Menu
▾
▴
[Personalrobots-commit] SF.net SVN: personalrobots:[17914] pkg/trunk
|
From: <tf...@us...> - 2009-06-29 23:11:58
|
Revision: 17914
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=17914&view=rev
Author: tfoote
Date: 2009-06-29 23:10:52 +0000 (Mon, 29 Jun 2009)
Log Message:
-----------
created nav_msgs and moved ParticleCloud there #1300
Modified Paths:
--------------
pkg/trunk/nav/amcl/manifest.xml
pkg/trunk/nav/amcl/src/amcl_node.cpp
pkg/trunk/nav/fake_localization/fake_localization.cpp
pkg/trunk/nav/fake_localization/manifest.xml
pkg/trunk/stacks/visualization/rviz/manifest.xml
pkg/trunk/stacks/visualization/rviz/src/rviz/displays/particle_cloud_2d_display.cpp
pkg/trunk/stacks/visualization/rviz/src/rviz/displays/particle_cloud_2d_display.h
Added Paths:
-----------
pkg/trunk/stacks/common_msgs/nav_msgs/
pkg/trunk/stacks/common_msgs/nav_msgs/CMakeLists.txt
pkg/trunk/stacks/common_msgs/nav_msgs/Makefile
pkg/trunk/stacks/common_msgs/nav_msgs/mainpage.dox
pkg/trunk/stacks/common_msgs/nav_msgs/manifest.xml
pkg/trunk/stacks/common_msgs/nav_msgs/msg/
pkg/trunk/stacks/common_msgs/nav_msgs/msg/ParticleCloud.msg
Removed Paths:
-------------
pkg/trunk/stacks/common_msgs/robot_msgs/msg/ParticleCloud.msg
Modified: pkg/trunk/nav/amcl/manifest.xml
===================================================================
--- pkg/trunk/nav/amcl/manifest.xml 2009-06-29 23:08:35 UTC (rev 17913)
+++ pkg/trunk/nav/amcl/manifest.xml 2009-06-29 23:10:52 UTC (rev 17914)
@@ -9,6 +9,7 @@
<depend package="tf" />
<depend package="robot_srvs" />
<depend package="robot_msgs" />
+ <depend package="nav_msgs" />
<depend package="std_srvs" />
<depend package="laser_scan" />
<depend package="visualization_msgs"/>
Modified: pkg/trunk/nav/amcl/src/amcl_node.cpp
===================================================================
--- pkg/trunk/nav/amcl/src/amcl_node.cpp 2009-06-29 23:08:35 UTC (rev 17913)
+++ pkg/trunk/nav/amcl/src/amcl_node.cpp 2009-06-29 23:10:52 UTC (rev 17914)
@@ -66,7 +66,7 @@
Publishes to (name type):
- @b "amcl_pose" robot_msgs/PoseWithCovariance : robot's estimated pose in the map, with covariance
-- @b "particlecloud" robot_msgs/ParticleCloud : the set of pose estimates being maintained by the filter.
+- @b "particlecloud" nav_msgs/ParticleCloud : the set of pose estimates being maintained by the filter.
- @b "tf_message" tf/tfMessage : publishes the transform from "odom" (which can be remapped via the ~odom_frame_id parameter) to "map"
- @b "gui_laser" visualization_msgs/Polyline : re-projected laser scans (for visualization)
@@ -158,7 +158,7 @@
// Messages that I need
#include "laser_scan/LaserScan.h"
#include "robot_msgs/PoseWithCovariance.h"
-#include "robot_msgs/ParticleCloud.h"
+#include "nav_msgs/ParticleCloud.h"
#include "robot_msgs/Pose.h"
#include "robot_srvs/StaticMap.h"
#include "std_srvs/Empty.h"
@@ -440,7 +440,7 @@
laser_likelihood_max_dist);
ros::Node::instance()->advertise<robot_msgs::PoseWithCovariance>("amcl_pose",2);
- ros::Node::instance()->advertise<robot_msgs::ParticleCloud>("particlecloud",2);
+ ros::Node::instance()->advertise<nav_msgs::ParticleCloud>("particlecloud",2);
ros::Node::instance()->advertise<visualization_msgs::Polyline>("gui_laser",2);
ros::Node::instance()->advertiseService("global_localization",
&AmclNode::globalLocalizationCallback,
@@ -726,7 +726,7 @@
// Publish the resulting cloud
// TODO: set maximum rate for publishing
- robot_msgs::ParticleCloud cloud_msg;
+ nav_msgs::ParticleCloud cloud_msg;
cloud_msg.set_particles_size(set->sample_count);
for(int i=0;i<set->sample_count;i++)
{
Modified: pkg/trunk/nav/fake_localization/fake_localization.cpp
===================================================================
--- pkg/trunk/nav/fake_localization/fake_localization.cpp 2009-06-29 23:08:35 UTC (rev 17913)
+++ pkg/trunk/nav/fake_localization/fake_localization.cpp 2009-06-29 23:10:52 UTC (rev 17914)
@@ -60,7 +60,7 @@
Publishes to (name / type):
- @b "amcl_pose" robot_msgs/PoseWithCovariance : robot's estimated pose in the map, with covariance
-- @b "particlecloud" robot_msgs/ParticleCloud : fake set of particles being maintained by the filter (one paricle only).
+- @b "particlecloud" nav_msgs/ParticleCloud : fake set of particles being maintained by the filter (one paricle only).
<hr>
@@ -74,7 +74,7 @@
#include <ros/time.h>
#include <robot_msgs/PoseWithRatesStamped.h>
-#include <robot_msgs/ParticleCloud.h>
+#include <nav_msgs/ParticleCloud.h>
#include <robot_msgs/PoseWithCovariance.h>
#include <angles/angles.h>
@@ -92,7 +92,7 @@
FakeOdomNode(void) : ros::Node("fake_localization")
{
advertise<robot_msgs::PoseWithCovariance>("amcl_pose",1);
- advertise<robot_msgs::ParticleCloud>("particlecloud",1);
+ advertise<nav_msgs::ParticleCloud>("particlecloud",1);
m_tfServer = new tf::TransformBroadcaster();
m_tfListener = new tf::TransformListener(*this);
m_lastUpdate = ros::Time::now();
@@ -138,7 +138,7 @@
bool m_base_pos_received;
robot_msgs::PoseWithRatesStamped m_basePosMsg;
- robot_msgs::ParticleCloud m_particleCloud;
+ nav_msgs::ParticleCloud m_particleCloud;
robot_msgs::PoseWithCovariance m_currentPos;
//parameter for what odom to use
Modified: pkg/trunk/nav/fake_localization/manifest.xml
===================================================================
--- pkg/trunk/nav/fake_localization/manifest.xml 2009-06-29 23:08:35 UTC (rev 17913)
+++ pkg/trunk/nav/fake_localization/manifest.xml 2009-06-29 23:10:52 UTC (rev 17914)
@@ -5,6 +5,7 @@
<review status="unreviewed" notes=""/>
<depend package="roscpp" />
<depend package="rosconsole" />
+ <depend package="nav_msgs" />
<depend package="robot_msgs" />
<depend package="tf" />
<depend package="angles" />
Added: pkg/trunk/stacks/common_msgs/nav_msgs/CMakeLists.txt
===================================================================
--- pkg/trunk/stacks/common_msgs/nav_msgs/CMakeLists.txt (rev 0)
+++ pkg/trunk/stacks/common_msgs/nav_msgs/CMakeLists.txt 2009-06-29 23:10:52 UTC (rev 17914)
@@ -0,0 +1,30 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type. Options are:
+# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
+# Debug : w/ debug symbols, w/o optimization
+# Release : w/o debug symbols, w/ optimization
+# RelWithDebInfo : w/ debug symbols, w/ optimization
+# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rospack(nav_msgs)
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+genmsg()
+#uncomment if you have defined services
+#gensrv()
+
+#common commands for building c++ executables and libraries
+#rospack_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rospack_add_boost_directories()
+#rospack_link_boost(${PROJECT_NAME} thread)
+#rospack_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})
Added: pkg/trunk/stacks/common_msgs/nav_msgs/Makefile
===================================================================
--- pkg/trunk/stacks/common_msgs/nav_msgs/Makefile (rev 0)
+++ pkg/trunk/stacks/common_msgs/nav_msgs/Makefile 2009-06-29 23:10:52 UTC (rev 17914)
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
Added: pkg/trunk/stacks/common_msgs/nav_msgs/mainpage.dox
===================================================================
--- pkg/trunk/stacks/common_msgs/nav_msgs/mainpage.dox (rev 0)
+++ pkg/trunk/stacks/common_msgs/nav_msgs/mainpage.dox 2009-06-29 23:10:52 UTC (rev 17914)
@@ -0,0 +1,119 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b nav_msgs is ...
+
+<!--
+In addition to providing an overview of your package,
+this is the section where the specification and design/architecture
+should be detailed. While the original specification may be done on the
+wiki, it should be transferred here once your package starts to take shape.
+You can then link to this documentation page from the Wiki.
+-->
+
+
+\section codeapi Code API
+
+<!--
+Provide links to specific auto-generated API documentation within your
+package that is of particular interest to a reader. Doxygen will
+document pretty much every part of your code, so do your best here to
+point the reader to the actual API.
+
+If your codebase is fairly large or has different sets of APIs, you
+should use the doxygen 'group' tag to keep these APIs together. For
+example, the roscpp documentation has 'libros' group.
+-->
+
+\section rosapi ROS API
+
+<!--
+Names are very important in ROS because they can be remapped on the
+command-line, so it is VERY IMPORTANT THAT YOU LIST NAMES AS THEY
+APPEAR IN THE CODE. You should list names of every topic, service and
+parameter used in your code. There is a template below that you can
+use to document each node separately.
+
+List of nodes:
+- \b node_name1
+- \b node_name2
+-->
+
+<!-- START: copy from here to 'END' for each node
+
+<hr>
+
+\subsection node_name node_name
+
+node_name does (provide a basic description of your node)
+
+\subsubsection Usage
+\verbatim
+$ node_type1 [standard ROS args]
+\endverbatim
+
+\par Example
+
+\verbatim
+$ node_type1
+\endverbatim
+
+
+\subsubsection topics ROS topics
+
+Subscribes to:
+- \b "in": [std_msgs/FooType] description of in
+
+Publishes to:
+- \b "out": [std_msgs/FooType] description of out
+
+
+\subsubsection parameters ROS parameters
+
+Reads the following parameters from the parameter server
+
+- \b "~param_name" : \b [type] description of param_name
+- \b "~my_param" : \b [string] description of my_param
+
+Sets the following parameters on the parameter server
+
+- \b "~param_name" : \b [type] description of param_name
+
+
+\subsubsection services ROS services
+- \b "foo_service": [std_srvs/FooType] description of foo_service
+
+
+END: copy for each node -->
+
+
+<!-- START: Uncomment if you have any command-line tools
+
+\section commandline Command-line tools
+
+This section is a catch-all for any additional tools that your package
+provides or uses that may be of use to the reader. For example:
+
+- tools/scripts (e.g. rospack, roscd)
+- roslaunch .launch files
+- xmlparam files
+
+\subsection script_name script_name
+
+Description of what this script/file does.
+
+\subsubsection Usage
+\verbatim
+$ ./script_name [args]
+\endverbatim
+
+\par Example
+
+\verbatim
+$ ./script_name foo bar
+\endverbatim
+
+END: Command-Line Tools Section -->
+
+*/
\ No newline at end of file
Added: pkg/trunk/stacks/common_msgs/nav_msgs/manifest.xml
===================================================================
--- pkg/trunk/stacks/common_msgs/nav_msgs/manifest.xml (rev 0)
+++ pkg/trunk/stacks/common_msgs/nav_msgs/manifest.xml 2009-06-29 23:10:52 UTC (rev 17914)
@@ -0,0 +1,18 @@
+<package>
+ <description brief="Messages for the nav stack">
+
+ These messages are the common messages used to interact with the nav stack
+
+ </description>
+ <author>Tully Foote</author>
+ <license>BSD</license>
+ <review status="API conditionally cleared" notes="http://pr.willowgarage.com/wiki/robot_msgs/2009-05-05_API_Reviewx"/>
+ <url>http://pr.willowgarage.com/wiki/nav_msgs</url>
+ <depend package="robot_msgs"/>
+ <export>
+ <cpp cflags="-I${prefix}/msg/cpp"/>
+ </export>
+
+</package>
+
+
Copied: pkg/trunk/stacks/common_msgs/nav_msgs/msg/ParticleCloud.msg (from rev 17898, pkg/trunk/stacks/common_msgs/robot_msgs/msg/ParticleCloud.msg)
===================================================================
--- pkg/trunk/stacks/common_msgs/nav_msgs/msg/ParticleCloud.msg (rev 0)
+++ pkg/trunk/stacks/common_msgs/nav_msgs/msg/ParticleCloud.msg 2009-06-29 23:10:52 UTC (rev 17914)
@@ -0,0 +1 @@
+robot_msgs/Pose[] particles
Property changes on: pkg/trunk/stacks/common_msgs/nav_msgs/msg/ParticleCloud.msg
___________________________________________________________________
Added: svn:mergeinfo
+ /pkg/branches/gazebo-branch-merge/common/robot_msgs/msg/ParticleCloud.msg:15683-15684,15739-15794,15797-15820,15822-15839,15852-15870,15983-16008,16010-16016,16129-16141,16145-16169,16245-16262,16274-16334
Deleted: pkg/trunk/stacks/common_msgs/robot_msgs/msg/ParticleCloud.msg
===================================================================
--- pkg/trunk/stacks/common_msgs/robot_msgs/msg/ParticleCloud.msg 2009-06-29 23:08:35 UTC (rev 17913)
+++ pkg/trunk/stacks/common_msgs/robot_msgs/msg/ParticleCloud.msg 2009-06-29 23:10:52 UTC (rev 17914)
@@ -1 +0,0 @@
-robot_msgs/Pose[] particles
Modified: pkg/trunk/stacks/visualization/rviz/manifest.xml
===================================================================
--- pkg/trunk/stacks/visualization/rviz/manifest.xml 2009-06-29 23:08:35 UTC (rev 17913)
+++ pkg/trunk/stacks/visualization/rviz/manifest.xml 2009-06-29 23:10:52 UTC (rev 17914)
@@ -14,6 +14,7 @@
<depend package="rosconsole"/>
<depend package="std_msgs"/>
<depend package="robot_msgs"/>
+ <depend package="nav_msgs"/>
<depend package="mechanism_msgs" />
<depend package="deprecated_msgs"/>
<depend package="tf"/>
Modified: pkg/trunk/stacks/visualization/rviz/src/rviz/displays/particle_cloud_2d_display.cpp
===================================================================
--- pkg/trunk/stacks/visualization/rviz/src/rviz/displays/particle_cloud_2d_display.cpp 2009-06-29 23:08:35 UTC (rev 17913)
+++ pkg/trunk/stacks/visualization/rviz/src/rviz/displays/particle_cloud_2d_display.cpp 2009-06-29 23:10:52 UTC (rev 17914)
@@ -172,7 +172,7 @@
topic_property_ = property_manager_->createProperty<ROSTopicStringProperty>( "Topic", property_prefix_, boost::bind( &ParticleCloud2DDisplay::getTopic, this ),
boost::bind( &ParticleCloud2DDisplay::setTopic, this, _1 ), category_, this );
ROSTopicStringPropertyPtr topic_prop = topic_property_.lock();
- topic_prop->setMessageType(robot_msgs::ParticleCloud::__s_getDataType());
+ topic_prop->setMessageType(nav_msgs::ParticleCloud::__s_getDataType());
}
void ParticleCloud2DDisplay::fixedFrameChanged()
Modified: pkg/trunk/stacks/visualization/rviz/src/rviz/displays/particle_cloud_2d_display.h
===================================================================
--- pkg/trunk/stacks/visualization/rviz/src/rviz/displays/particle_cloud_2d_display.h 2009-06-29 23:08:35 UTC (rev 17913)
+++ pkg/trunk/stacks/visualization/rviz/src/rviz/displays/particle_cloud_2d_display.h 2009-06-29 23:10:52 UTC (rev 17914)
@@ -35,7 +35,7 @@
#include "helpers/color.h"
#include "properties/forwards.h"
-#include <robot_msgs/ParticleCloud.h>
+#include <nav_msgs/ParticleCloud.h>
namespace ogre_tools
{
@@ -102,7 +102,7 @@
Ogre::ManualObject* manual_object_;
bool new_message_;
- robot_msgs::ParticleCloud message_;
+ nav_msgs::ParticleCloud message_;
ColorPropertyWPtr color_property_;
ROSTopicStringPropertyWPtr topic_property_;
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
