[Personalrobots-commit] SF.net SVN: personalrobots:[17279] pkg/trunk

[<sac...@us...>]

Revision: 17279
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=17279&view=rev
Author:   sachinchitta
Date:     2009-06-18 10:06:30 +0000 (Thu, 18 Jun 2009)

Log Message:
-----------
moved JointTraj and JointTrajPoint messages from robot_msgs to manipulation_msgs

Modified Paths:
--------------
    pkg/trunk/calibration/auto_arm_commander/manifest.xml
    pkg/trunk/calibration/auto_arm_commander/src/auto_arm_commander/arm_commander.py
    pkg/trunk/calibration/kinematic_calibration/scripts/auto_arm_commander.py
    pkg/trunk/calibration/kinematic_calibration/scripts/auto_arm_commander_original.py
    pkg/trunk/calibration/kinematic_calibration/src/kinematic_calibration/arm_commander.py
    pkg/trunk/calibration/optical_flag_calibration/manifest.xml
    pkg/trunk/calibration/optical_flag_calibration/scripts/flag_tester.py
    pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/arm_trajectory_controller.h
    pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_trajectory_controller.h
    pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/joint_trajectory_controller.h
    pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/whole_body_trajectory_controller.h
    pkg/trunk/controllers/pr2_mechanism_controllers/manifest.xml
    pkg/trunk/controllers/pr2_mechanism_controllers/scripts/tuckarm.py
    pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_trajectory_controller.cpp
    pkg/trunk/controllers/pr2_mechanism_controllers/src/joint_trajectory_controller.cpp
    pkg/trunk/controllers/pr2_mechanism_controllers/src/whole_body_trajectory_controller.cpp
    pkg/trunk/controllers/pr2_mechanism_controllers/srv/GraspPointSrv.srv
    pkg/trunk/controllers/pr2_mechanism_controllers/srv/TrajectoryStart.srv
    pkg/trunk/controllers/pr2_mechanism_controllers/test/test_arm_trajectory_controller.cpp
    pkg/trunk/controllers/pr2_mechanism_controllers/test/test_joint_trajectory_controller.cpp
    pkg/trunk/controllers/pr2_mechanism_controllers/test/test_whole_body_controller.cpp
    pkg/trunk/demos/plug_in/move_to_pickup.py
    pkg/trunk/demos/tabletop_manipulation/scripts/tuckarm.py
    pkg/trunk/highlevel/doors/doors_core/include/doors_core/move_base_door_action.h
    pkg/trunk/highlevel/doors/doors_core/src/move_base_door_action.cpp
    pkg/trunk/highlevel/move_arm/include/move_arm/move_arm.h
    pkg/trunk/highlevel/move_arm/src/move_arm.cpp
    pkg/trunk/highlevel/plugs/plugs_core/include/plugs_core/action_untuck_arms.h
    pkg/trunk/highlevel/safety/safety_core/include/safety_core/action_tuck_arms.h
    pkg/trunk/motion_planning/mpglue/include/mpglue/plan.h
    pkg/trunk/motion_planning/mpglue/manifest.xml
    pkg/trunk/motion_planning/mpglue/src/plan.cpp
    pkg/trunk/motion_planning/plan_ompl_path/src/plan_kinematic_path.cpp
    pkg/trunk/motion_planning/plan_ompl_path/src/right_arm/execute_replan_to_state.cpp
    pkg/trunk/motion_planning/plan_ompl_path/src/right_arm/test_path_execution.cpp
    pkg/trunk/motion_planning/planning_research/sbpl_arm_executive/include/sbpl_arm_executive/pr2_arm_node.h
    pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/include/sbpl_arm_planner_node/sbpl_arm_check_path.h
    pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/include/sbpl_arm_planner_node/sbpl_arm_planner_node.h
    pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/manifest.xml
    pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/srv/CheckPathSrv.srv
    pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/srv/PlanPathSrv.srv
    pkg/trunk/motion_planning/planning_research/sbpl_door_planner_action/include/sbpl_door_planner_action/sbpl_door_planner_action.h
    pkg/trunk/motion_planning/planning_research/sbpl_door_planner_action/src/sbpl_door_planner_action.cpp
    pkg/trunk/motion_planning/planning_research/sbpl_planner_node/include/sbpl_planner_node/sbpl_planner_node.h
    pkg/trunk/motion_planning/planning_research/sbpl_planner_node/manifest.xml
    pkg/trunk/motion_planning/planning_research/sbpl_planner_node/src/sbpl_planner_node.cpp
    pkg/trunk/motion_planning/planning_research/sbpl_planner_node/srv/PlanPathSrv.srv
    pkg/trunk/robot_descriptions/pr2/pr2_default_controllers/scripts/tuckarm.py
    pkg/trunk/util/pr2_ik/include/pr2_ik/pr2_ik_controller.h
    pkg/trunk/util/pr2_ik/include/pr2_ik/pr2_ik_node.h
    pkg/trunk/util/pr2_ik/src/pr2_ik_controller.cpp

Added Paths:
-----------
    pkg/trunk/common/manipulation_msgs/msg/JointTraj.msg
    pkg/trunk/common/manipulation_msgs/msg/JointTrajPoint.msg

Removed Paths:
-------------
    pkg/trunk/common/robot_msgs/msg/JointTraj.msg
    pkg/trunk/common/robot_msgs/msg/JointTrajPoint.msg
    pkg/trunk/common/robot_srvs/srv/IKService.srv

Modified: pkg/trunk/calibration/auto_arm_commander/manifest.xml
===================================================================
--- pkg/trunk/calibration/auto_arm_commander/manifest.xml	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/calibration/auto_arm_commander/manifest.xml	2009-06-18 10:06:30 UTC (rev 17279)
@@ -10,6 +10,7 @@
   <depend package="pr2_mechanism_controllers" />
   <depend package="std_msgs" />
   <depend package="robot_msgs" />
+  <depend package="manipulation_msgs" />
 
 
 </package>

Modified: pkg/trunk/calibration/auto_arm_commander/src/auto_arm_commander/arm_commander.py
===================================================================
--- pkg/trunk/calibration/auto_arm_commander/src/auto_arm_commander/arm_commander.py	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/calibration/auto_arm_commander/src/auto_arm_commander/arm_commander.py	2009-06-18 10:06:30 UTC (rev 17279)
@@ -41,8 +41,8 @@
 from pr2_mechanism_controllers.srv import *
 #from pr2_mechanism_controllers.msg import 
 from robot_msgs.msg import *
+from manipulation_msgs.msg import *
 
-
 class ArmCommander() :
     def __init__(self, arm_controller_name):
         print "Initializing Object"

Modified: pkg/trunk/calibration/kinematic_calibration/scripts/auto_arm_commander.py
===================================================================
--- pkg/trunk/calibration/kinematic_calibration/scripts/auto_arm_commander.py	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/calibration/kinematic_calibration/scripts/auto_arm_commander.py	2009-06-18 10:06:30 UTC (rev 17279)
@@ -11,6 +11,7 @@
 from robot_msgs.msg import *
 from mechanism_msgs.msg import MechanismState
 from kinematic_calibration.msg import *
+from manipulation_msgs.msg import *
 
 arm_mapping = [ ]
 headers = [ ]

Modified: pkg/trunk/calibration/kinematic_calibration/scripts/auto_arm_commander_original.py
===================================================================
--- pkg/trunk/calibration/kinematic_calibration/scripts/auto_arm_commander_original.py	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/calibration/kinematic_calibration/scripts/auto_arm_commander_original.py	2009-06-18 10:06:30 UTC (rev 17279)
@@ -11,6 +11,7 @@
 from robot_msgs.msg import *
 from mechanism_msgs.msg import MechanismState
 from kinematic_calibration.msg import *
+from manipulation_msgs.msg import *
 
 traj_actuator_names = ['r_shoulder_pan_motor',
 		       'r_shoulder_lift_motor',

Modified: pkg/trunk/calibration/kinematic_calibration/src/kinematic_calibration/arm_commander.py
===================================================================
--- pkg/trunk/calibration/kinematic_calibration/src/kinematic_calibration/arm_commander.py	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/calibration/kinematic_calibration/src/kinematic_calibration/arm_commander.py	2009-06-18 10:06:30 UTC (rev 17279)
@@ -41,6 +41,7 @@
 from pr2_mechanism_controllers.srv import *
 #from pr2_mechanism_controllers.msg import 
 from robot_msgs.msg import *
+from manipulation_msgs.msg import *
 
 
 class ArmCommander() :

Modified: pkg/trunk/calibration/optical_flag_calibration/manifest.xml
===================================================================
--- pkg/trunk/calibration/optical_flag_calibration/manifest.xml	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/calibration/optical_flag_calibration/manifest.xml	2009-06-18 10:06:30 UTC (rev 17279)
@@ -12,6 +12,7 @@
   <!-- depend package="image_msgs" / -->
   <!-- depend package="newmat10"/ -->
   <depend package="pr2_mechanism_controllers" />
+  <depend package="manipulation_msgs" />
 
   <export>
     <cpp cflags="-I${prefix}/msg/cpp"/>

Modified: pkg/trunk/calibration/optical_flag_calibration/scripts/flag_tester.py
===================================================================
--- pkg/trunk/calibration/optical_flag_calibration/scripts/flag_tester.py	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/calibration/optical_flag_calibration/scripts/flag_tester.py	2009-06-18 10:06:30 UTC (rev 17279)
@@ -9,6 +9,7 @@
 from pr2_mechanism_controllers.srv import *
 from pr2_mechanism_controllers.msg import *
 from robot_msgs.msg import *
+from manipulation_msgs.msg import *
 
 cmd_count = 0
 

Added: pkg/trunk/common/manipulation_msgs/msg/JointTraj.msg
===================================================================
--- pkg/trunk/common/manipulation_msgs/msg/JointTraj.msg	                        (rev 0)
+++ pkg/trunk/common/manipulation_msgs/msg/JointTraj.msg	2009-06-18 10:06:30 UTC (rev 17279)
@@ -0,0 +1 @@
+JointTrajPoint[] points
\ No newline at end of file

Added: pkg/trunk/common/manipulation_msgs/msg/JointTrajPoint.msg
===================================================================
--- pkg/trunk/common/manipulation_msgs/msg/JointTrajPoint.msg	                        (rev 0)
+++ pkg/trunk/common/manipulation_msgs/msg/JointTrajPoint.msg	2009-06-18 10:06:30 UTC (rev 17279)
@@ -0,0 +1,2 @@
+float64[] positions
+float64 time
\ No newline at end of file

Deleted: pkg/trunk/common/robot_msgs/msg/JointTraj.msg
===================================================================
--- pkg/trunk/common/robot_msgs/msg/JointTraj.msg	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/common/robot_msgs/msg/JointTraj.msg	2009-06-18 10:06:30 UTC (rev 17279)
@@ -1 +0,0 @@
-JointTrajPoint[] points
\ No newline at end of file

Deleted: pkg/trunk/common/robot_msgs/msg/JointTrajPoint.msg
===================================================================
--- pkg/trunk/common/robot_msgs/msg/JointTrajPoint.msg	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/common/robot_msgs/msg/JointTrajPoint.msg	2009-06-18 10:06:30 UTC (rev 17279)
@@ -1,2 +0,0 @@
-float64[] positions
-float64 time
\ No newline at end of file

Deleted: pkg/trunk/common/robot_srvs/srv/IKService.srv
===================================================================
--- pkg/trunk/common/robot_srvs/srv/IKService.srv	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/common/robot_srvs/srv/IKService.srv	2009-06-18 10:06:30 UTC (rev 17279)
@@ -1,6 +0,0 @@
-Header header
-robot_msgs/Pose pose
-robot_msgs/JointTrajPoint joint_pos
-duration timeout
----
-robot_msgs/JointTraj traj

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/arm_trajectory_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/arm_trajectory_controller.h	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/arm_trajectory_controller.h	2009-06-18 10:06:30 UTC (rev 17279)
@@ -56,8 +56,8 @@
 #include <pr2_mechanism_controllers/SetJointTarget.h>
 #include <pr2_mechanism_controllers/JointPosCmd.h>
 
-#include <robot_msgs/JointTraj.h>
-#include <robot_msgs/JointTrajPoint.h>
+#include <manipulation_msgs/JointTraj.h>
+#include <manipulation_msgs/JointTrajPoint.h>
 #include <diagnostic_msgs/DiagnosticMessage.h>
 
 #include <pr2_mechanism_controllers/TrajectoryStart.h>
@@ -228,9 +228,9 @@
 
     void deleteTrajectoryFromQueue(int id);
 
-    void addTrajectoryToQueue(robot_msgs::JointTraj new_traj, int id);
+    void addTrajectoryToQueue(manipulation_msgs::JointTraj new_traj, int id);
 
-    int createTrajectory(const robot_msgs::JointTraj &new_traj,trajectory::Trajectory &return_trajectory);
+    int createTrajectory(const manipulation_msgs::JointTraj &new_traj,trajectory::Trajectory &return_trajectory);
 
     void updateTrajectoryQueue(int last_trajectory_finish_status);
 
@@ -247,7 +247,7 @@
      */
     boost::mutex ros_lock_;
 
-    robot_msgs::JointTraj traj_msg_;
+    manipulation_msgs::JointTraj traj_msg_;
 
     pr2_mechanism_controllers::JointPosCmd msg_;   //The message used by the ROS callback
     ArmTrajectoryController *c_;
@@ -280,11 +280,11 @@
 
     int trajectory_id_;
 
-    std::vector<robot_msgs::JointTraj> joint_trajectory_vector_;
+    std::vector<manipulation_msgs::JointTraj> joint_trajectory_vector_;
 
     std::vector<int> joint_trajectory_id_;
 
-    void setTrajectoryCmdFromMsg(robot_msgs::JointTraj traj_msg);
+    void setTrajectoryCmdFromMsg(manipulation_msgs::JointTraj traj_msg);
 
     int request_trajectory_id_;
 

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_trajectory_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_trajectory_controller.h	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/base_trajectory_controller.h	2009-06-18 10:06:30 UTC (rev 17279)
@@ -37,8 +37,8 @@
 
 #include <robot_msgs/PoseDot.h>
 #include <pr2_robot_actions/Pose2D.h>
-#include <robot_msgs/JointTrajPoint.h>
-#include <robot_msgs/JointTraj.h>
+#include <manipulation_msgs/JointTrajPoint.h>
+#include <manipulation_msgs/JointTraj.h>
 #include <trajectory/trajectory.h>
 
 #include <tf/tf.h>
@@ -86,8 +86,8 @@
     double controller_frequency_;
     std::string control_topic_name_, path_input_topic_name_;
     std::string trajectory_type_;
-    robot_msgs::JointTraj path_msg_in_;
-    robot_msgs::JointTraj path_msg_;
+    manipulation_msgs::JointTraj path_msg_in_;
+    manipulation_msgs::JointTraj path_msg_;
 
     ros::Node& ros_node_;
     tf::TransformListener& tf_;

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/joint_trajectory_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/joint_trajectory_controller.h	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/joint_trajectory_controller.h	2009-06-18 10:06:30 UTC (rev 17279)
@@ -41,8 +41,8 @@
 #include <robot_mechanism_controllers/joint_pd_controller.h>
 
 // Services
-#include <robot_msgs/JointTraj.h>
-#include <robot_msgs/JointTrajPoint.h>
+#include <manipulation_msgs/JointTraj.h>
+#include <manipulation_msgs/JointTrajPoint.h>
 #include <diagnostic_msgs/DiagnosticMessage.h>
 
 #include <pr2_mechanism_controllers/TrajectoryStart.h>
@@ -189,7 +189,7 @@
      */
     boost::mutex ros_lock_;
 
-    robot_msgs::JointTraj traj_msg_; /**< The trajectory message received over ROS */
+    manipulation_msgs::JointTraj traj_msg_; /**< The trajectory message received over ROS */
 
     /*!
      * \brief node name
@@ -206,7 +206,7 @@
      */
     ros::Node * const node_;
 
-    std::vector<robot_msgs::JointTraj> joint_trajectory_vector_; /**< Vector of trajectory requests */
+    std::vector<manipulation_msgs::JointTraj> joint_trajectory_vector_; /**< Vector of trajectory requests */
 
     std::vector<int> joint_trajectory_id_; /**< Vector of ids for trajectory requests */
 
@@ -366,7 +366,7 @@
      * @param traj_msg Trajectory message received on a topic or a service
      * @param id The associated id for the trajectory command
      */
-    void setTrajectoryCmdFromMsg(robot_msgs::JointTraj traj_msg, int id);
+    void setTrajectoryCmdFromMsg(manipulation_msgs::JointTraj traj_msg, int id);
 
     /**   
      * @brief Callback when a trajectory message is received on a topic
@@ -406,28 +406,28 @@
      * @param new_traj The trajectory message that needs to be converted
      * @param tp The resultant vector of TPoints
      */
-    bool createTrajectoryPointsVectorFromMsg(const robot_msgs::JointTraj &new_traj, std::vector<trajectory::Trajectory::TPoint> &tp);
+    bool createTrajectoryPointsVectorFromMsg(const manipulation_msgs::JointTraj &new_traj, std::vector<trajectory::Trajectory::TPoint> &tp);
 
     /**   
      * @brief Create a trajectory object from a trajectory message
      * @param new_traj The trajectory message that needs to be converted
      * @param return_trajectory The resultant trajectory object
      */
-    bool createTrajectoryFromMsg(const robot_msgs::JointTraj &new_traj,trajectory::Trajectory &return_trajectory);
+    bool createTrajectoryFromMsg(const manipulation_msgs::JointTraj &new_traj,trajectory::Trajectory &return_trajectory);
 
     /**   
      * @brief Add a new trajectory request to the queue of trajectories that need to be sent out
      * @param new_traj The trajectory message that needs to be queued
      * @param id The id of the trajectory to be queued
      */
-    void addTrajectoryToQueue(robot_msgs::JointTraj new_traj, int id);
+    void addTrajectoryToQueue(manipulation_msgs::JointTraj new_traj, int id);
 
     /**   
      * @brief Preempt the current trajectory queue
      * @param new_traj The trajectory message that needs to executed
      * @param id The id of the trajectory
      */
-    void preemptTrajectoryQueue(robot_msgs::JointTraj new_traj, int id);
+    void preemptTrajectoryQueue(manipulation_msgs::JointTraj new_traj, int id);
 
     /**   
      * @brief Delete a trajectory from the queue of trajectories

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/whole_body_trajectory_controller.h
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/whole_body_trajectory_controller.h	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/include/pr2_mechanism_controllers/whole_body_trajectory_controller.h	2009-06-18 10:06:30 UTC (rev 17279)
@@ -56,8 +56,8 @@
 #include <pr2_mechanism_controllers/SetJointTarget.h>
 #include <pr2_mechanism_controllers/JointPosCmd.h>
 
-#include <robot_msgs/JointTraj.h>
-#include <robot_msgs/JointTrajPoint.h>
+#include <manipulation_msgs/JointTraj.h>
+#include <manipulation_msgs/JointTrajPoint.h>
 #include <diagnostic_msgs/DiagnosticMessage.h>
 
 #include <pr2_mechanism_controllers/TrajectoryStart.h>
@@ -271,9 +271,9 @@
 
     void deleteTrajectoryFromQueue(int id);
 
-    void addTrajectoryToQueue(robot_msgs::JointTraj new_traj, int id);
+    void addTrajectoryToQueue(manipulation_msgs::JointTraj new_traj, int id);
 
-    int createTrajectory(const robot_msgs::JointTraj &new_traj,trajectory::Trajectory &return_trajectory);
+    int createTrajectory(const manipulation_msgs::JointTraj &new_traj,trajectory::Trajectory &return_trajectory);
 
     void updateTrajectoryQueue(int last_trajectory_finish_status);
 
@@ -294,7 +294,7 @@
      */
     boost::mutex ros_lock_;
 
-    robot_msgs::JointTraj traj_msg_;
+    manipulation_msgs::JointTraj traj_msg_;
 
     pr2_mechanism_controllers::JointPosCmd msg_;   //The message used by the ROS callback
     WholeBodyTrajectoryController *c_;
@@ -327,11 +327,11 @@
 
     int trajectory_id_;
 
-    std::vector<robot_msgs::JointTraj> joint_trajectory_vector_;
+    std::vector<manipulation_msgs::JointTraj> joint_trajectory_vector_;
 
     std::vector<int> joint_trajectory_id_;
 
-    void setTrajectoryCmdFromMsg(robot_msgs::JointTraj traj_msg);
+    void setTrajectoryCmdFromMsg(manipulation_msgs::JointTraj traj_msg);
 
     int request_trajectory_id_;
 

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/manifest.xml
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/manifest.xml	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/manifest.xml	2009-06-18 10:06:30 UTC (rev 17279)
@@ -25,6 +25,8 @@
   <depend package="angles" />
   <depend package="control_toolbox" />
   <depend package="filters" />
+  <depend package="manipulation_msgs" />
+
   <url>http://pr.willowgarage.com</url>
   <repository>http://pr.willowgarage.com/repos</repository>
   <export>

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/scripts/tuckarm.py
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/scripts/tuckarm.py	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/scripts/tuckarm.py	2009-06-18 10:06:30 UTC (rev 17279)
@@ -39,7 +39,7 @@
 
 import rospy
 
-from robot_msgs.msg import JointTraj, JointTrajPoint
+from manipulation_msgs.msg import JointTraj, JointTrajPoint
 from mechanism_control import mechanism
 from robot_mechanism_controllers.srv import *
 

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_trajectory_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_trajectory_controller.cpp	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/arm_trajectory_controller.cpp	2009-06-18 10:06:30 UTC (rev 17279)
@@ -435,7 +435,7 @@
   }
 }
 
-void ArmTrajectoryControllerNode::setTrajectoryCmdFromMsg(robot_msgs::JointTraj traj_msg)
+void ArmTrajectoryControllerNode::setTrajectoryCmdFromMsg(manipulation_msgs::JointTraj traj_msg)
 {
   std::vector<trajectory::Trajectory::TPoint> tp;
   int msg_size = std::max<int>((int)traj_msg.get_points_size(),1);
@@ -614,7 +614,7 @@
   return true;
 }
 
-int ArmTrajectoryControllerNode::createTrajectory(const robot_msgs::JointTraj &new_traj,trajectory::Trajectory &return_trajectory)
+int ArmTrajectoryControllerNode::createTrajectory(const manipulation_msgs::JointTraj &new_traj,trajectory::Trajectory &return_trajectory)
 {
   std::vector<trajectory::Trajectory::TPoint> tp;
 
@@ -654,7 +654,7 @@
   return 1;
 }
 
-void ArmTrajectoryControllerNode::addTrajectoryToQueue(robot_msgs::JointTraj new_traj, int id)
+void ArmTrajectoryControllerNode::addTrajectoryToQueue(manipulation_msgs::JointTraj new_traj, int id)
 {
   joint_trajectory_vector_.push_back(new_traj);
   joint_trajectory_id_.push_back(id);

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/joint_trajectory_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/joint_trajectory_controller.cpp	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/joint_trajectory_controller.cpp	2009-06-18 10:06:30 UTC (rev 17279)
@@ -741,7 +741,7 @@
 }
 
 
-void JointTrajectoryController::setTrajectoryCmdFromMsg(robot_msgs::JointTraj traj_msg, int id)
+void JointTrajectoryController::setTrajectoryCmdFromMsg(manipulation_msgs::JointTraj traj_msg, int id)
 {
   std::vector<trajectory::Trajectory::TPoint> tp;
   int msg_size = std::max<int>((int)traj_msg.get_points_size(),1);
@@ -894,7 +894,7 @@
 }
 
 
-bool JointTrajectoryController::createTrajectoryPointsVectorFromMsg(const robot_msgs::JointTraj &new_traj, std::vector<trajectory::Trajectory::TPoint> &tp)
+bool JointTrajectoryController::createTrajectoryPointsVectorFromMsg(const manipulation_msgs::JointTraj &new_traj, std::vector<trajectory::Trajectory::TPoint> &tp)
 {
   if(new_traj.get_points_size() > 0)
   {
@@ -925,7 +925,7 @@
   return true;
 }
 
-bool JointTrajectoryController::createTrajectoryFromMsg(const robot_msgs::JointTraj &new_traj,trajectory::Trajectory &return_trajectory)
+bool JointTrajectoryController::createTrajectoryFromMsg(const manipulation_msgs::JointTraj &new_traj,trajectory::Trajectory &return_trajectory)
 {
   std::vector<trajectory::Trajectory::TPoint> tp;
 
@@ -945,7 +945,7 @@
   return true;
 }
 
-void JointTrajectoryController::addTrajectoryToQueue(robot_msgs::JointTraj new_traj, int id)
+void JointTrajectoryController::addTrajectoryToQueue(manipulation_msgs::JointTraj new_traj, int id)
 {
   trajectory_queue_.lock();
 
@@ -958,7 +958,7 @@
   trajectory_queue_.unlock();
 }
 
-void JointTrajectoryController::preemptTrajectoryQueue(robot_msgs::JointTraj new_traj, int id)
+void JointTrajectoryController::preemptTrajectoryQueue(manipulation_msgs::JointTraj new_traj, int id)
 {
   int index = std::max(current_trajectory_index_,0);
   trajectory_queue_.try_lock();

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/src/whole_body_trajectory_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/src/whole_body_trajectory_controller.cpp	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/src/whole_body_trajectory_controller.cpp	2009-06-18 10:06:30 UTC (rev 17279)
@@ -666,7 +666,7 @@
   }
 }
 
-void WholeBodyTrajectoryControllerNode::setTrajectoryCmdFromMsg(robot_msgs::JointTraj traj_msg)
+void WholeBodyTrajectoryControllerNode::setTrajectoryCmdFromMsg(manipulation_msgs::JointTraj traj_msg)
 {
   std::vector<trajectory::Trajectory::TPoint> tp;
   int msg_size = std::max<int>((int)traj_msg.get_points_size(),1);
@@ -839,7 +839,7 @@
   return true;
 }
 
-int WholeBodyTrajectoryControllerNode::createTrajectory(const robot_msgs::JointTraj &new_traj,trajectory::Trajectory &return_trajectory)
+int WholeBodyTrajectoryControllerNode::createTrajectory(const manipulation_msgs::JointTraj &new_traj,trajectory::Trajectory &return_trajectory)
 {
   std::vector<trajectory::Trajectory::TPoint> tp;
 
@@ -879,7 +879,7 @@
   return 1;
 }
 
-void WholeBodyTrajectoryControllerNode::addTrajectoryToQueue(robot_msgs::JointTraj new_traj, int id)
+void WholeBodyTrajectoryControllerNode::addTrajectoryToQueue(manipulation_msgs::JointTraj new_traj, int id)
 {
   joint_trajectory_vector_.push_back(new_traj);
   joint_trajectory_id_.push_back(id);

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/srv/GraspPointSrv.srv
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/srv/GraspPointSrv.srv	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/srv/GraspPointSrv.srv	2009-06-18 10:06:30 UTC (rev 17279)
@@ -1,3 +1,3 @@
 robot_msgs/PoseStamped transform
 ---
-robot_msgs/JointTraj traj
\ No newline at end of file
+manipulation_msgs/JointTraj traj
\ No newline at end of file

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/srv/TrajectoryStart.srv
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/srv/TrajectoryStart.srv	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/srv/TrajectoryStart.srv	2009-06-18 10:06:30 UTC (rev 17279)
@@ -1,5 +1,5 @@
 ## Starts a trajectory
-robot_msgs/JointTraj traj
+manipulation_msgs/JointTraj traj
 uint8 hastiming # if 1, use timestamps of trajectory points, otherwise do internal retiming
 uint8 requesttiming # if 1, send back the timestamps for every trajectory point (first point starts at 0)
 ---

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/test/test_arm_trajectory_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/test/test_arm_trajectory_controller.cpp	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/test/test_arm_trajectory_controller.cpp	2009-06-18 10:06:30 UTC (rev 17279)
@@ -33,7 +33,7 @@
  *********************************************************************/
 
 #include <ros/node.h>
-#include <robot_msgs/JointTraj.h>
+#include <manipulation_msgs/JointTraj.h>
 
 static int done = 0;
 

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/test/test_joint_trajectory_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/test/test_joint_trajectory_controller.cpp	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/test/test_joint_trajectory_controller.cpp	2009-06-18 10:06:30 UTC (rev 17279)
@@ -33,7 +33,7 @@
  *********************************************************************/
 
 #include <ros/node.h>
-#include <robot_msgs/JointTraj.h>
+#include <manipulation_msgs/JointTraj.h>
 
 static int done = 0;
 
@@ -55,7 +55,7 @@
 
 
   /*********** Start moving the robot ************/
-  robot_msgs::JointTraj cmd;
+  manipulation_msgs::JointTraj cmd;
 
   int num_points = 1;
   int num_joints = 3;
@@ -70,7 +70,7 @@
   cmd.points[0].positions[2] = 0.0;
   cmd.points[0].time = 0.0;
 
-  node->advertise<robot_msgs::JointTraj>("base/trajectory_controller/command",1);
+  node->advertise<manipulation_msgs::JointTraj>("base/trajectory_controller/command",1);
   sleep(1);
   node->publish("base/trajectory_controller/command",cmd);
   sleep(4);

Modified: pkg/trunk/controllers/pr2_mechanism_controllers/test/test_whole_body_controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2_mechanism_controllers/test/test_whole_body_controller.cpp	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/controllers/pr2_mechanism_controllers/test/test_whole_body_controller.cpp	2009-06-18 10:06:30 UTC (rev 17279)
@@ -33,7 +33,7 @@
  *********************************************************************/
 
 #include <ros/node.h>
-#include <robot_msgs/JointTraj.h>
+#include <manipulation_msgs/JointTraj.h>
 
 static int done = 0;
 
@@ -55,7 +55,7 @@
 
 
   /*********** Start moving the robot ************/
-  robot_msgs::JointTraj cmd;
+  manipulation_msgs::JointTraj cmd;
 
   int num_points = 1;
   int num_joints = 10;
@@ -77,7 +77,7 @@
   cmd.points[0].positions[9] = -0.0;
   cmd.points[0].time = 0.0;
 
-  node->advertise<robot_msgs::JointTraj>("base/trajectory_controller/command",1);
+  node->advertise<manipulation_msgs::JointTraj>("base/trajectory_controller/command",1);
   sleep(1);
   node->publish("base/trajectory_controller/command",cmd);
   sleep(4);

Modified: pkg/trunk/demos/plug_in/move_to_pickup.py
===================================================================
--- pkg/trunk/demos/plug_in/move_to_pickup.py	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/demos/plug_in/move_to_pickup.py	2009-06-18 10:06:30 UTC (rev 17279)
@@ -7,7 +7,8 @@
 import numpy
 import rospy
 
-from robot_msgs.msg import JointTraj, JointTrajPoint, PlugStow, Point, PoseStamped
+from robot_msgs.msg import PlugStow, Point, PoseStamped
+from mechanism_msgs.msg import JointTraj, JointTrajPoint
 from mechanism_control import mechanism
 from robot_mechanism_controllers.srv import *
 from pr2_mechanism_controllers.srv import *

Modified: pkg/trunk/demos/tabletop_manipulation/scripts/tuckarm.py
===================================================================
--- pkg/trunk/demos/tabletop_manipulation/scripts/tuckarm.py	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/demos/tabletop_manipulation/scripts/tuckarm.py	2009-06-18 10:06:30 UTC (rev 17279)
@@ -36,7 +36,8 @@
 import roslib
 roslib.load_manifest('tabletop_manipulation')
 import rospy
-from robot_msgs.msg import JointTraj, JointTrajPoint, MechanismState
+from manipulation_msgs.msg import JointTraj, JointTrajPoint
+from mechanism_msgs.msg import MechanismState
 
 import sys
 from math import *

Modified: pkg/trunk/highlevel/doors/doors_core/include/doors_core/move_base_door_action.h
===================================================================
--- pkg/trunk/highlevel/doors/doors_core/include/doors_core/move_base_door_action.h	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/highlevel/doors/doors_core/include/doors_core/move_base_door_action.h	2009-06-18 10:06:30 UTC (rev 17279)
@@ -43,7 +43,7 @@
 #include <robot_actions/action_runner.h>
 #include <pr2_robot_actions/DoorActionState.h>
 #include <pr2_robot_actions/Pose2D.h>
-#include <robot_msgs/JointTraj.h>
+#include <manipulation_msgs/JointTraj.h>
 
 #include <ros/node.h>
 

Modified: pkg/trunk/highlevel/doors/doors_core/src/move_base_door_action.cpp
===================================================================
--- pkg/trunk/highlevel/doors/doors_core/src/move_base_door_action.cpp	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/highlevel/doors/doors_core/src/move_base_door_action.cpp	2009-06-18 10:06:30 UTC (rev 17279)
@@ -100,7 +100,7 @@
     planner_ = new DoorReactivePlanner(ros_node_, tf_,&planner_cost_map_,control_frame_,global_frame_);
     ROS_INFO("MAP SIZE: %d, %d", planner_cost_map_.cellSizeX(), planner_cost_map_.cellSizeY());
 
-    ros_node_.advertise<robot_msgs::JointTraj>(control_topic_name_, 1);
+    ros_node_.advertise<manipulation_msgs::JointTraj>(control_topic_name_, 1);
     last_diagnostics_publish_time_ = ros::Time::now();
 
     ROS_INFO("Move base door action initialized");
@@ -353,7 +353,7 @@
 
   void MoveBaseDoorAction::dispatchControl(const std::vector<pr2_robot_actions::Pose2D> &plan_in)
   {
-    robot_msgs::JointTraj plan_out;
+    manipulation_msgs::JointTraj plan_out;
     current_distance_to_goal_ = distance(global_pose_.getOrigin().x(),global_pose_.getOrigin().y(),goal_.x,goal_.y);
     if((int)plan_in.size() <= 0)
     {

Modified: pkg/trunk/highlevel/move_arm/include/move_arm/move_arm.h
===================================================================
--- pkg/trunk/highlevel/move_arm/include/move_arm/move_arm.h	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/highlevel/move_arm/include/move_arm/move_arm.h	2009-06-18 10:06:30 UTC (rev 17279)
@@ -41,7 +41,7 @@
 #include <robot_actions/action.h>
 #include <robot_actions/action_runner.h>
 
-#include <robot_msgs/JointTraj.h>
+#include <manipulation_msgs/JointTraj.h>
 #include <pr2_robot_actions/MoveArmState.h>
 #include <pr2_robot_actions/MoveArmGoal.h>
 #include <motion_planning_msgs/KinematicPath.h>
@@ -95,7 +95,7 @@
 	planning_environment::CollisionModels *collisionModels_;
 	planning_environment::PlanningMonitor *planningMonitor_;
 
-	void fillTrajectoryPath(const motion_planning_msgs::KinematicPath &path, robot_msgs::JointTraj &traj);
+	void fillTrajectoryPath(const motion_planning_msgs::KinematicPath &path, manipulation_msgs::JointTraj &traj);
 	bool computeIK(const robot_msgs::PoseStamped &pose_stamped_msg, std::vector<double> &solution);
 	bool getControlJointNames(std::vector<std::string> &joint_names);
     };

Modified: pkg/trunk/highlevel/move_arm/src/move_arm.cpp
===================================================================
--- pkg/trunk/highlevel/move_arm/src/move_arm.cpp	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/highlevel/move_arm/src/move_arm.cpp	2009-06-18 10:06:30 UTC (rev 17279)
@@ -362,7 +362,7 @@
 	return result;
     }
 
-    void MoveArm::fillTrajectoryPath(const motion_planning_msgs::KinematicPath &path, robot_msgs::JointTraj &traj)
+    void MoveArm::fillTrajectoryPath(const motion_planning_msgs::KinematicPath &path, manipulation_msgs::JointTraj &traj)
     {
 	traj.points.resize(path.states.size());
 	for (unsigned int i = 0 ; i < path.states.size() ; ++i)

Modified: pkg/trunk/highlevel/plugs/plugs_core/include/plugs_core/action_untuck_arms.h
===================================================================
--- pkg/trunk/highlevel/plugs/plugs_core/include/plugs_core/action_untuck_arms.h	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/highlevel/plugs/plugs_core/include/plugs_core/action_untuck_arms.h	2009-06-18 10:06:30 UTC (rev 17279)
@@ -44,7 +44,7 @@
 #include <std_msgs/Empty.h>
 #include <robot_actions/action.h>
 
-#include <robot_msgs/JointTraj.h>
+#include <manipulation_msgs/JointTraj.h>
 #include <pr2_mechanism_controllers/TrajectoryStart.h>
 #include <pr2_mechanism_controllers/TrajectoryQuery.h>
 #include <pr2_mechanism_controllers/TrajectoryCancel.h>

Modified: pkg/trunk/highlevel/safety/safety_core/include/safety_core/action_tuck_arms.h
===================================================================
--- pkg/trunk/highlevel/safety/safety_core/include/safety_core/action_tuck_arms.h	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/highlevel/safety/safety_core/include/safety_core/action_tuck_arms.h	2009-06-18 10:06:30 UTC (rev 17279)
@@ -44,7 +44,7 @@
 #include <std_msgs/Empty.h>
 #include <robot_actions/action.h>
 
-#include <robot_msgs/JointTraj.h>
+#include <manipulation_msgs/JointTraj.h>
 #include <pr2_mechanism_controllers/TrajectoryStart.h>
 #include <pr2_mechanism_controllers/TrajectoryQuery.h>
 #include <pr2_mechanism_controllers/TrajectoryCancel.h>

Modified: pkg/trunk/motion_planning/mpglue/include/mpglue/plan.h
===================================================================
--- pkg/trunk/motion_planning/mpglue/include/mpglue/plan.h	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/motion_planning/mpglue/include/mpglue/plan.h	2009-06-18 10:06:30 UTC (rev 17279)
@@ -40,6 +40,8 @@
 
 namespace robot_msgs {
   class Pose;
+}
+namespace manipulation_msgs {
   class JointTraj;
 }
 
@@ -92,7 +94,7 @@
     void addWaypoint(boost::shared_ptr<waypoint_s> wp);
     
     static void convertToJointTraj(waypoint_plan_t const * plan,
-				   robot_msgs::JointTraj * jointTraj);
+				   manipulation_msgs::JointTraj * jointTraj);
     
     /**
        Convert a plan from a raw state ID sequence (as computed by

Modified: pkg/trunk/motion_planning/mpglue/manifest.xml
===================================================================
--- pkg/trunk/motion_planning/mpglue/manifest.xml	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/motion_planning/mpglue/manifest.xml	2009-06-18 10:06:30 UTC (rev 17279)
@@ -7,6 +7,7 @@
  <url>http://pr.willowgarage.com/pr-docs/ros-packages/mpglue/html/</url>
  <depend package="std_msgs"/>
  <depend package="robot_msgs"/>
+ <depend package="manipulation_msgs"/>
  <depend package="door_msgs"/>
  <depend package="roscpp"/>
  <depend package="costmap_2d"/>

Modified: pkg/trunk/motion_planning/mpglue/src/plan.cpp
===================================================================
--- pkg/trunk/motion_planning/mpglue/src/plan.cpp	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/motion_planning/mpglue/src/plan.cpp	2009-06-18 10:06:30 UTC (rev 17279)
@@ -36,7 +36,7 @@
 #include <mpglue/plan.h>
 #include <mpglue/sbpl_environment.h>
 #include <robot_msgs/Pose.h>
-#include <robot_msgs/JointTraj.h>
+#include <manipulation_msgs/JointTraj.h>
 #include <sfl/util/numeric.hpp>
 
 namespace mpglue {
@@ -133,10 +133,10 @@
   
   void PlanConverter::
   convertToJointTraj(waypoint_plan_t const * plan,
-		     robot_msgs::JointTraj * jointTraj)
+		     manipulation_msgs::JointTraj * jointTraj)
   {
     for (waypoint_plan_t::const_iterator ip(plan->begin()); ip != plan->end(); ++ip) {
-      robot_msgs::JointTrajPoint pt;
+      manipulation_msgs::JointTrajPoint pt;
       pt.positions.push_back((*ip)->x);
       pt.positions.push_back((*ip)->y);
       if ( ! (*ip)->ignoreTheta())

Modified: pkg/trunk/motion_planning/plan_ompl_path/src/plan_kinematic_path.cpp
===================================================================
--- pkg/trunk/motion_planning/plan_ompl_path/src/plan_kinematic_path.cpp	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/motion_planning/plan_ompl_path/src/plan_kinematic_path.cpp	2009-06-18 10:06:30 UTC (rev 17279)
@@ -52,7 +52,7 @@
 #include <motion_planning_msgs/DisplayKinematicPath.h>
 
 // messages to interact with the joint trajectory controller
-#include <robot_msgs/JointTraj.h>
+#include <manipulation_msgs/JointTraj.h>
 
 // message to interact with the cartesian trajectory controller
 #include <robot_msgs/PoseStamped.h>
@@ -73,7 +73,7 @@
 	kmsm_ = new planning_environment::KinematicModelStateMonitor(rm_);
 	
 	// we use the topic for sending commands to the controller, so we need to advertise it
-	jointCommandPublisher_ = nh_.advertise<robot_msgs::JointTraj>("right_arm/trajectory_controller/trajectory_command", 1);
+	jointCommandPublisher_ = nh_.advertise<manipulation_msgs::JointTraj>("right_arm/trajectory_controller/trajectory_command", 1);
 	cartesianCommandPublisher_ = nh_.advertise<robot_msgs::PoseStamped>("right_arm/?/command", 1);
 
 	// advertise the topic for displaying kinematic plans
@@ -256,7 +256,7 @@
     }
     
     // convert a kinematic path message to a trajectory for the controller
-    void getTrajectoryMsg(const motion_planning_msgs::KinematicPath &path, robot_msgs::JointTraj &traj)
+    void getTrajectoryMsg(const motion_planning_msgs::KinematicPath &path, manipulation_msgs::JointTraj &traj)
     {	
         traj.set_points_size(path.get_states_size());	
 	for (unsigned int i = 0 ; i < path.get_states_size() ; ++i)
@@ -272,7 +272,7 @@
     void sendArmCommand(const motion_planning_msgs::KinematicPath &path, const std::string &model)
     {
 	sendDisplay(path, model);
-	robot_msgs::JointTraj traj;
+	manipulation_msgs::JointTraj traj;
 	getTrajectoryMsg(path, traj);
 	jointCommandPublisher_.publish(traj);
 	ROS_INFO("Sent trajectory to controller");

Modified: pkg/trunk/motion_planning/plan_ompl_path/src/right_arm/execute_replan_to_state.cpp
===================================================================
--- pkg/trunk/motion_planning/plan_ompl_path/src/right_arm/execute_replan_to_state.cpp	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/motion_planning/plan_ompl_path/src/right_arm/execute_replan_to_state.cpp	2009-06-18 10:06:30 UTC (rev 17279)
@@ -45,7 +45,7 @@
 #include <motion_planning_srvs/KinematicPlan.h>
 
 // messages to interact with the trajectory controller
-#include <robot_msgs/JointTraj.h>
+#include <manipulation_msgs/JointTraj.h>
 
 #include <std_srvs/Empty.h>
 
@@ -63,7 +63,7 @@
 	kmsm_ = new planning_environment::KinematicModelStateMonitor(rm_);
 	
 	// we use the topic for sending commands to the controller, so we need to advertise it
-	jointCommandPublisher_ = nh_.advertise<robot_msgs::JointTraj>("right_arm/trajectory_controller/trajectory_command", 1);
+	jointCommandPublisher_ = nh_.advertise<manipulation_msgs::JointTraj>("right_arm/trajectory_controller/trajectory_command", 1);
     }
         
     ~Example(void)
@@ -133,7 +133,7 @@
 protected:
 
     // convert a kinematic path message to a trajectory for the controller
-    void getTrajectoryMsg(const motion_planning_msgs::KinematicPath &path, robot_msgs::JointTraj &traj)
+    void getTrajectoryMsg(const motion_planning_msgs::KinematicPath &path, manipulation_msgs::JointTraj &traj)
     {	
         traj.set_points_size(path.get_states_size());	
 	for (unsigned int i = 0 ; i < path.get_states_size() ; ++i)
@@ -148,7 +148,7 @@
     // send a command to the trajectory controller using a topic
     void sendArmCommand(const motion_planning_msgs::KinematicPath &path, const std::string &model)
     {
-	robot_msgs::JointTraj traj;
+	manipulation_msgs::JointTraj traj;
 	getTrajectoryMsg(path, traj);
 	jointCommandPublisher_.publish(traj);
 	ROS_INFO("Sent trajectory to controller (using a topic)");

Modified: pkg/trunk/motion_planning/plan_ompl_path/src/right_arm/test_path_execution.cpp
===================================================================
--- pkg/trunk/motion_planning/plan_ompl_path/src/right_arm/test_path_execution.cpp	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/motion_planning/plan_ompl_path/src/right_arm/test_path_execution.cpp	2009-06-18 10:06:30 UTC (rev 17279)
@@ -40,7 +40,7 @@
     is looked at as well.  */
 
 #include <planning_environment/kinematic_model_state_monitor.h>
-#include <robot_msgs/JointTraj.h>
+#include <manipulation_msgs/JointTraj.h>
 #include <pr2_mechanism_controllers/TrajectoryStart.h>
 #include <pr2_mechanism_controllers/TrajectoryQuery.h>
 #include <cassert>
@@ -53,7 +53,7 @@
     {
 	rm_ = new planning_environment::RobotModels("robot_description");
 	kmsm_ = new planning_environment::KinematicModelStateMonitor(rm_);
-	jointCommandPublisher_ = nh_.advertise<robot_msgs::JointTraj>("right_arm/trajectory_controller/trajectory_command", 1);
+	jointCommandPublisher_ = nh_.advertise<manipulation_msgs::JointTraj>("right_arm/trajectory_controller/trajectory_command", 1);
 	sleep_duration_ = 4;
 	use_topic_ = false;
     }
@@ -67,7 +67,7 @@
     void testJointLimitsRightArm(const std::string& jname = "")
     {
 	// we send a trajectory with one state
-	robot_msgs::JointTraj traj;
+	manipulation_msgs::JointTraj traj;
 	const int controllerDim = 7;
 	std::string groupName = "right_arm";
 	traj.set_points_size(1);

Modified: pkg/trunk/motion_planning/planning_research/sbpl_arm_executive/include/sbpl_arm_executive/pr2_arm_node.h
===================================================================
--- pkg/trunk/motion_planning/planning_research/sbpl_arm_executive/include/sbpl_arm_executive/pr2_arm_node.h	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/motion_planning/planning_research/sbpl_arm_executive/include/sbpl_arm_executive/pr2_arm_node.h	2009-06-18 10:06:30 UTC (rev 17279)
@@ -34,9 +34,9 @@
 #include <std_msgs/Float64.h>
 
 #include <robot_msgs/Pose.h>
-#include <robot_msgs/JointTraj.h>
+#include <manipulation_msgs/JointTraj.h>
 #include <robot_msgs/PoseStamped.h>
-#include <robot_msgs/JointTrajPoint.h>
+#include <manipulation_msgs/JointTrajPoint.h>
 
 #include <pr2_mechanism_controllers/TrajectoryStart.h>
 #include <pr2_mechanism_controllers/TrajectoryQuery.h>
@@ -99,17 +99,17 @@
 
     void goHome(const std::vector<double> &home_position);
 
-    bool sendTrajectory(std::string group_name, const robot_msgs::JointTraj &traj);
+    bool sendTrajectory(std::string group_name, const manipulation_msgs::JointTraj &traj);
 
-    void sendTrajectoryOnTopic(std::string group_name, const robot_msgs::JointTraj &traj);
+    void sendTrajectoryOnTopic(std::string group_name, const manipulation_msgs::JointTraj &traj);
 
-    bool planSBPLPath(const robot_msgs::JointTrajPoint &joint_start, const std::vector<robot_msgs::Pose> &pose_goals, robot_msgs::JointTraj &planned_path);
+    bool planSBPLPath(const manipulation_msgs::JointTrajPoint &joint_start, const std::vector<robot_msgs::Pose> &pose_goals, manipulation_msgs::JointTraj &planned_path);
 
-    bool planSBPLPath(const robot_msgs::JointTrajPoint &joint_start, const std::vector<robot_msgs::JointTrajPoint> &joint_goal, robot_msgs::JointTraj &planned_path);
+    bool planSBPLPath(const manipulation_msgs::JointTrajPoint &joint_start, const std::vector<manipulation_msgs::JointTrajPoint> &joint_goal, manipulation_msgs::JointTraj &planned_path);
 
-    bool planSBPLPath_ioan(const robot_msgs::JointTrajPoint &joint_start, const std::vector<robot_msgs::Pose> &pose_goals, robot_msgs::JointTraj &planned_path);
+    bool planSBPLPath_ioan(const manipulation_msgs::JointTrajPoint &joint_start, const std::vector<robot_msgs::Pose> &pose_goals, manipulation_msgs::JointTraj &planned_path);
 
-    void getCurrentPosition(robot_msgs::JointTrajPoint &current_joint_positions);
+    void getCurrentPosition(manipulation_msgs::JointTrajPoint &current_joint_positions);
 
     robot_msgs::Pose RPYToTransform(double roll, double pitch, double yaw, double x, double y, double z);
 
@@ -119,7 +119,7 @@
 
     void shakeHead();
 
-    void getGraspTrajectory(const robot_msgs::PoseStamped &transform, robot_msgs::JointTraj &traj);
+    void getGraspTrajectory(const robot_msgs::PoseStamped &transform, manipulation_msgs::JointTraj &traj);
 
   };
 }

Modified: pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/include/sbpl_arm_planner_node/sbpl_arm_check_path.h
===================================================================
--- pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/include/sbpl_arm_planner_node/sbpl_arm_check_path.h	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/include/sbpl_arm_planner_node/sbpl_arm_check_path.h	2009-06-18 10:06:30 UTC (rev 17279)
@@ -38,10 +38,10 @@
 #include <tf/tf.h>
 
 /** Messages needed for trajectory control and collision map**/
-#include <robot_msgs/Pose.h>
-#include <robot_msgs/JointTraj.h>
+#include <manipulation_msgs/Pose.h>
+#include <manipulation_msgs/JointTraj.h>
 #include <robot_msgs/CollisionMap.h>
-#include <robot_msgs/JointTrajPoint.h>
+#include <manipulation_msgs/JointTrajPoint.h>
 
 /** sbpl planner include files **/
 #include <sbpl_arm_planner/headers.h>

Modified: pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/include/sbpl_arm_planner_node/sbpl_arm_planner_node.h
===================================================================
--- pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/include/sbpl_arm_planner_node/sbpl_arm_planner_node.h	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/include/sbpl_arm_planner_node/sbpl_arm_planner_node.h	2009-06-18 10:06:30 UTC (rev 17279)
@@ -39,9 +39,9 @@
 
 /** Messages needed for trajectory control and collision map**/
 #include <robot_msgs/Pose.h>
-#include <robot_msgs/JointTraj.h>
+#include <manipulation_msgs/JointTraj.h>
 #include <robot_msgs/CollisionMap.h>
-#include <robot_msgs/JointTrajPoint.h>
+#include <manipulation_msgs/JointTrajPoint.h>
 
 /** sbpl planner include files **/
 #include <sbpl_arm_planner/headers.h>
@@ -104,13 +104,13 @@
 
       bool initializePlannerAndEnvironment();
 
-      bool setStart(const robot_msgs::JointTrajPoint &start);
+      bool setStart(const manipulation_msgs::JointTrajPoint &start);
 
       bool setGoals(const std::vector<robot_msgs::Pose> &goals);
 
-      bool setGoals(const robot_msgs::JointTrajPoint &goal_joint_positions_);
+      bool setGoals(const manipulation_msgs::JointTrajPoint &goal_joint_positions_);
 
-      bool replan(robot_msgs::JointTraj &arm_path);
+      bool replan(manipulation_msgs::JointTraj &arm_path);
 
       void getSBPLCollisionMap();
 

Modified: pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/manifest.xml
===================================================================
--- pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/manifest.xml	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/manifest.xml	2009-06-18 10:06:30 UTC (rev 17279)
@@ -7,6 +7,7 @@
     <depend package="roscpp"/>
     <depend package="std_msgs"/>
     <depend package="robot_msgs" />
+    <depend package="manipulation_msgs" />
     <depend package="motion_planning_msgs" />
     <depend package="motion_planning_srvs" />
     <depend package="sbpl_arm_planner" />

Modified: pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/srv/CheckPathSrv.srv
===================================================================
--- pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/srv/CheckPathSrv.srv	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/srv/CheckPathSrv.srv	2009-06-18 10:06:30 UTC (rev 17279)
@@ -1,2 +1,2 @@
-robot_msgs/JointTraj traj
+manipulation_msgs/JointTraj traj
 ---

Modified: pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/srv/PlanPathSrv.srv
===================================================================
--- pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/srv/PlanPathSrv.srv	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/motion_planning/planning_research/sbpl_arm_planner_node/srv/PlanPathSrv.srv	2009-06-18 10:06:30 UTC (rev 17279)
@@ -1,6 +1,6 @@
 std_msgs/String type
-robot_msgs/JointTrajPoint start
-robot_msgs/JointTrajPoint joint_goal
+manipulation_msgs/JointTrajPoint start
+manipulation_msgs/JointTrajPoint joint_goal
 robot_msgs/Pose[] cartesian_goals
 ---
-robot_msgs/JointTraj traj
+manipulation_msgs/JointTraj traj

Modified: pkg/trunk/motion_planning/planning_research/sbpl_door_planner_action/include/sbpl_door_planner_action/sbpl_door_planner_action.h
===================================================================
--- pkg/trunk/motion_planning/planning_research/sbpl_door_planner_action/include/sbpl_door_planner_action/sbpl_door_planner_action.h	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/motion_planning/planning_research/sbpl_door_planner_action/include/sbpl_door_planner_action/sbpl_door_planner_action.h	2009-06-18 10:06:30 UTC (rev 17279)
@@ -44,8 +44,8 @@
 
 /** Messages needed for trajectory control and collision map**/
 #include <robot_msgs/Pose.h>
-#include <robot_msgs/JointTraj.h>
-#include <robot_msgs/JointTrajPoint.h>
+#include <manipulation_msgs/JointTraj.h>
+#include <manipulation_msgs/JointTrajPoint.h>
 #include <robot_msgs/CollisionMap.h>
 
 // Costmap used for the map representation
@@ -129,7 +129,7 @@
   
   bool initializePlannerAndEnvironment(const door_msgs::Door &door);
   
-  bool makePlan(const pr2_robot_actions::Pose2D &start, const pr2_robot_actions::Pose2D &goal, robot_msgs::JointTraj &path);
+  bool makePlan(const pr2_robot_actions::Pose2D &start, const pr2_robot_actions::Pose2D &goal, manipulation_msgs::JointTraj &path);
 
   std::vector<robot_msgs::Point> footprint_;
 
@@ -151,7 +151,7 @@
 
   bool removeDoor();
 
-  void publishPath(const robot_msgs::JointTraj &path, std::string topic, double r, double g, double b, double a);
+  void publishPath(const manipulation_msgs::JointTraj &path, std::string topic, double r, double g, double b, double a);
 
   bool computeOrientedFootprint(const pr2_robot_actions::Pose2D &position, const std::vector<robot_msgs::Point>& footprint_spec, std::vector<robot_msgs::Point>& oriented_footprint);
 
@@ -171,7 +171,7 @@
 
   double handle_hinge_distance_;
 
-  void animate(const robot_msgs::JointTraj &path);
+  void animate(const manipulation_msgs::JointTraj &path);
 
   tf::Stamped<tf::Pose> getGlobalHandlePosition(const door_msgs::Door &door, const double &local_angle);
 
@@ -183,7 +183,7 @@
 
   std::string arm_control_topic_name_;
 
-  void dispatchControl(const robot_msgs::JointTraj &path, const door_msgs::Door &door);
+  void dispatchControl(const manipulation_msgs::JointTraj &path, const door_msgs::Door &door);
 
   double distance_goal_;
 
@@ -193,7 +193,7 @@
 
   void publishGripper(const double &angle);
 
-  void processPlan(const robot_msgs::JointTraj &path, robot_msgs::JointTraj &return_path);
+  void processPlan(const manipulation_msgs::JointTraj &path, manipulation_msgs::JointTraj &return_path);
 
   bool do_control_;
 

Modified: pkg/trunk/motion_planning/planning_research/sbpl_door_planner_action/src/sbpl_door_planner_action.cpp
===================================================================
--- pkg/trunk/motion_planning/planning_research/sbpl_door_planner_action/src/sbpl_door_planner_action.cpp	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/motion_planning/planning_research/sbpl_door_planner_action/src/sbpl_door_planner_action.cpp	2009-06-18 10:06:30 UTC (rev 17279)
@@ -103,7 +103,7 @@
 
 //  ros_node_.advertise<robot_msgs::PoseStamped>(arm_control_topic_name_,1);
   ros_node_.advertise<pr2_ik::PoseCmd>(arm_control_topic_name_,1);
-  ros_node_.advertise<robot_msgs::JointTraj>(base_control_topic_name_,1);
+  ros_node_.advertise<manipulation_msgs::JointTraj>(base_control_topic_name_,1);
 
   robot_msgs::Point pt;
   //create a square footprint
@@ -238,7 +238,7 @@
   return true;
 }
 
-bool SBPLDoorPlanner::makePlan(const pr2_robot_actions::Pose2D &start, const pr2_robot_actions::Pose2D &goal, robot_msgs::JointTraj &path)
+bool SBPLDoorPlanner::makePlan(const pr2_robot_actions::Pose2D &start, const pr2_robot_actions::Pose2D &goal, manipulation_msgs::JointTraj &path)
 {
   ROS_INFO("[replan] getting fresh copy of costmap");
   lock_.lock();
@@ -318,7 +318,7 @@
       ROS_DEBUG("Found a path with %d points",(int) plan->size());
       for(int i=0; i < (int) plan->size(); i++)
       {
-        robot_msgs::JointTrajPoint path_point;
+        manipulation_msgs::JointTrajPoint path_point;
         mpglue::waypoint_s const * wpt((*plan)[i].get());
         mpglue::door_waypoint_s const * doorwpt(dynamic_cast<mpglue::door_waypoint_s const *>(wpt));	
         path_point.positions.push_back(doorwpt->x);
@@ -344,7 +344,7 @@
 //   path.points.clear();
 //   for(int i=0; i < (int) return_path.size(); i++)
 //   {
-//     robot_msgs::JointTrajPoint path_point;
+//     manipulation_msgs::JointTrajPoint path_point;
 //     path_point.positions.push_back(return_path[i].x);
 //     path_point.positions.push_back(return_path[i].y);
 //     path_point.positions.push_back(return_path[i].th);
@@ -358,7 +358,7 @@
 
 robot_actions::ResultStatus SBPLDoorPlanner::execute(const door_msgs::Door& door_msg_in, door_msgs::Door& feedback)
 {
-  robot_msgs::JointTraj path;
+  manipulation_msgs::JointTraj path;
   door_msgs::Door door;
   if(!updateGlobalPose())
   {
@@ -412,7 +412,7 @@
 
   handle_hinge_distance_ = getHandleHingeDistance(door_env_.door);
 
-  robot_msgs::JointTraj new_path;
+  manipulation_msgs::JointTraj new_path;
   processPlan(path,new_path);
 
   if(animate_ && !isPreemptRequested())
@@ -432,14 +432,14 @@
   return robot_actions::SUCCESS;
 }
 
-void SBPLDoorPlanner::dispatchControl(const robot_msgs::JointTraj &path, const door_msgs::Door &door)
+void SBPLDoorPlanner::dispatchControl(const manipulation_msgs::JointTraj &path, const door_msgs::Door &door)
 {
   int plan_count = 0;
   ros::Rate control_rate(controller_frequency_);
   while(!isPreemptRequested() && plan_count < (int) path.get_points_size())
   {
-    robot_msgs::JointTraj base_plan;
-    robot_msgs::JointTrajPoint path_point;
+    manipulation_msgs::JointTraj base_plan;
+    manipulation_msgs::JointTrajPoint path_point;
     path_point.positions.push_back(path.points[plan_count].positions[0]);
     path_point.positions.push_back(path.points[plan_count].positions[1]);
     path_point.positions.push_back(angles::normalize_angle(path.points[plan_count].positions[2]));
@@ -470,7 +470,7 @@
   }
 }
 
-void SBPLDoorPlanner::processPlan(const robot_msgs::JointTraj &path, robot_msgs::JointTraj &return_path)
+void SBPLDoorPlanner::processPlan(const manipulation_msgs::JointTraj &path, manipulation_msgs::JointTraj &return_path)
 {
   return_path = path;
   double global_yaw = getFrameAngle(door_env_.door);  //Take the plan and add the last few steps to open the door
@@ -483,7 +483,7 @@
   double delta_open_angle = 0.05;
   int num_intervals = fabs(additional_open_angle)/delta_open_angle;
 
-  robot_msgs::JointTrajPoint additional_point = path.points.back();
+  manipulation_msgs::JointTrajPoint additional_point = path.points.back();
   for(int i=0; i<num_intervals; i++)
   {
     additional_point.positions[3] = angles::normalize_angle(last_plan_angle + i*additional_open_angle/(double)num_intervals);
@@ -499,7 +499,7 @@
 
 }
 
-void SBPLDoorPlanner::animate(const robot_msgs::JointTraj &path)
+void SBPLDoorPlanner::animate(const manipulation_msgs::JointTraj &path)
 {
   ros::Rate animate_rate(animate_frequency_);
   for(int i=0; i < (int) path.get_points_size(); i++)
@@ -591,7 +591,7 @@
   return result;
 }
 
-void SBPLDoorPlanner::publishPath(const robot_msgs::JointTraj &path, std::string topic, double r, double g, double b, double a)
+void SBPLDoorPlanner::publishPath(const manipulation_msgs::JointTraj &path, std::string topic, double r, double g, double b, double a)
 {
   visualization_msgs::Polyline gui_path_msg;
   gui_path_msg.header.frame_id = global_frame_;

Modified: pkg/trunk/motion_planning/planning_research/sbpl_planner_node/include/sbpl_planner_node/sbpl_planner_node.h
===================================================================
--- pkg/trunk/motion_planning/planning_research/sbpl_planner_node/include/sbpl_planner_node/sbpl_planner_node.h	2009-06-18 09:27:04 UTC (rev 17278)
+++ pkg/trunk/motion_planning/planning_research/sbpl_planner_node/include/sbpl_planner_node/sbpl_planner_node.h	2009-06-18 10:06:30 UTC (rev 17279)
@@ -43,8 +43,8 @@
 
 /** Messages needed for trajectory control and collision map**/
 #include <robot_msgs/Pose.h>
-#include <robot_msgs/JointTraj.h>
-#include <robot_msgs/JointTrajPoint.h>
+#include <manipulation_msgs/JointTraj.h>
+#include <manipulation_msgs/JointTrajPoint.h>
 #include <robot_msgs/CollisionMap.h>
 
 // Co...
 
[truncated message content]