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[Personalrobots-commit] SF.net SVN: personalrobots:[18011] pkg/trunk
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From: <tf...@us...> - 2009-06-30 22:03:44
|
Revision: 18011
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=18011&view=rev
Author: tfoote
Date: 2009-06-30 22:03:33 +0000 (Tue, 30 Jun 2009)
Log Message:
-----------
Image from image_msgs -> sensor_msgs #1661
Modified Paths:
--------------
pkg/trunk/calibration/calibration_msgs/manifest.xml
pkg/trunk/calibration/kinematic_calibration/deprecated/camera_cal_sampler.h
pkg/trunk/calibration/kinematic_calibration/deprecated/image_point_cache.h
pkg/trunk/calibration/kinematic_calibration/deprecated/state_history.h
pkg/trunk/calibration/kinematic_calibration/manifest.xml
pkg/trunk/calibration/kinematic_calibration/msg/CalibrationData.msg
pkg/trunk/calibration/kinematic_calibration/msg/CalibrationData2.msg
pkg/trunk/calibration/kinematic_calibration/msg/SensorKinematics.msg
pkg/trunk/calibration/kinematic_calibration/src/kinematic_calibration/image_point_stream.py
pkg/trunk/calibration/kinematic_calibration/src/kinematic_calibration/msg_cache.py
pkg/trunk/calibration/kinematic_calibration/src/laser_head_grabber.cpp
pkg/trunk/calibration/kinematic_calibration/src/sensor_kinematics_grabber.cpp
pkg/trunk/calibration/optical_flag_calibration/manifest.xml
pkg/trunk/calibration/sandbox/laser_head_updater/manifest.xml
pkg/trunk/calibration/sandbox/laser_head_updater/src/publish_laser_head_tf.cpp
pkg/trunk/calibration/sandbox/laser_head_updater/src/publish_laser_head_tf_pre.cpp
pkg/trunk/calibration/sandbox/laser_head_updater/src/publish_laser_head_tf_prg.cpp
pkg/trunk/drivers/cam/camera_trigger_test/manifest.xml
pkg/trunk/drivers/cam/camera_trigger_test/src/timestamp_test.cpp
pkg/trunk/drivers/cam/camera_trigger_test/src/trigger_test.cpp
pkg/trunk/drivers/cam/forearm_cam/manifest.xml
pkg/trunk/drivers/cam/forearm_cam/src/nodes/forearm_node.cpp
pkg/trunk/drivers/cam/forearm_cam/src/utilities/focus.cpp
pkg/trunk/drivers/robot/pr2/dense_laser_assembler/manifest.xml
pkg/trunk/drivers/robot/pr2/dense_laser_assembler/scripts/assembler_node.py
pkg/trunk/drivers/robot/pr2/dense_laser_assembler/scripts/laser_image_node.py
pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_camera.h
pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_prosilica.h
pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_stereo_camera.h
pkg/trunk/drivers/simulator/gazebo_plugin/manifest.xml
pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_camera.cpp
pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_prosilica.cpp
pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_stereo_camera.cpp
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/manifest.xml
pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.py
pkg/trunk/drivers/swiss_ranger/sr3000/manifest.xml
pkg/trunk/drivers/swiss_ranger/sr3000/src/sr3000.cpp
pkg/trunk/mapping/annotated_planar_patch_map/include/annotated_planar_patch_map/projection.h
pkg/trunk/mapping/annotated_planar_patch_map/manifest.xml
pkg/trunk/mapping/annotated_planar_patch_map/src/annotated_map_info.cpp
pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_pcd_via_service.cpp
pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_planar_patch_map.cpp
pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_tagged_patch_map.cpp
pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_tagged_patch_map_via_service.cpp
pkg/trunk/mapping/annotated_planar_patch_map/src/empty_annotated_map.cpp
pkg/trunk/mapping/annotated_planar_patch_map/src/image_value_node.cpp
pkg/trunk/mapping/annotated_planar_patch_map/src/projection.cpp
pkg/trunk/mapping/annotated_planar_patch_map/test/projection_test.cpp
pkg/trunk/mapping/annotated_planar_patch_map/test/send_annotation.py
pkg/trunk/mapping/door_stereo_detector/manifest.xml
pkg/trunk/mapping/door_stereo_detector/src/door_stereo_detector.cpp
pkg/trunk/openrave_planning/openraveros/manifest.xml
pkg/trunk/openrave_planning/openraveros/octave/openraveros_startup.m
pkg/trunk/openrave_planning/openraveros/octave/orRobotSensorGetData.m
pkg/trunk/openrave_planning/openraveros/src/rosserver.h
pkg/trunk/openrave_planning/openraveros/srv/robot_sensorgetdata.srv
pkg/trunk/pr2/qualification/tests/forearm_cam_test/led_flash_test.cpp
pkg/trunk/sandbox/camera_calibration/src/nodes/calibration_client.cpp
pkg/trunk/sandbox/camera_calibration/src/nodes/calibration_server.cpp
pkg/trunk/sandbox/image_publisher/include/image_publisher/image_publisher.h
pkg/trunk/sandbox/image_publisher/mainpage.dox
pkg/trunk/sandbox/image_publisher/manifest.xml
pkg/trunk/sandbox/image_publisher/src/decoder.cpp
pkg/trunk/sandbox/image_publisher/src/image_publisher.cpp
pkg/trunk/sandbox/image_publisher/src/test_publisher.cpp
pkg/trunk/sandbox/message_filters/include/message_filters/consumer.h
pkg/trunk/sandbox/message_filters/manifest.xml
pkg/trunk/sandbox/message_filters/src/filter_example.cpp
pkg/trunk/sandbox/pf_object_detector/mainpage.dox
pkg/trunk/sandbox/pf_object_detector/src/pf_detector_node.m
pkg/trunk/sandbox/stanleyi/stanleyi.cpp
pkg/trunk/stacks/camera_drivers/dcam/manifest.xml
pkg/trunk/stacks/camera_drivers/dcam/src/nodes/dcam.cpp
pkg/trunk/stacks/camera_drivers/dcam/src/nodes/stereodcam.cpp
pkg/trunk/stacks/camera_drivers/prosilica_cam/manifest.xml
pkg/trunk/stacks/camera_drivers/prosilica_cam/src/nodes/fake_poll_node.cpp
pkg/trunk/stacks/camera_drivers/prosilica_cam/src/nodes/prosilica_grab.cpp
pkg/trunk/stacks/camera_drivers/prosilica_cam/src/nodes/prosilica_node.cpp
pkg/trunk/stacks/camera_drivers/prosilica_cam/srv/CamInfo.srv
pkg/trunk/stacks/camera_drivers/prosilica_cam/srv/PolledImage.srv
pkg/trunk/stacks/opencv/opencv_latest/include/opencv_latest/CvBridge.h
pkg/trunk/stacks/opencv/opencv_latest/manifest.xml
pkg/trunk/stacks/pr2_drivers/ocean_battery_driver/manifest.xml
pkg/trunk/stacks/semantic_mapping/door_handle_detector/manifest.xml
pkg/trunk/stacks/semantic_mapping/door_handle_detector/src/handle_detector_vision.cpp
pkg/trunk/stacks/stereo/stereo_image_proc/include/cam_bridge.h
pkg/trunk/stacks/stereo/stereo_image_proc/manifest.xml
pkg/trunk/stacks/stereo/stereo_image_proc/src/imageproc.cpp
pkg/trunk/stacks/stereo/stereo_image_proc/src/stereoproc.cpp
pkg/trunk/stacks/visual_feature_detectors/checkerboard_detector/checkerboard_calibration.cpp
pkg/trunk/stacks/visual_feature_detectors/checkerboard_detector/checkerboard_detector.cpp
pkg/trunk/stacks/visual_feature_detectors/checkerboard_detector/manifest.xml
pkg/trunk/stacks/visual_feature_detectors/outlet_detection/include/outlet_detection/tracker_base.h
pkg/trunk/stacks/visual_feature_detectors/outlet_detection/manifest.xml
pkg/trunk/stacks/visual_feature_detectors/outlet_detection/src/outlet_spotting.cpp
pkg/trunk/stacks/visual_feature_detectors/outlet_detection/src/outlet_spotting2.cpp
pkg/trunk/stacks/visual_feature_detectors/outlet_detection/src/tracker_base.cpp
pkg/trunk/stacks/visualization/image_view/image_view.cpp
pkg/trunk/stacks/visualization/image_view/manifest.xml
pkg/trunk/stacks/visualization/rviz/manifest.xml
pkg/trunk/stacks/visualization/rviz/src/rviz/displays/camera_display.cpp
pkg/trunk/stacks/visualization/rviz/src/rviz/displays/camera_display.h
pkg/trunk/stacks/visualization/rviz/src/rviz/image/ros_image_texture.cpp
pkg/trunk/stacks/visualization/rviz/src/rviz/image/ros_image_texture.h
pkg/trunk/util/prosilica_capture_rectified/manifest.xml
pkg/trunk/util/prosilica_capture_rectified/src/prosilica_capture.cpp
pkg/trunk/vision/cmvision/manifest.xml
pkg/trunk/vision/cmvision/src/CMVisionBF.h
pkg/trunk/vision/color_calib/calib_node_dcam.cpp
pkg/trunk/vision/color_calib/manifest.xml
pkg/trunk/vision/cv_mech_turk/manifest.xml
pkg/trunk/vision/cv_mech_turk/src/annotation_to_data_sync.py
pkg/trunk/vision/cv_mech_turk/src/cv_mturk.cpp
pkg/trunk/vision/cv_mech_turk/src/mt_annotate_simple.py
pkg/trunk/vision/cv_mech_turk/src/mt_manual_select.cpp
pkg/trunk/vision/cv_mech_turk/src/mt_manual_select_cv.cpp
pkg/trunk/vision/cv_mech_turk/src/snapper.py
pkg/trunk/vision/image_segmentation/src/msfhseg_node.cpp
pkg/trunk/vision/jpeg/mainpage.dox
pkg/trunk/vision/jpeg/manifest.xml
pkg/trunk/vision/jpeg/src/decoder.cpp
pkg/trunk/vision/jpeg/src/encoder.cpp
pkg/trunk/vision/led_detection/include/led_detection/led_detector.h
pkg/trunk/vision/led_detection/include/led_detection/led_detector_node.h
pkg/trunk/vision/led_detection/manifest.xml
pkg/trunk/vision/led_detection/src/led_detector.cpp
pkg/trunk/vision/led_detection/src/led_detector_node.cpp
pkg/trunk/vision/neven_face_detector/nevenFD.cpp
pkg/trunk/vision/people/manifest.xml
pkg/trunk/vision/people/src/face_detection.cpp
pkg/trunk/vision/people/src/pedestrian_detector_HOG.cpp
pkg/trunk/vision/people/src/stereo_color_tracker.cpp
pkg/trunk/vision/people/src/stereo_face_color_tracker.cpp
pkg/trunk/vision/people/src/track_starter_gui.cpp
pkg/trunk/vision/recognition_lambertian/manifest.xml
pkg/trunk/vision/recognition_lambertian/src/publish_scene.cpp
pkg/trunk/vision/recognition_lambertian/src/rec_lam_normal_features.cpp
pkg/trunk/vision/recognition_lambertian/src/recognition_lambertian.cpp
pkg/trunk/vision/stereo_capture/manifest.xml
pkg/trunk/vision/stereo_capture/src/periodic_capture.cpp
pkg/trunk/vision/stereo_capture/src/stereo_capture.cpp
pkg/trunk/vision/stereo_checkerboard_detector/include/stereo_checkerboard_detector/mono_checkerboard_helper.h
pkg/trunk/vision/stereo_checkerboard_detector/include/stereo_checkerboard_detector/reprojection_helper.h
pkg/trunk/vision/stereo_checkerboard_detector/include/stereo_checkerboard_detector/stereo_checkerboard_helper.h
pkg/trunk/vision/stereo_checkerboard_detector/manifest.xml
pkg/trunk/vision/stereo_checkerboard_detector/src/checkerboard_corners_node.cpp
pkg/trunk/vision/stereo_checkerboard_detector/src/image_pc_debugger.cpp
pkg/trunk/vision/stereo_checkerboard_detector/src/mono_checkerboard_helper.cpp
pkg/trunk/vision/stereo_checkerboard_detector/src/reprojection_helper.cpp
pkg/trunk/vision/stereo_checkerboard_detector/src/stereo_checkerboard_helper.cpp
pkg/trunk/vision/stereo_checkerboard_detector/src/stereo_checkerboard_node.cpp
pkg/trunk/vision/stereo_checkerboard_detector/test/reprojection_unittest.cpp
pkg/trunk/vision/stereo_view/manifest.xml
pkg/trunk/vision/stereo_view/stereo_view.cpp
pkg/trunk/vision/stereo_view/stereo_view_pixel_info.cpp
pkg/trunk/vision/vision_tests/manifest.xml
pkg/trunk/vision/vision_tests/nodes/sink.py
pkg/trunk/vision/vision_tests/nodes/source.py
pkg/trunk/vision/visual_odometry/manifest.xml
pkg/trunk/vision/visual_odometry/nodes/diff.py
pkg/trunk/vision/visual_odometry/nodes/vo.py
pkg/trunk/vision/visual_odometry/scripts/mkgeo.py
pkg/trunk/vision/visual_odometry/scripts/mkrun.py
pkg/trunk/vision/vslam/manifest.xml
pkg/trunk/vision/vslam/nodes/fixplay.py
pkg/trunk/vision/vslam/nodes/picmap.py
pkg/trunk/vision/vslam/nodes/roadmap.py
pkg/trunk/vision/vslam/nodes/watchmap.py
Added Paths:
-----------
pkg/trunk/stacks/common_msgs/sensor_msgs/include/
pkg/trunk/stacks/common_msgs/sensor_msgs/include/sensor_msgs/
pkg/trunk/stacks/common_msgs/sensor_msgs/include/sensor_msgs/FillImage.h
pkg/trunk/stacks/common_msgs/sensor_msgs/msg/CamInfo.msg
pkg/trunk/stacks/common_msgs/sensor_msgs/msg/DisparityInfo.msg
pkg/trunk/stacks/common_msgs/sensor_msgs/msg/Image.msg
pkg/trunk/stacks/common_msgs/sensor_msgs/msg/RawStereo.msg
pkg/trunk/stacks/common_msgs/sensor_msgs/msg/StereoInfo.msg
pkg/trunk/stacks/common_msgs/sensor_msgs/octave/
pkg/trunk/stacks/common_msgs/sensor_msgs/octave/image_msgs_processImage.m
pkg/trunk/stacks/common_msgs/sensor_msgs/octave/image_msgs_writeImageMsg.m
Removed Paths:
-------------
pkg/trunk/stacks/common/image_msgs/
Modified: pkg/trunk/calibration/calibration_msgs/manifest.xml
===================================================================
--- pkg/trunk/calibration/calibration_msgs/manifest.xml 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/calibration/calibration_msgs/manifest.xml 2009-06-30 22:03:33 UTC (rev 18011)
@@ -9,7 +9,7 @@
<depend package="std_msgs" />
<depend package="robot_msgs" />
- <depend package="image_msgs" />
+ <depend package="sensor_msgs" />
<export>
<cpp cflags="-I${prefix}/msg/cpp" />
Modified: pkg/trunk/calibration/kinematic_calibration/deprecated/camera_cal_sampler.h
===================================================================
--- pkg/trunk/calibration/kinematic_calibration/deprecated/camera_cal_sampler.h 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/calibration/kinematic_calibration/deprecated/camera_cal_sampler.h 2009-06-30 22:03:33 UTC (rev 18011)
@@ -45,8 +45,8 @@
#include "kinematic_calibration/Capture.h"
#include "robot_msgs/MechanismState.h"
-#include "image_msgs/Image.h"
-#include "image_msgs/CamInfo.h"
+#include "sensor_msgs/Image.h"
+#include "sensor_msgs/CamInfo.h"
#include "topic_synchronizer/topic_synchronizer.h"
#include "tinyxml/tinyxml.h"
@@ -78,7 +78,7 @@
lock_.unlock() ;
}
- image_msgs::ImagePointStamped& getMsg()
+ sensor_msgs::ImagePointStamped& getMsg()
{
return msg_ ;
}
@@ -100,7 +100,7 @@
return latest_time ;
}
- void findClosestBefore(const ros::Time& time, image_msgs::ImagePointStamped& data_out)
+ void findClosestBefore(const ros::Time& time, sensor_msgs::ImagePointStamped& data_out)
{
lock_.lock() ;
cache_.findClosestBefore(time, data_out) ;
@@ -116,7 +116,7 @@
ImagePointCache cache_ ;
boost::mutex lock_ ;
- image_msgs::ImagePointStamped msg_ ;
+ sensor_msgs::ImagePointStamped msg_ ;
} ;
class CameraCalSampler
Modified: pkg/trunk/calibration/kinematic_calibration/deprecated/image_point_cache.h
===================================================================
--- pkg/trunk/calibration/kinematic_calibration/deprecated/image_point_cache.h 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/calibration/kinematic_calibration/deprecated/image_point_cache.h 2009-06-30 22:03:33 UTC (rev 18011)
@@ -40,7 +40,7 @@
#include "kinematic_calibration/msg_cache.h"
-#include "image_msgs/ImagePointStamped.h"
+#include "sensor_msgs/ImagePointStamped.h"
#include "kinematic_calibration/Interval.h"
#include "tinyxml/tinyxml.h"
@@ -49,10 +49,10 @@
{
-class ImagePointCache : public MsgCache<image_msgs::ImagePointStamped>
+class ImagePointCache : public MsgCache<sensor_msgs::ImagePointStamped>
{
public:
- ImagePointCache(unsigned int N=1) : MsgCache<image_msgs::ImagePointStamped>(N)
+ ImagePointCache(unsigned int N=1) : MsgCache<sensor_msgs::ImagePointStamped>(N)
{
}
@@ -65,7 +65,7 @@
bool isStable(Interval interval, unsigned int min_samples, double pos_tolerance)
{
- std::deque<image_msgs::ImagePointStamped>::iterator it ;
+ std::deque<sensor_msgs::ImagePointStamped>::iterator it ;
it = storage_.begin() ;
double led_min_x, led_min_y ;
Modified: pkg/trunk/calibration/kinematic_calibration/deprecated/state_history.h
===================================================================
--- pkg/trunk/calibration/kinematic_calibration/deprecated/state_history.h 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/calibration/kinematic_calibration/deprecated/state_history.h 2009-06-30 22:03:33 UTC (rev 18011)
@@ -40,7 +40,7 @@
#include "robot_msgs/MechanismState.h"
#include "robot_msgs/PointStamped.h"
-#include "image_msgs/Image.h"
+#include "sensor_msgs/Image.h"
#include "kinematic_calibration/CameraCalSample.h"
#include <limits>
@@ -80,8 +80,8 @@
std::vector<double> joint_min(joint_map.size(), numeric_limits<double>::max()) ;
std::vector<double> joint_max(joint_map.size(), -numeric_limits<double>::max()) ;
- std::vector<image_msgs::ImagePoint> led_min(storage_.begin()->get_points_size()) ;
- std::vector<image_msgs::ImagePoint> led_max(storage_.begin()->get_points_size()) ;
+ std::vector<sensor_msgs::ImagePoint> led_min(storage_.begin()->get_points_size()) ;
+ std::vector<sensor_msgs::ImagePoint> led_max(storage_.begin()->get_points_size()) ;
for (unsigned int i=0; i<storage_.begin()->get_points_size(); i++)
{
Modified: pkg/trunk/calibration/kinematic_calibration/manifest.xml
===================================================================
--- pkg/trunk/calibration/kinematic_calibration/manifest.xml 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/calibration/kinematic_calibration/manifest.xml 2009-06-30 22:03:33 UTC (rev 18011)
@@ -10,7 +10,7 @@
<depend package="mocap_msgs" />
<depend package="std_msgs" />
<depend package="topic_synchronizer" />
- <depend package="image_msgs" />
+ <depend package="sensor_msgs" />
<depend package="newmat10"/>
<depend package="pr2_mechanism_controllers" />
Modified: pkg/trunk/calibration/kinematic_calibration/msg/CalibrationData.msg
===================================================================
--- pkg/trunk/calibration/kinematic_calibration/msg/CalibrationData.msg 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/calibration/kinematic_calibration/msg/CalibrationData.msg 2009-06-30 22:03:33 UTC (rev 18011)
@@ -5,7 +5,7 @@
Header header
# Raw Stereocam Sensor Data
-image_msgs/RawStereo raw_stereo
+sensor_msgs/RawStereo raw_stereo
# Mechanism State - Stores the robots joint angles
mechanism_msgs/MechanismState mechanism_state
Modified: pkg/trunk/calibration/kinematic_calibration/msg/CalibrationData2.msg
===================================================================
--- pkg/trunk/calibration/kinematic_calibration/msg/CalibrationData2.msg 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/calibration/kinematic_calibration/msg/CalibrationData2.msg 2009-06-30 22:03:33 UTC (rev 18011)
@@ -5,7 +5,7 @@
Header header
# Raw Stereocam Sensor Data
-image_msgs/RawStereo raw_stereo
+sensor_msgs/RawStereo raw_stereo
# Mechanism State - Stores the robots joint angles
mechanism_msgs/MechanismState mechanism_state
@@ -17,5 +17,5 @@
mocap_msgs/MocapSnapshot mocap_snapshot
# Data from multiple monocular cameras
-image_msgs/Image[] image
-image_msgs/CamInfo[] cam_info
+sensor_msgs/Image[] image
+sensor_msgs/CamInfo[] cam_info
Modified: pkg/trunk/calibration/kinematic_calibration/msg/SensorKinematics.msg
===================================================================
--- pkg/trunk/calibration/kinematic_calibration/msg/SensorKinematics.msg 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/calibration/kinematic_calibration/msg/SensorKinematics.msg 2009-06-30 22:03:33 UTC (rev 18011)
@@ -5,12 +5,12 @@
Header header
# Stereocam Sensor Data
-image_msgs/Image left_image
-image_msgs/Image right_image
-image_msgs/Image disparity_image
-image_msgs/StereoInfo stereo_info
-image_msgs/CamInfo left_info
-image_msgs/CamInfo right_info
+sensor_msgs/Image left_image
+sensor_msgs/Image right_image
+sensor_msgs/Image disparity_image
+sensor_msgs/StereoInfo stereo_info
+sensor_msgs/CamInfo left_info
+sensor_msgs/CamInfo right_info
# Mechanism State - Stores the robots joint angles
mechanism_msgs/MechanismState mechanism_state
Modified: pkg/trunk/calibration/kinematic_calibration/src/kinematic_calibration/image_point_stream.py
===================================================================
--- pkg/trunk/calibration/kinematic_calibration/src/kinematic_calibration/image_point_stream.py 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/calibration/kinematic_calibration/src/kinematic_calibration/image_point_stream.py 2009-06-30 22:03:33 UTC (rev 18011)
@@ -40,7 +40,7 @@
from kinematic_calibration.msg_cache import MsgCache
from kinematic_calibration.msg import *
-from image_msgs.msg import *
+from sensor_msgs.msg import *
from roslib import rostime
class ImagePointStats() :
Modified: pkg/trunk/calibration/kinematic_calibration/src/kinematic_calibration/msg_cache.py
===================================================================
--- pkg/trunk/calibration/kinematic_calibration/src/kinematic_calibration/msg_cache.py 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/calibration/kinematic_calibration/src/kinematic_calibration/msg_cache.py 2009-06-30 22:03:33 UTC (rev 18011)
@@ -42,7 +42,7 @@
#from pr2_mechanism_controllers.srv import *
#from robot_msgs.msg import *
-#from image_msgs.msg import *
+#from sensor_msgs.msg import *
class MsgCache() :
def __init__(self, max_len) :
Modified: pkg/trunk/calibration/kinematic_calibration/src/laser_head_grabber.cpp
===================================================================
--- pkg/trunk/calibration/kinematic_calibration/src/laser_head_grabber.cpp 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/calibration/kinematic_calibration/src/laser_head_grabber.cpp 2009-06-30 22:03:33 UTC (rev 18011)
@@ -43,8 +43,8 @@
#include "std_msgs/Empty.h"
#include "robot_msgs/PointCloud.h"
-#include "image_msgs/Image.h"
-#include "image_msgs/CamInfo.h"
+#include "sensor_msgs/Image.h"
+#include "sensor_msgs/CamInfo.h"
#include "kinematic_calibration/CalSnapshot.h"
@@ -88,15 +88,15 @@
boost::mutex stereo_lock_ ;
ADD_MSG(robot_msgs::PointCloud, corners_left_) ;
ADD_MSG(robot_msgs::PointCloud, corners_right_) ;
- ADD_MSG(image_msgs::Image, left_debug_) ;
- ADD_MSG(image_msgs::Image, right_debug_) ;
- ADD_MSG(image_msgs::CamInfo, left_info_) ;
- ADD_MSG(image_msgs::CamInfo, right_info_) ;
+ ADD_MSG(sensor_msgs::Image, left_debug_) ;
+ ADD_MSG(sensor_msgs::Image, right_debug_) ;
+ ADD_MSG(sensor_msgs::CamInfo, left_info_) ;
+ ADD_MSG(sensor_msgs::CamInfo, right_info_) ;
// Laser Messages
boost::mutex laser_lock_ ;
ADD_MSG(robot_msgs::PointCloud, laser_measurement_) ;
- ADD_MSG(image_msgs::Image, laser_debug_) ;
+ ADD_MSG(sensor_msgs::Image, laser_debug_) ;
// Empty message used for callbacks
std_msgs::Empty capture_msg_ ;
@@ -118,9 +118,9 @@
waiting_for_keypress_ = false ;
node_->advertise<CalSnapshot>("~snapshots", 1) ;
- node_->advertise<image_msgs::Image>("~left", 1) ;
- node_->advertise<image_msgs::Image>("~right", 1) ;
- node_->advertise<image_msgs::Image>("~laser", 1) ;
+ node_->advertise<sensor_msgs::Image>("~left", 1) ;
+ node_->advertise<sensor_msgs::Image>("~right", 1) ;
+ node_->advertise<sensor_msgs::Image>("~laser", 1) ;
node_->subscribe("mechanism_state", mech_state_, &LaserHeadGrabber::mechStateCallback, this, 1) ;
@@ -391,7 +391,7 @@
return sample ;
}
- SensorSample buildCamInfoSample(const image_msgs::CamInfo& info, const string& sensor, const string& target)
+ SensorSample buildCamInfoSample(const sensor_msgs::CamInfo& info, const string& sensor, const string& target)
{
SensorSample sample ;
sample.sensor = sensor ;
Modified: pkg/trunk/calibration/kinematic_calibration/src/sensor_kinematics_grabber.cpp
===================================================================
--- pkg/trunk/calibration/kinematic_calibration/src/sensor_kinematics_grabber.cpp 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/calibration/kinematic_calibration/src/sensor_kinematics_grabber.cpp 2009-06-30 22:03:33 UTC (rev 18011)
@@ -44,9 +44,9 @@
#include "std_msgs/Empty.h"
#include "robot_msgs/PointCloud.h"
-#include "image_msgs/RawStereo.h"
-#include "image_msgs/Image.h"
-#include "image_msgs/CamInfo.h"
+#include "sensor_msgs/RawStereo.h"
+#include "sensor_msgs/Image.h"
+#include "sensor_msgs/CamInfo.h"
#include "kinematic_calibration/CalibrationData2.h"
@@ -87,15 +87,15 @@
std_msgs::Empty capture_msg_ ;
// Dcam messages
- image_msgs::RawStereo raw_stereo_ ;
- image_msgs::RawStereo safe_raw_stereo_ ;
+ sensor_msgs::RawStereo raw_stereo_ ;
+ sensor_msgs::RawStereo safe_raw_stereo_ ;
boost::mutex raw_stereo_lock_ ;
// HiRes Camera messages
- image_msgs::Image hi_res_image_ ;
- image_msgs::Image safe_hi_res_image_ ;
- image_msgs::CamInfo hi_res_info_ ;
- image_msgs::CamInfo safe_hi_res_info_ ;
+ sensor_msgs::Image hi_res_image_ ;
+ sensor_msgs::Image safe_hi_res_image_ ;
+ sensor_msgs::CamInfo hi_res_info_ ;
+ sensor_msgs::CamInfo safe_hi_res_info_ ;
boost::mutex hi_res_lock_ ;
// Point Cloud Messages
Modified: pkg/trunk/calibration/optical_flag_calibration/manifest.xml
===================================================================
--- pkg/trunk/calibration/optical_flag_calibration/manifest.xml 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/calibration/optical_flag_calibration/manifest.xml 2009-06-30 22:03:33 UTC (rev 18011)
@@ -9,7 +9,7 @@
<depend package="std_msgs" />
<!-- depend package="robot_kinematics" / -->
<!-- depend package="topic_synchronizer" / -->
- <!-- depend package="image_msgs" / -->
+ <!-- depend package="sensor_msgs" / -->
<!-- depend package="newmat10"/ -->
<depend package="pr2_mechanism_controllers" />
<depend package="manipulation_msgs" />
Modified: pkg/trunk/calibration/sandbox/laser_head_updater/manifest.xml
===================================================================
--- pkg/trunk/calibration/sandbox/laser_head_updater/manifest.xml 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/calibration/sandbox/laser_head_updater/manifest.xml 2009-06-30 22:03:33 UTC (rev 18011)
@@ -10,6 +10,6 @@
<depend package="std_msgs" />
<depend package="tf" />
<depend package="laser_scan" />
- <depend package="image_msgs" />
+ <depend package="sensor_msgs" />
</package>
Modified: pkg/trunk/calibration/sandbox/laser_head_updater/src/publish_laser_head_tf.cpp
===================================================================
--- pkg/trunk/calibration/sandbox/laser_head_updater/src/publish_laser_head_tf.cpp 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/calibration/sandbox/laser_head_updater/src/publish_laser_head_tf.cpp 2009-06-30 22:03:33 UTC (rev 18011)
@@ -40,7 +40,7 @@
#include "tf/transform_datatypes.h"
#include "mechanism_msgs/MechanismState.h"
#include "sensor_msgs/LaserScan.h"
-#include "image_msgs/RawStereo.h"
+#include "sensor_msgs/RawStereo.h"
class LaserHeadKinematics
{
@@ -62,14 +62,14 @@
&LaserHeadKinematics::updateTiltScan, this) ;
// Raw Stereo Updates
- stereo_pub_ = nh.advertise<image_msgs::RawStereo>("/stereo/raw_stereo_cal", 100) ;
+ stereo_pub_ = nh.advertise<sensor_msgs::RawStereo>("/stereo/raw_stereo_cal", 100) ;
stereo_sub_ = nh.subscribe("/stereo/raw_stereo", 100,
&LaserHeadKinematics::updateStereo, this) ;
}
- void updateStereo(const image_msgs::RawStereoConstPtr& msg_in)
+ void updateStereo(const sensor_msgs::RawStereoConstPtr& msg_in)
{
- image_msgs::RawStereo msg_out ;
+ sensor_msgs::RawStereo msg_out ;
msg_out = *msg_in ;
msg_out.header.frame_id = "stereo_optical_frame_cal" ;
stereo_pub_.publish(msg_out) ;
Modified: pkg/trunk/calibration/sandbox/laser_head_updater/src/publish_laser_head_tf_pre.cpp
===================================================================
--- pkg/trunk/calibration/sandbox/laser_head_updater/src/publish_laser_head_tf_pre.cpp 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/calibration/sandbox/laser_head_updater/src/publish_laser_head_tf_pre.cpp 2009-06-30 22:03:33 UTC (rev 18011)
@@ -40,7 +40,7 @@
#include "tf/transform_datatypes.h"
#include "mechanism_msgs/MechanismState.h"
#include "sensor_msgs/LaserScan.h"
-#include "image_msgs/RawStereo.h"
+#include "sensor_msgs/RawStereo.h"
class LaserHeadKinematics
{
@@ -62,14 +62,14 @@
&LaserHeadKinematics::updateTiltScan, this) ;
// Raw Stereo Updates
- stereo_pub_ = nh.advertise<image_msgs::RawStereo>("/stereo/raw_stereo_cal", 100) ;
+ stereo_pub_ = nh.advertise<sensor_msgs::RawStereo>("/stereo/raw_stereo_cal", 100) ;
stereo_sub_ = nh.subscribe("/stereo/raw_stereo", 100,
&LaserHeadKinematics::updateStereo, this) ;
}
- void updateStereo(const image_msgs::RawStereoConstPtr& msg_in)
+ void updateStereo(const sensor_msgs::RawStereoConstPtr& msg_in)
{
- image_msgs::RawStereo msg_out ;
+ sensor_msgs::RawStereo msg_out ;
msg_out = *msg_in ;
msg_out.header.frame_id = "stereo_optical_frame_cal" ;
msg_out.right_info.P[3] = PR_03_ ;
Modified: pkg/trunk/calibration/sandbox/laser_head_updater/src/publish_laser_head_tf_prg.cpp
===================================================================
--- pkg/trunk/calibration/sandbox/laser_head_updater/src/publish_laser_head_tf_prg.cpp 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/calibration/sandbox/laser_head_updater/src/publish_laser_head_tf_prg.cpp 2009-06-30 22:03:33 UTC (rev 18011)
@@ -40,7 +40,7 @@
#include "tf/transform_datatypes.h"
#include "mechanism_msgs/MechanismState.h"
#include "sensor_msgs/LaserScan.h"
-#include "image_msgs/RawStereo.h"
+#include "sensor_msgs/RawStereo.h"
class LaserHeadKinematics
{
@@ -62,14 +62,14 @@
&LaserHeadKinematics::updateTiltScan, this) ;
// Raw Stereo Updates
- stereo_pub_ = nh.advertise<image_msgs::RawStereo>("/stereo/raw_stereo_cal", 100) ;
+ stereo_pub_ = nh.advertise<sensor_msgs::RawStereo>("/stereo/raw_stereo_cal", 100) ;
stereo_sub_ = nh.subscribe("/stereo/raw_stereo", 100,
&LaserHeadKinematics::updateStereo, this) ;
}
- void updateStereo(const image_msgs::RawStereoConstPtr& msg_in)
+ void updateStereo(const sensor_msgs::RawStereoConstPtr& msg_in)
{
- image_msgs::RawStereo msg_out ;
+ sensor_msgs::RawStereo msg_out ;
msg_out = *msg_in ;
msg_out.header.frame_id = "stereo_optical_frame_cal" ;
msg_out.right_info.P[3] = PR_03_ ;
Modified: pkg/trunk/drivers/cam/camera_trigger_test/manifest.xml
===================================================================
--- pkg/trunk/drivers/cam/camera_trigger_test/manifest.xml 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/drivers/cam/camera_trigger_test/manifest.xml 2009-06-30 22:03:33 UTC (rev 18011)
@@ -5,7 +5,7 @@
<review status="unreviewed" notes=""/>
<depend package="roscpp" />
<depend package="std_msgs" />
- <depend package="image_msgs" />
+ <depend package="sensor_msgs" />
<depend package="opencv_latest" />
<depend package="diagnostic_updater" />
<depend package="forearm_cam" />
Modified: pkg/trunk/drivers/cam/camera_trigger_test/src/timestamp_test.cpp
===================================================================
--- pkg/trunk/drivers/cam/camera_trigger_test/src/timestamp_test.cpp 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/drivers/cam/camera_trigger_test/src/timestamp_test.cpp 2009-06-30 22:03:33 UTC (rev 18011)
@@ -33,7 +33,7 @@
*********************************************************************/
#include "ros/node.h"
-#include "image_msgs/Image.h"
+#include "sensor_msgs/Image.h"
#include "opencv_latest/CvBridge.h"
#include <stdio.h>
#include <signal.h>
@@ -44,8 +44,8 @@
class TimestampTest
{
private:
- image_msgs::Image img_msg_;
- image_msgs::CvBridge img_bridge_;
+ sensor_msgs::Image img_msg_;
+ sensor_msgs::CvBridge img_bridge_;
std::string window_name_;
ros::Node &node_;
double rate_;
Modified: pkg/trunk/drivers/cam/camera_trigger_test/src/trigger_test.cpp
===================================================================
--- pkg/trunk/drivers/cam/camera_trigger_test/src/trigger_test.cpp 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/drivers/cam/camera_trigger_test/src/trigger_test.cpp 2009-06-30 22:03:33 UTC (rev 18011)
@@ -33,7 +33,7 @@
*********************************************************************/
#include "ros/node.h"
-#include "image_msgs/Image.h"
+#include "sensor_msgs/Image.h"
#include "opencv_latest/CvBridge.h"
#include <stdio.h>
#include <signal.h>
@@ -43,8 +43,8 @@
class TriggerTest
{
private:
- image_msgs::Image img_msg_;
- image_msgs::CvBridge img_bridge_;
+ sensor_msgs::Image img_msg_;
+ sensor_msgs::CvBridge img_bridge_;
std::string window_name_;
ros::Node &node_;
int mode_;
Modified: pkg/trunk/drivers/cam/forearm_cam/manifest.xml
===================================================================
--- pkg/trunk/drivers/cam/forearm_cam/manifest.xml 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/drivers/cam/forearm_cam/manifest.xml 2009-06-30 22:03:33 UTC (rev 18011)
@@ -6,7 +6,7 @@
<depend package="roscpp" />
<depend package="std_msgs" />
<depend package="robot_msgs" />
- <depend package="image_msgs" />
+ <depend package="sensor_msgs" />
<depend package="diagnostic_updater" />
<depend package="opencv_latest" />
<depend package="stereo_image_proc" />
Modified: pkg/trunk/drivers/cam/forearm_cam/src/nodes/forearm_node.cpp
===================================================================
--- pkg/trunk/drivers/cam/forearm_cam/src/nodes/forearm_node.cpp 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/drivers/cam/forearm_cam/src/nodes/forearm_node.cpp 2009-06-30 22:03:33 UTC (rev 18011)
@@ -39,9 +39,9 @@
// @todo Do the triggering based on a stream of incoming timestamps.
#include <ros/node.h>
-#include <image_msgs/Image.h>
-#include <image_msgs/CamInfo.h>
-#include <image_msgs/FillImage.h>
+#include <sensor_msgs/Image.h>
+#include <sensor_msgs/CamInfo.h>
+#include <sensor_msgs/FillImage.h>
#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/update_functions.h>
#include <diagnostic_updater/publisher.h>
@@ -181,8 +181,8 @@
private:
ros::NodeHandle &node_handle_;
IpCamList* camera_;
- image_msgs::Image image_;
- image_msgs::CamInfo cam_info_;
+ sensor_msgs::Image image_;
+ sensor_msgs::CamInfo cam_info_;
bool calibrated_;
std::string frame_id_;
@@ -210,7 +210,7 @@
diagnostic_updater::Updater diagnostic_;
- diagnostic_updater::DiagnosedPublisher<image_msgs::Image> cam_pub_;
+ diagnostic_updater::DiagnosedPublisher<sensor_msgs::Image> cam_pub_;
ros::Publisher cam_info_pub_;
ros::ServiceClient trig_service_;
@@ -250,7 +250,7 @@
ForearmNode(ros::NodeHandle &nh)
: node_handle_(nh), camera_(NULL), started_video_(false),
diagnostic_(ros::NodeHandle()),
- cam_pub_(node_handle_.advertise<image_msgs::Image>("~image_raw", 1),
+ cam_pub_(node_handle_.advertise<sensor_msgs::Image>("~image_raw", 1),
diagnostic_,
diagnostic_updater::FrequencyStatusParam(&desired_freq_, &desired_freq_, 0.05),
diagnostic_updater::TimeStampStatusParam()),
@@ -669,9 +669,9 @@
// Receive frames through callback
// TODO: start this in separate thread?
- //cam_pub_ = node_handle_.advertise<image_msgs::Image>("~image_raw", 1);
+ //cam_pub_ = node_handle_.advertise<sensor_msgs::Image>("~image_raw", 1);
if (calibrated_)
- cam_info_pub_ = node_handle_.advertise<image_msgs::CamInfo>("~cam_info", 1);
+ cam_info_pub_ = node_handle_.advertise<sensor_msgs::CamInfo>("~cam_info", 1);
open_ = true;;
}
Modified: pkg/trunk/drivers/cam/forearm_cam/src/utilities/focus.cpp
===================================================================
--- pkg/trunk/drivers/cam/forearm_cam/src/utilities/focus.cpp 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/drivers/cam/forearm_cam/src/utilities/focus.cpp 2009-06-30 22:03:33 UTC (rev 18011)
@@ -33,7 +33,7 @@
*********************************************************************/
#include <ros/ros.h>
-#include <image_msgs/Image.h>
+#include <sensor_msgs/Image.h>
#include <diagnostic_updater/publisher.h>
#define BASESIZE 1000000
@@ -58,7 +58,7 @@
max[i - 1] = val;
}
-void callback(const image_msgs::ImageConstPtr& msg)
+void callback(const sensor_msgs::ImageConstPtr& msg)
{
int width = msg->uint8_data.layout.dim[1].size;
int height = msg->uint8_data.layout.dim[0].size;
@@ -115,7 +115,7 @@
fflush(stdout);
}
-void callback2(const image_msgs::ImageConstPtr& msg)
+void callback2(const sensor_msgs::ImageConstPtr& msg)
{
int width = msg->uint8_data.layout.dim[1].size;
int height = msg->uint8_data.layout.dim[0].size;
Modified: pkg/trunk/drivers/robot/pr2/dense_laser_assembler/manifest.xml
===================================================================
--- pkg/trunk/drivers/robot/pr2/dense_laser_assembler/manifest.xml 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/drivers/robot/pr2/dense_laser_assembler/manifest.xml 2009-06-30 22:03:33 UTC (rev 18011)
@@ -16,7 +16,7 @@
<depend package="mechanism_msgs" />
<depend package="sensor_msgs"/>
<depend package="pr2_msgs"/>
- <depend package="image_msgs" />
+ <depend package="sensor_msgs" />
<depend package="mechanism_msgs" />
<depend package="message_filters" />
<depend package="calibration_msgs" />
Modified: pkg/trunk/drivers/robot/pr2/dense_laser_assembler/scripts/assembler_node.py
===================================================================
--- pkg/trunk/drivers/robot/pr2/dense_laser_assembler/scripts/assembler_node.py 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/drivers/robot/pr2/dense_laser_assembler/scripts/assembler_node.py 2009-06-30 22:03:33 UTC (rev 18011)
@@ -46,7 +46,7 @@
from dense_laser_assembler.msg import *
from pr2_mechanism_controllers.msg import *
from dense_laser_assembler.dense_laser_cache import DenseLaserCache
-from image_msgs.msg import *
+from sensor_msgs.msg import *
# Globals
laser_cache = [ ]
@@ -146,7 +146,7 @@
info_pub.publish(info_msg)
joint_pos_pub.publish(joint_msg)
- #image = image_msgs.msg.Image()
+ #image = sensor_msgs.msg.Image()
#image.header = msg_header
#image.label = 'intensity'
Modified: pkg/trunk/drivers/robot/pr2/dense_laser_assembler/scripts/laser_image_node.py
===================================================================
--- pkg/trunk/drivers/robot/pr2/dense_laser_assembler/scripts/laser_image_node.py 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/drivers/robot/pr2/dense_laser_assembler/scripts/laser_image_node.py 2009-06-30 22:03:33 UTC (rev 18011)
@@ -43,7 +43,7 @@
from std_msgs.msg import *
from dense_laser_assembler.msg import *
from pr2_mechanism_controllers.msg import *
-from image_msgs.msg import *
+from sensor_msgs.msg import *
# Takes the dense laser scan data and converts it into images to can be viewed in
@@ -64,7 +64,7 @@
return chr(int((2**8-1)*a/(upper_lim-lower_lim)))
def intensity_callback(msg) :
- image = image_msgs.msg.Image()
+ image = sensor_msgs.msg.Image()
image.header = msg.header
image.label = 'intensity'
image.encoding = 'mono'
@@ -76,7 +76,7 @@
intensity_pub.publish(image)
def range_callback(msg) :
- image = image_msgs.msg.Image()
+ image = sensor_msgs.msg.Image()
image.header = msg.header
image.label = 'range'
image.encoding = 'mono'
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_camera.h
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_camera.h 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_camera.h 2009-06-30 22:03:33 UTC (rev 18011)
@@ -29,7 +29,7 @@
#include <ros/ros.h>
#include "boost/thread/mutex.hpp"
-#include <image_msgs/Image.h>
+#include <sensor_msgs/Image.h>
#include <gazebo/Param.hh>
#include <gazebo/Controller.hh>
@@ -43,7 +43,7 @@
\brief Ros Camera Plugin Controller.
- This is a controller that collects data from a Camera Sensor and populates a libgazebo camera interface as well as publish a ROS image_msgs::Image (under the field \b \<topicName\>). This controller should only be used as a child of a camera sensor (see example below.
+ This is a controller that collects data from a Camera Sensor and populates a libgazebo camera interface as well as publish a ROS sensor_msgs::Image (under the field \b \<topicName\>). This controller should only be used as a child of a camera sensor (see example below.
Example Usage:
\verbatim
@@ -69,7 +69,7 @@
\brief RosCamera Controller.
\li Starts a ROS node if none exists. \n
- \li Simulates a generic camera and broadcast image_msgs::Image topic over ROS.
+ \li Simulates a generic camera and broadcast sensor_msgs::Image topic over ROS.
\li Example Usage:
\verbatim
<model:physical name="camera_model">
@@ -122,7 +122,7 @@
private: ros::Publisher pub_;
/// \brief ROS image message
- private: image_msgs::Image imageMsg;
+ private: sensor_msgs::Image imageMsg;
/// \brief Parameters
private: ParamT<std::string> *topicNameP;
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_prosilica.h
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_prosilica.h 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_prosilica.h 2009-06-30 22:03:33 UTC (rev 18011)
@@ -34,8 +34,8 @@
// image components
#include "opencv_latest/CvBridge.h"
-#include "image_msgs/Image.h"
-#include "image_msgs/CamInfo.h"
+#include "sensor_msgs/Image.h"
+#include "sensor_msgs/CamInfo.h"
// prosilica components
#include "prosilica/prosilica.h"
@@ -53,7 +53,7 @@
\brief Ros Camera Plugin Controller.
- This is a controller that collects data from a Camera Sensor and populates a libgazebo camera interface as well as publish a ROS image_msgs::Image (under the field \b \<topicName\>). This controller should only be used as a child of a camera sensor (see example below.
+ This is a controller that collects data from a Camera Sensor and populates a libgazebo camera interface as well as publish a ROS sensor_msgs::Image (under the field \b \<topicName\>). This controller should only be used as a child of a camera sensor (see example below.
Example Usage:
\verbatim
@@ -79,7 +79,7 @@
\brief RosProsilica Controller.
\li Starts a ROS node if none exists. \n
- \li Simulates a generic camera and broadcast image_msgs::Image topic over ROS.
+ \li Simulates a generic camera and broadcast sensor_msgs::Image topic over ROS.
\li Example Usage:
\verbatim
<model:physical name="camera_model">
@@ -143,11 +143,11 @@
/// \brief ros message
/// \brief construct raw stereo message
- private: image_msgs::Image imageMsg;
- private: image_msgs::Image imageRectMsg;
- private: image_msgs::Image *roiImageMsg;
- private: image_msgs::CamInfo *camInfoMsg;
- private: image_msgs::CamInfo *roiCamInfoMsg;
+ private: sensor_msgs::Image imageMsg;
+ private: sensor_msgs::Image imageRectMsg;
+ private: sensor_msgs::Image *roiImageMsg;
+ private: sensor_msgs::CamInfo *camInfoMsg;
+ private: sensor_msgs::CamInfo *roiCamInfoMsg;
/// \brief Parameters
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_stereo_camera.h
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_stereo_camera.h 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/include/gazebo_plugin/ros_stereo_camera.h 2009-06-30 22:03:33 UTC (rev 18011)
@@ -37,11 +37,11 @@
#include <gazebo/Controller.hh>
// raw_stereo components
-#include <image_msgs/Image.h>
-#include "image_msgs/RawStereo.h"
-#include "image_msgs/StereoInfo.h"
-#include "image_msgs/CamInfo.h"
-#include "image_msgs/DisparityInfo.h"
+#include <sensor_msgs/Image.h>
+#include "sensor_msgs/RawStereo.h"
+#include "sensor_msgs/StereoInfo.h"
+#include "sensor_msgs/CamInfo.h"
+#include "sensor_msgs/DisparityInfo.h"
namespace gazebo
{
@@ -164,12 +164,12 @@
/// \brief ros message
/// \brief construct raw stereo message
- private: image_msgs::RawStereo rawStereoMsg;
- private: image_msgs::Image* leftImageMsg;
- private: image_msgs::Image* rightImageMsg;
- private: image_msgs::CamInfo* leftCamInfoMsg;
- private: image_msgs::CamInfo* rightCamInfoMsg;
- private: image_msgs::StereoInfo* stereoInfoMsg;
+ private: sensor_msgs::RawStereo rawStereoMsg;
+ private: sensor_msgs::Image* leftImageMsg;
+ private: sensor_msgs::Image* rightImageMsg;
+ private: sensor_msgs::CamInfo* leftCamInfoMsg;
+ private: sensor_msgs::CamInfo* rightCamInfoMsg;
+ private: sensor_msgs::StereoInfo* stereoInfoMsg;
/// \brief A mutex to lock access to fields that are used in message callbacks
private: boost::mutex lock;
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/manifest.xml
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/manifest.xml 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/manifest.xml 2009-06-30 22:03:33 UTC (rev 18011)
@@ -17,7 +17,7 @@
<depend package="rospy"/>
<depend package="std_msgs" />
<depend package="mechanism_msgs" />
- <depend package="image_msgs" />
+ <depend package="sensor_msgs" />
<depend package="opencv_latest" />
<depend package="sensor_msgs" />
<depend package="pr2_msgs" />
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_camera.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_camera.cpp 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_camera.cpp 2009-06-30 22:03:33 UTC (rev 18011)
@@ -44,8 +44,8 @@
#include <gazebo/ControllerFactory.hh>
#include <gazebo/MonoCameraSensor.hh>
-#include "image_msgs/Image.h"
-#include "image_msgs/FillImage.h"
+#include "sensor_msgs/Image.h"
+#include "sensor_msgs/FillImage.h"
using namespace gazebo;
GZ_REGISTER_DYNAMIC_CONTROLLER("ros_camera", RosCamera);
@@ -90,7 +90,7 @@
this->frameName = this->frameNameP->GetValue();
ROS_DEBUG("================= %s", this->topicName.c_str());
- this->pub_ = this->rosnode_->advertise<image_msgs::Image>(this->topicName,1);
+ this->pub_ = this->rosnode_->advertise<sensor_msgs::Image>(this->topicName,1);
}
////////////////////////////////////////////////////////////////////////////////
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_prosilica.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_prosilica.cpp 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_prosilica.cpp 2009-06-30 22:03:33 UTC (rev 18011)
@@ -44,9 +44,9 @@
#include "gazebo/MonoCameraSensor.hh"
-#include <image_msgs/Image.h>
-#include <image_msgs/CamInfo.h>
-#include <image_msgs/FillImage.h>
+#include <sensor_msgs/Image.h>
+#include <sensor_msgs/CamInfo.h>
+#include <sensor_msgs/FillImage.h>
#include <diagnostic_updater/diagnostic_updater.h>
#include <opencv_latest/CvBridge.h>
@@ -161,9 +161,9 @@
this->distortion_t2 = this->distortion_t2P->GetValue();
ROS_DEBUG("prosilica image topic name %s", this->imageTopicName.c_str());
- this->image_pub_ = this->rosnode_->advertise<image_msgs::Image>(this->imageTopicName,1);
- this->image_rect_pub_ = this->rosnode_->advertise<image_msgs::Image>(this->imageRectTopicName,1);
- this->cam_info_pub_ = this->rosnode_->advertise<image_msgs::CamInfo>(this->camInfoTopicName,1);
+ this->image_pub_ = this->rosnode_->advertise<sensor_msgs::Image>(this->imageTopicName,1);
+ this->image_rect_pub_ = this->rosnode_->advertise<sensor_msgs::Image>(this->imageRectTopicName,1);
+ this->cam_info_pub_ = this->rosnode_->advertise<sensor_msgs::CamInfo>(this->camInfoTopicName,1);
this->cam_info_ser_ = this->rosnode_->advertiseService(this->camInfoServiceName,&RosProsilica::camInfoService, this);
this->poll_ser_ = this->rosnode_->advertiseService(this->pollServiceName,&RosProsilica::triggeredGrab, this);
}
@@ -313,7 +313,7 @@
if (this->image_pub_.getNumSubscribers() > 0)
this->image_pub_.publish(this->imageMsg);
- image_msgs::CvBridge img_bridge_;
+ sensor_msgs::CvBridge img_bridge_;
img_bridge_.fromImage(this->imageMsg,this->format.c_str());
//cvNamedWindow("showme",CV_WINDOW_AUTOSIZE);
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_stereo_camera.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_stereo_camera.cpp 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/ros_stereo_camera.cpp 2009-06-30 22:03:33 UTC (rev 18011)
@@ -41,8 +41,8 @@
#include <gazebo/MonoCameraSensor.hh>
#include <gazebo/Body.hh>
-#include "image_msgs/Image.h"
-#include "image_msgs/FillImage.h"
+#include "sensor_msgs/Image.h"
+#include "sensor_msgs/FillImage.h"
using namespace gazebo;
@@ -168,7 +168,7 @@
// advertise node topics
ROS_DEBUG("stereo: advertise topicName %s\n",this->topicName.c_str());
- this->pub_ = this->rosnode_->advertise<image_msgs::RawStereo>(this->topicName, 1);
+ this->pub_ = this->rosnode_->advertise<sensor_msgs::RawStereo>(this->topicName, 1);
// iterate through children of the model parent to find left and right camera sensors
std::vector<Entity*> sibling = this->myParent->GetChildren();
Modified: pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/manifest.xml
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/manifest.xml 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/manifest.xml 2009-06-30 22:03:33 UTC (rev 18011)
@@ -12,7 +12,7 @@
<depend package="pr2_gazebo" />
<depend package="gazebo_robot_description" />
<depend package="laser_scan" />
- <depend package="image_msgs" />
+ <depend package="sensor_msgs" />
<depend package="stereo_image_proc" />
<sysdepend os="ubuntu" version="7.04-feisty" package="xvfb"/>
</package>
Modified: pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.py
===================================================================
--- pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.py 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/drivers/simulator/test_pr2_sensors_gazebo/test_camera.py 2009-06-30 22:03:33 UTC (rev 18011)
@@ -45,8 +45,8 @@
import sys, unittest
import os, os.path, threading, time
import rospy, rostest
-from image_msgs.msg import Image as image_msg
-from image_msgs.msg import CamInfo as caminfo_msg
+from sensor_msgs.msg import Image as image_msg
+from sensor_msgs.msg import CamInfo as caminfo_msg
from PIL import Image as pili
from PIL import ImageChops as pilic
Modified: pkg/trunk/drivers/swiss_ranger/sr3000/manifest.xml
===================================================================
--- pkg/trunk/drivers/swiss_ranger/sr3000/manifest.xml 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/drivers/swiss_ranger/sr3000/manifest.xml 2009-06-30 22:03:33 UTC (rev 18011)
@@ -12,7 +12,7 @@
<depend package="roscpp" />
<depend package="rosconsole" />
<depend package="robot_msgs" />
- <depend package="image_msgs" />
+ <depend package="sensor_msgs" />
</package>
Modified: pkg/trunk/drivers/swiss_ranger/sr3000/src/sr3000.cpp
===================================================================
--- pkg/trunk/drivers/swiss_ranger/sr3000/src/sr3000.cpp 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/drivers/swiss_ranger/sr3000/src/sr3000.cpp 2009-06-30 22:03:33 UTC (rev 18011)
@@ -38,8 +38,8 @@
#include <libusbSR.h>
#include <ros/ros.h>
#include <robot_msgs/PointCloud.h>
-#include <image_msgs/Image.h>
-#include <image_msgs/FillImage.h>
+#include <sensor_msgs/Image.h>
+#include <sensor_msgs/FillImage.h>
#define MODE (AM_MEDIAN | AM_COR_FIX_PTRN | AM_SW_ANF | AM_SR3K_2TAP_PROC | AM_MEDIANCROSS)
@@ -61,7 +61,7 @@
unsigned int rows_, cols_, inr_;
robot_msgs::PointCloud cam_cloud_;
- image_msgs::Image img_;
+ sensor_msgs::Image img_;
int auto_illumination_, integration_time_, modulation_freq_, amp_threshold_;
bool publish_point_cloud_, publish_dist_img_, publish_int_img_;
@@ -132,10 +132,10 @@
cloud_pub = n.advertise<robot_msgs::PointCloud>("sr3000_cloud", 1);
if(publish_dist_img_)
- dist_pub = n.advertise<image_msgs::Image>("sr3000_distance", 1);
+ dist_pub = n.advertise<sensor_msgs::Image>("sr3000_distance", 1);
if(publish_int_img_)
- int_pub = n.advertise<image_msgs::Image>("sr3000_intensity", 1);
+ int_pub = n.advertise<sensor_msgs::Image>("sr3000_intensity", 1);
ros::Rate r(10);
while(n.ok()){
Modified: pkg/trunk/mapping/annotated_planar_patch_map/include/annotated_planar_patch_map/projection.h
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/include/annotated_planar_patch_map/projection.h 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/mapping/annotated_planar_patch_map/include/annotated_planar_patch_map/projection.h 2009-06-30 22:03:33 UTC (rev 18011)
@@ -50,8 +50,8 @@
#include <tf/transform_listener.h>
#include <robot_msgs/PolygonalMap.h>
-#include <image_msgs/StereoInfo.h>
-#include <image_msgs/CamInfo.h>
+#include <sensor_msgs/StereoInfo.h>
+#include <sensor_msgs/CamInfo.h>
#include <annotated_map_msgs/TaggedPolygonalMap.h>
#include <annotated_map_msgs/TaggedPolygon3D.h>
@@ -62,17 +62,17 @@
namespace projection
{
-void projectAnyObject(const image_msgs::CamInfo& cam_info,robot_msgs::Polygon3D polyIn,robot_msgs::Polygon3D& polyOut);
+void projectAnyObject(const sensor_msgs::CamInfo& cam_info,robot_msgs::Polygon3D polyIn,robot_msgs::Polygon3D& polyOut);
-void projectAnyObject(const image_msgs::StereoInfo& stereo_info_, const annotated_map_msgs::TaggedPolygonalMap& transformed_map_3D, annotated_map_msgs::TaggedPolygonalMap &transformed_map_2D);
+void projectAnyObject(const sensor_msgs::StereoInfo& stereo_info_, const annotated_map_msgs::TaggedPolygonalMap& transformed_map_3D, annotated_map_msgs::TaggedPolygonalMap &transformed_map_2D);
-void projectAnyObject(const image_msgs::CamInfo& stereo_info_, const annotated_map_msgs::TaggedPolygonalMap& transformed_map_3D, annotated_map_msgs::TaggedPolygonalMap &transformed_map_2D);
+void projectAnyObject(const sensor_msgs::CamInfo& stereo_info_, const annotated_map_msgs::TaggedPolygonalMap& transformed_map_3D, annotated_map_msgs::TaggedPolygonalMap &transformed_map_2D);
-void projectPolygonalMap(const image_msgs::StereoInfo& stereo_info_, const robot_msgs::PolygonalMap& transformed_map_3D, robot_msgs::PolygonalMap &transformed_map_2D);
+void projectPolygonalMap(const sensor_msgs::StereoInfo& stereo_info_, const robot_msgs::PolygonalMap& transformed_map_3D, robot_msgs::PolygonalMap &transformed_map_2D);
void projectPolygonPoints(double* projection,double img_w, double img_h, robot_msgs::Polygon3D polyIn,robot_msgs::Polygon3D& polyOut);
void projectPolygonPointsNOP(double* projection,double img_w, double img_h, robot_msgs::Polygon3D polyIn,robot_msgs::Polygon3D& polyOut);
@@ -80,7 +80,7 @@
-void projectAnyObjectNOP(const image_msgs::CamInfo& stereo_info_, const annotated_map_msgs::TaggedPolygonalMap& transformed_map_3D, annotated_map_msgs::TaggedPolygonalMap &transformed_map_2D);
+void projectAnyObjectNOP(const sensor_msgs::CamInfo& stereo_info_, const annotated_map_msgs::TaggedPolygonalMap& transformed_map_3D, annotated_map_msgs::TaggedPolygonalMap &transformed_map_2D);
/* !
* \brief Finds which polygons are visible in the current view. The polygons should be transformed
Modified: pkg/trunk/mapping/annotated_planar_patch_map/manifest.xml
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/manifest.xml 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/mapping/annotated_planar_patch_map/manifest.xml 2009-06-30 22:03:33 UTC (rev 18011)
@@ -11,7 +11,7 @@
<depend package="roscpp" />
<depend package="std_msgs"/>
<depend package="robot_msgs" />
- <depend package="image_msgs" />
+ <depend package="sensor_msgs" />
<depend package="point_cloud_mapping" />
<depend package="cv_mech_turk" />
<depend package="bagserver" />
Modified: pkg/trunk/mapping/annotated_planar_patch_map/src/annotated_map_info.cpp
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/src/annotated_map_info.cpp 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/mapping/annotated_planar_patch_map/src/annotated_map_info.cpp 2009-06-30 22:03:33 UTC (rev 18011)
@@ -49,7 +49,7 @@
#include <robot_msgs/PolygonalMap.h>
-#include <image_msgs/StereoInfo.h>
+#include <sensor_msgs/StereoInfo.h>
#include <cv_mech_turk/ExternalAnnotation.h>
#include <annotated_map_msgs/TaggedPolygonalMap.h>
Modified: pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_pcd_via_service.cpp
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_pcd_via_service.cpp 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_pcd_via_service.cpp 2009-06-30 22:03:33 UTC (rev 18011)
@@ -53,8 +53,8 @@
#include <robot_msgs/PolygonalMap.h>
-#include <image_msgs/StereoInfo.h>
-#include <image_msgs/CamInfo.h>
+#include <sensor_msgs/StereoInfo.h>
+#include <sensor_msgs/CamInfo.h>
#include "tf/message_notifier.h"
#include <cv_mech_turk/ExternalAnnotation.h>
@@ -125,13 +125,13 @@
if (tf_tolerance_secs < 0)
ROS_ERROR("Parameter tf_tolerance_secs<0 (%f)", tf_tolerance_secs) ;
ROS_INFO("tf Tolerance: %f seconds", tf_tolerance_secs) ;
- //scan_notifier_ = new tf::MessageNotifier<image_msgs::StereoInfo>(tf_, n_.getNode(), boost::bind(&Annotation2DLifterToTaggedPatchMapSVC::handleStereoInfo, this, _1), "stereo_info", fixed_frame_, 10) ;
+ //scan_notifier_ = new tf::MessageNotifier<sensor_msgs::StereoInfo>(tf_, n_.getNode(), boost::bind(&Annotation2DLifterToTaggedPatchMapSVC::handleStereoInfo, this, _1), "stereo_info", fixed_frame_, 10) ;
tf_->setExtrapolationLimit(ros::Duration(tf_tolerance_secs)) ;
lifted_pub_=n_.advertise<robot_msgs::PointCloud>(out_topic_name_,1);
};
- //void handleStereoInfo(image_msgs::StereoInfoConstPtr si)
+ //void handleStereoInfo(sensor_msgs::StereoInfoConstPtr si)
void handleStereoInfo()
{
ROS_INFO("StereoInfo\n");
@@ -405,11 +405,11 @@
protected:
tf::TransformListener *tf_;
- tf::MessageNotifier<image_msgs::StereoInfo>* scan_notifier_ ;
+ tf::MessageNotifier<sensor_msgs::StereoInfo>* scan_notifier_ ;
cv_mech_turk::ExternalAnnotation annotation2d_object_;
- image_msgs::StereoInfo stereo_info_;
- //image_msgs::CamInfo stereo_info_;
+ sensor_msgs::StereoInfo stereo_info_;
+ //sensor_msgs::CamInfo stereo_info_;
std::string fixed_frame_;
Modified: pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_planar_patch_map.cpp
===================================================================
--- pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_planar_patch_map.cpp 2009-06-30 21:58:20 UTC (rev 18010)
+++ pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_planar_patch_map.cpp 2009-06-30 22:03:33 UTC (rev 18011)
@@ -53,7 +53,7 @@
#include <robot_msgs/PolygonalMap.h>
-#include <image_msgs/StereoInfo.h>
+#include <sensor_msgs/StereoInfo.h>
#include <cv_mech_turk/ExternalAnnotation.h>
#include <annotated_map_msgs/TaggedPolygonalMap.h>
@@ -358,7 +358,7 @@
cv_mech_turk::ExternalAnnotation annotation2d_object_;
robot_msgs::PolygonalMap unlabeled_map_;
- image_msgs::StereoInfo stereo_info_;
+ sensor_msgs::StereoInfo stereo_info_;
std::string target_frame_;
Modified: pkg/trunk/mapping/annotated_planar_patch_map/src/annotation2d_lifter_to_tagged_patch_map.cpp
============================...
[truncated message content] |
