base tb;
@@ -131,7 +131,7 @@
/*********** Start moving the robot ************/
- std_msgs::PoseDot cmd;
+ robot_msgs::PoseDot cmd;
cmd.vel.vx = 0;
cmd.vel.vy = 0;
cmd.vel.vz = 0;
@@ -157,7 +157,7 @@
run_time = atof(argv[4]);
run_time_set = true;
}
- node->advertise<std_msgs::PoseDot>("cmd_vel",1);
+ node->advertise<robot_msgs::PoseDot>("cmd_vel",1);
sleep(1);
node->publish("cmd_vel",cmd);
sleep(1);
Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_orientation_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_orientation_controller.h 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_orientation_controller.h 2009-02-11 00:20:50 UTC (rev 10961)
@@ -100,9 +100,9 @@
AdvertisedServiceGuard guard_get_actual_;
SubscriptionGuard guard_set_command_;
- std_msgs::QuaternionStamped command_msg_;
+ robot_msgs::QuaternionStamped command_msg_;
- realtime_tools::RealtimePublisher<std_msgs::QuaternionStamped> *pos_publisher_;
+ realtime_tools::RealtimePublisher<robot_msgs::QuaternionStamped> *pos_publisher_;
tf::TransformListener TF;
int loop_count_;
};
Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_pose_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_pose_controller.h 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_pose_controller.h 2009-02-11 00:20:50 UTC (rev 10961)
@@ -40,7 +40,7 @@
#include <tf/transform_listener.h>
#include <tf/message_notifier.h>
#include <ros/node.h>
-#include <std_msgs/PoseStamped.h>
+#include <robot_msgs/PoseStamped.h>
#include <mechanism_model/controller.h>
#include "robot_mechanism_controllers/cartesian_twist_controller.h"
@@ -98,14 +98,14 @@
bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
void update();
- void command(const tf::MessageNotifier<std_msgs::PoseStamped>::MessagePtr& pose_msg);
+ void command(const tf::MessageNotifier<robot_msgs::PoseStamped>::MessagePtr& pose_msg);
private:
void TransformToFrame(const tf::Transform& trans, KDL::Frame& frame);
ros::Node* node_;
tf::TransformListener robot_state_;
- tf::MessageNotifier<std_msgs::PoseStamped>* command_notifier_;
+ tf::MessageNotifier<robot_msgs::PoseStamped>* command_notifier_;
std::string root_name_;
CartesianPoseController controller_;
Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_position_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_position_controller.h 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_position_controller.h 2009-02-11 00:20:50 UTC (rev 10961)
@@ -101,9 +101,9 @@
AdvertisedServiceGuard guard_get_actual_;
SubscriptionGuard guard_set_command_;
- std_msgs::PointStamped command_msg_;
+ robot_msgs::PointStamped command_msg_;
- realtime_tools::RealtimePublisher<std_msgs::PointStamped> *pos_publisher_;
+ realtime_tools::RealtimePublisher<robot_msgs::PointStamped> *pos_publisher_;
tf::TransformListener TF;
int loop_count_;
};
Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_torque_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_torque_controller.h 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_torque_controller.h 2009-02-11 00:20:50 UTC (rev 10961)
@@ -39,7 +39,7 @@
#include "mechanism_model/controller.h"
#include "tf/transform_datatypes.h"
#include "misc_utils/subscription_guard.h"
-#include "std_msgs/Vector3.h"
+#include "robot_msgs/Vector3.h"
namespace controller {
@@ -73,7 +73,7 @@
private:
CartesianTorqueController c_;
- std_msgs::Vector3 set_command_msg_;
+ robot_msgs::Vector3 set_command_msg_;
SubscriptionGuard guard_set_command_;
};
Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_trajectory_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_trajectory_controller.h 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_trajectory_controller.h 2009-02-11 00:20:50 UTC (rev 10961)
@@ -42,7 +42,7 @@
#include <tf/transform_listener.h>
#include <tf/message_notifier.h>
#include "ros/node.h"
-#include "std_msgs/PoseStamped.h"
+#include "robot_msgs/PoseStamped.h"
#include "mechanism_model/controller.h"
#include "robot_mechanism_controllers/cartesian_pose_controller.h"
@@ -99,7 +99,7 @@
bool initXml(mechanism::RobotState *robot, TiXmlElement *config);
void update();
- void command(const tf::MessageNotifier<std_msgs::PoseStamped>::MessagePtr& pose_msg);
+ void command(const tf::MessageNotifier<robot_msgs::PoseStamped>::MessagePtr& pose_msg);
private:
void TransformToFrame(const tf::Transform& trans, KDL::Frame& frame);
@@ -108,7 +108,7 @@
std::string controller_name_;
tf::TransformListener robot_state_;
- tf::MessageNotifier<std_msgs::PoseStamped>* command_notifier_;
+ tf::MessageNotifier<robot_msgs::PoseStamped>* command_notifier_;
std::string root_name_;
Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_velocity_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_velocity_controller.h 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_velocity_controller.h 2009-02-11 00:20:50 UTC (rev 10961)
@@ -100,9 +100,9 @@
AdvertisedServiceGuard guard_set_command_, guard_get_actual_;
SubscriptionGuard guard_command_;
- std_msgs::Vector3 command_msg_;
+ robot_msgs::Vector3 command_msg_;
- realtime_tools::RealtimePublisher<std_msgs::Vector3> *vel_publisher_;
+ realtime_tools::RealtimePublisher<robot_msgs::Vector3> *vel_publisher_;
int loop_count_;
};
Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_orientation_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_orientation_controller.cpp 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_orientation_controller.cpp 2009-02-11 00:20:50 UTC (rev 10961)
@@ -166,7 +166,7 @@
&CartesianOrientationControllerNode::setCommand, this, 1);
guard_set_command_.set(topic + "/set_command");
- pos_publisher_ = new realtime_tools::RealtimePublisher<std_msgs::QuaternionStamped>(topic + "/position", 1);
+ pos_publisher_ = new realtime_tools::RealtimePublisher<robot_msgs::QuaternionStamped>(topic + "/position", 1);
return true;
}
Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_pose_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_pose_controller.cpp 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_pose_controller.cpp 2009-02-11 00:20:50 UTC (rev 10961)
@@ -184,7 +184,7 @@
return false;
// subscribe to pose commands
- command_notifier_ = new MessageNotifier<std_msgs::PoseStamped>(&robot_state_, node_,
+ command_notifier_ = new MessageNotifier<robot_msgs::PoseStamped>(&robot_state_, node_,
boost::bind(&CartesianPoseControllerNode::command, this, _1),
controller_name + "/command", root_name_, 1);
return true;
@@ -197,7 +197,7 @@
}
-void CartesianPoseControllerNode::command(const tf::MessageNotifier<std_msgs::PoseStamped>::MessagePtr& pose_msg)
+void CartesianPoseControllerNode::command(const tf::MessageNotifier<robot_msgs::PoseStamped>::MessagePtr& pose_msg)
{
// convert message to transform
Stamped<Pose> pose_stamped;
Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_position_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_position_controller.cpp 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_position_controller.cpp 2009-02-11 00:20:50 UTC (rev 10961)
@@ -165,8 +165,8 @@
&CartesianPositionControllerNode::setCommand, this, 1);
guard_set_command_.set(topic + "/set_command");
- //pos_publisher_ = new realtime_tools::RealtimePublisher<std_msgs::Vector3>(topic + "/position", 0);
- pos_publisher_ = new realtime_tools::RealtimePublisher<std_msgs::PointStamped>(topic + "/position", 1);
+ //pos_publisher_ = new realtime_tools::RealtimePublisher<robot_msgs::Vector3>(topic + "/position", 0);
+ pos_publisher_ = new realtime_tools::RealtimePublisher<robot_msgs::PointStamped>(topic + "/position", 1);
return true;
}
Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_trajectory_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_trajectory_controller.cpp 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_trajectory_controller.cpp 2009-02-11 00:20:50 UTC (rev 10961)
@@ -236,7 +236,7 @@
return false;
// subscribe to pose commands
- command_notifier_ = new MessageNotifier<std_msgs::PoseStamped>(&robot_state_, node_,
+ command_notifier_ = new MessageNotifier<robot_msgs::PoseStamped>(&robot_state_, node_,
boost::bind(&CartesianTrajectoryControllerNode::command, this, _1),
controller_name_ + "/command", root_name_, 1);
return true;
@@ -251,7 +251,7 @@
-void CartesianTrajectoryControllerNode::command(const MessageNotifier<std_msgs::PoseStamped>::MessagePtr& pose_msg)
+void CartesianTrajectoryControllerNode::command(const MessageNotifier<robot_msgs::PoseStamped>::MessagePtr& pose_msg)
{
// convert message to transform
Stamped<Pose> pose_stamped;
Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_velocity_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_velocity_controller.cpp 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_velocity_controller.cpp 2009-02-11 00:20:50 UTC (rev 10961)
@@ -143,7 +143,7 @@
&CartesianVelocityControllerNode::command, this, 1);
guard_command_.set(topic + "/command");
- vel_publisher_ = new realtime_tools::RealtimePublisher<std_msgs::Vector3>(topic + "/velocity", 0);
+ vel_publisher_ = new realtime_tools::RealtimePublisher<robot_msgs::Vector3>(topic + "/velocity", 0);
return true;
}
Modified: pkg/trunk/demos/2dnav_pr2/parse_logs.py
===================================================================
--- pkg/trunk/demos/2dnav_pr2/parse_logs.py 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/demos/2dnav_pr2/parse_logs.py 2009-02-11 00:20:50 UTC (rev 10961)
@@ -7,7 +7,7 @@
import glob
import sys, traceback, logging, rospy
from rosrecord import *
-from std_msgs.msg import RobotBase2DOdom
+from deprecated_msgs.msg import RobotBase2DOdom
NAME = 'log_parser'
Modified: pkg/trunk/demos/2dnav_pr2/pose_listen.py
===================================================================
--- pkg/trunk/demos/2dnav_pr2/pose_listen.py 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/demos/2dnav_pr2/pose_listen.py 2009-02-11 00:20:50 UTC (rev 10961)
@@ -3,7 +3,7 @@
import roslib; roslib.load_manifest('2dnav_pr2')
import sys, traceback, logging, rospy
-from std_msgs.msg import RobotBase2DOdom
+from deprecated_msgs.msg import RobotBase2DOdom
NAME = 'pose_listener'
Modified: pkg/trunk/deprecated/deprecated_srvs/manifest.xml
===================================================================
--- pkg/trunk/deprecated/deprecated_srvs/manifest.xml 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/deprecated/deprecated_srvs/manifest.xml 2009-02-11 00:20:50 UTC (rev 10961)
@@ -13,6 +13,7 @@
<logo>http://www.willowgarage.com/files/willowgarage/robot10.jpg</logo>
<depend package="roslib"/>
<depend package="std_msgs"/>
+ <depend package="robot_msgs"/>
<depend package="deprecated_msgs"/>
<export>
<cpp cflags="-I${prefix}/srv/cpp"/>
Modified: pkg/trunk/deprecated/deprecated_srvs/srv/PolledStereoCloud.srv
===================================================================
--- pkg/trunk/deprecated/deprecated_srvs/srv/PolledStereoCloud.srv 2009-02-10 23:54:34 UTC (rev 10960)
+++ pkg/trunk/deprecated/deprecated_srvs/srv/PolledStereoCloud.srv 2009-02-11 00:20:50 UTC (rev 10961)
@@ -1,5 +1,5 @@
---
deprecated_msgs/Image image
-std_msgs/Point32[] points
+robot_msgs/Point32[...
[truncated message content] |
