[Personalrobots-commit] SF.net SVN: personalrobots:[21043] pkg/trunk/stacks

[<tf...@us...>]

Revision: 21043
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=21043&view=rev
Author:   tfoote
Date:     2009-08-07 20:41:56 +0000 (Fri, 07 Aug 2009)

Log Message:
-----------
moving PoseArray into geometry_msgs #1907

Modified Paths:
--------------
    pkg/trunk/stacks/navigation/amcl/src/amcl_node.cpp
    pkg/trunk/stacks/navigation/fake_localization/fake_localization.cpp
    pkg/trunk/stacks/navigation/fake_localization/manifest.xml
    pkg/trunk/stacks/navigation/nav_view/manifest.xml
    pkg/trunk/stacks/navigation/nav_view/src/nav_view/nav_view_panel.cpp
    pkg/trunk/stacks/navigation/nav_view/src/nav_view/nav_view_panel.h
    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/geometry_msgs/msg/PoseArray.msg

Removed Paths:
-------------
    pkg/trunk/stacks/common_msgs/nav_msgs/msg/PoseArray.msg

Copied: pkg/trunk/stacks/common_msgs/geometry_msgs/msg/PoseArray.msg (from rev 20633, pkg/trunk/stacks/common_msgs/nav_msgs/msg/PoseArray.msg)
===================================================================
--- pkg/trunk/stacks/common_msgs/geometry_msgs/msg/PoseArray.msg	                        (rev 0)
+++ pkg/trunk/stacks/common_msgs/geometry_msgs/msg/PoseArray.msg	2009-08-07 20:41:56 UTC (rev 21043)
@@ -0,0 +1,3 @@
+Header header
+
+geometry_msgs/Pose[] poses

Deleted: pkg/trunk/stacks/common_msgs/nav_msgs/msg/PoseArray.msg
===================================================================
--- pkg/trunk/stacks/common_msgs/nav_msgs/msg/PoseArray.msg	2009-08-07 20:38:02 UTC (rev 21042)
+++ pkg/trunk/stacks/common_msgs/nav_msgs/msg/PoseArray.msg	2009-08-07 20:41:56 UTC (rev 21043)
@@ -1,3 +0,0 @@
-Header header
-
-geometry_msgs/Pose[] poses

Modified: pkg/trunk/stacks/navigation/amcl/src/amcl_node.cpp
===================================================================
--- pkg/trunk/stacks/navigation/amcl/src/amcl_node.cpp	2009-08-07 20:38:02 UTC (rev 21042)
+++ pkg/trunk/stacks/navigation/amcl/src/amcl_node.cpp	2009-08-07 20:41:56 UTC (rev 21043)
@@ -38,7 +38,7 @@
 // Messages that I need
 #include "sensor_msgs/LaserScan.h"
 #include "geometry_msgs/PoseWithCovariance.h"
-#include "nav_msgs/PoseArray.h"
+#include "geometry_msgs/PoseArray.h"
 #include "geometry_msgs/Pose.h"
 #include "nav_msgs/GetMap.h"
 #include "std_srvs/Empty.h"
@@ -320,7 +320,7 @@
                                     laser_likelihood_max_dist);
 
   ros::Node::instance()->advertise<geometry_msgs::PoseWithCovariance>("amcl_pose",2);
-  ros::Node::instance()->advertise<nav_msgs::PoseArray>("particlecloud",2);
+  ros::Node::instance()->advertise<geometry_msgs::PoseArray>("particlecloud",2);
   ros::Node::instance()->advertise<visualization_msgs::Polyline>("gui_laser",2);
   ros::Node::instance()->advertiseService("global_localization",
                                           &AmclNode::globalLocalizationCallback,
@@ -606,7 +606,7 @@
 
     // Publish the resulting cloud
     // TODO: set maximum rate for publishing
-    nav_msgs::PoseArray cloud_msg;
+    geometry_msgs::PoseArray cloud_msg;
     cloud_msg.header.stamp = ros::Time::now();
     cloud_msg.header.frame_id = "map";
     cloud_msg.set_poses_size(set->sample_count);

Modified: pkg/trunk/stacks/navigation/fake_localization/fake_localization.cpp
===================================================================
--- pkg/trunk/stacks/navigation/fake_localization/fake_localization.cpp	2009-08-07 20:38:02 UTC (rev 21042)
+++ pkg/trunk/stacks/navigation/fake_localization/fake_localization.cpp	2009-08-07 20:41:56 UTC (rev 21043)
@@ -60,7 +60,7 @@
 
 Publishes to (name / type):
 - @b "amcl_pose" geometry_msgs/PoseWithCovariance : robot's estimated pose in the map, with covariance
-- @b "particlecloud" nav_msgs/PoseArray : fake set of poses being maintained by the filter (one paricle only).
+- @b "particlecloud" geometry_msgs/PoseArray : fake set of poses being maintained by the filter (one paricle only).
 
 <hr>
 
@@ -74,7 +74,7 @@
 #include <ros/time.h>
 
 #include <geometry_msgs/PoseWithRatesStamped.h>
-#include <nav_msgs/PoseArray.h>
+#include <geometry_msgs/PoseArray.h>
 #include <geometry_msgs/PoseWithCovariance.h>
 
 #include <angles/angles.h>
@@ -92,7 +92,7 @@
     FakeOdomNode(void) : ros::Node("fake_localization")
     {
       advertise<geometry_msgs::PoseWithCovariance>("amcl_pose",1);
-      advertise<nav_msgs::PoseArray>("particlecloud",1);
+      advertise<geometry_msgs::PoseArray>("particlecloud",1);
       m_tfServer = new tf::TransformBroadcaster();	
       m_tfListener = new tf::TransformListener(*this);
       m_lastUpdate = ros::Time::now();
@@ -140,7 +140,7 @@
     bool                           m_base_pos_received;
     
     geometry_msgs::PoseWithRatesStamped  m_basePosMsg;
-    nav_msgs::PoseArray      m_particleCloud;
+    geometry_msgs::PoseArray      m_particleCloud;
     geometry_msgs::PoseWithCovariance      m_currentPos;
 
     //parameter for what odom to use

Modified: pkg/trunk/stacks/navigation/fake_localization/manifest.xml
===================================================================
--- pkg/trunk/stacks/navigation/fake_localization/manifest.xml	2009-08-07 20:38:02 UTC (rev 21042)
+++ pkg/trunk/stacks/navigation/fake_localization/manifest.xml	2009-08-07 20:41:56 UTC (rev 21043)
@@ -7,6 +7,7 @@
   <depend package="roscpp" />
   <depend package="rosconsole" />
   <depend package="nav_msgs" />
+  <depend package="geometry_msgs" />
   <depend package="robot_msgs" />
   <depend package="tf" />
   <depend package="angles" />

Modified: pkg/trunk/stacks/navigation/nav_view/manifest.xml
===================================================================
--- pkg/trunk/stacks/navigation/nav_view/manifest.xml	2009-08-07 20:38:02 UTC (rev 21042)
+++ pkg/trunk/stacks/navigation/nav_view/manifest.xml	2009-08-07 20:41:56 UTC (rev 21043)
@@ -7,6 +7,7 @@
   <depend package="roscpp"/>
   <depend package="robot_srvs"/>
   <depend package="nav_msgs"/>
+  <depend package="geometry_msgs"/>
   <depend package="tf"/>
   <depend package="ogre"/>
   <depend package="ogre_tools"/>

Modified: pkg/trunk/stacks/navigation/nav_view/src/nav_view/nav_view_panel.cpp
===================================================================
--- pkg/trunk/stacks/navigation/nav_view/src/nav_view/nav_view_panel.cpp	2009-08-07 20:38:02 UTC (rev 21042)
+++ pkg/trunk/stacks/navigation/nav_view/src/nav_view/nav_view_panel.cpp	2009-08-07 20:41:56 UTC (rev 21043)
@@ -32,7 +32,7 @@
 #include "ogre_tools/wx_ogre_render_window.h"
 
 #include "nav_msgs/GetMap.h"
-#include "nav_msgs/PoseArray.h"
+#include "geometry_msgs/PoseArray.h"
 
 #include <tf/transform_listener.h>
 
@@ -474,7 +474,7 @@
   queueRender();
 }
 
-void NavViewPanel::incomingPoseArray(const nav_msgs::PoseArray::ConstPtr& msg)
+void NavViewPanel::incomingPoseArray(const geometry_msgs::PoseArray::ConstPtr& msg)
 {
   if ( !cloud_object_ )
   {

Modified: pkg/trunk/stacks/navigation/nav_view/src/nav_view/nav_view_panel.h
===================================================================
--- pkg/trunk/stacks/navigation/nav_view/src/nav_view/nav_view_panel.h	2009-08-07 20:38:02 UTC (rev 21042)
+++ pkg/trunk/stacks/navigation/nav_view/src/nav_view/nav_view_panel.h	2009-08-07 20:41:56 UTC (rev 21043)
@@ -32,7 +32,7 @@
 
 #include "nav_view_panel_generated.h"
 
-#include "nav_msgs/PoseArray.h"
+#include "geometry_msgs/PoseArray.h"
 #include "geometry_msgs/PoseStamped.h"
 #include "visualization_msgs/Polyline.h"
 #include "geometry_msgs/PoseWithCovariance.h"
@@ -89,7 +89,7 @@
 @section topic ROS topics
 
 Subscribes to (name/type):
-- @b "particlecloud"nav_msgs/PoseArray : a set particles from a probabilistic localization system.  Rendered is a set of small arrows.
+- @b "particlecloud"geometry_msgs/PoseArray : a set particles from a probabilistic localization system.  Rendered is a set of small arrows.
 - @b "gui_path"/Polyline : a path from a planner.  Rendered as a dashed line.
 - @b "gui_laser"/Polyline : re-projected laser scan from a planner.  Rendered as a set of points.
 - @b "local_path"/Polyline : local path from a planner.  Rendered as a dashed line.
@@ -164,7 +164,7 @@
 
   void loadMap();
   void clearMap();
-  void incomingPoseArray(const nav_msgs::PoseArray::ConstPtr& msg);
+  void incomingPoseArray(const geometry_msgs::PoseArray::ConstPtr& msg);
   void incomingGuiPath(const visualization_msgs::Polyline::ConstPtr& msg);
   void incomingLocalPath(const visualization_msgs::Polyline::ConstPtr& msg);
   void incomingRobotFootprint(const visualization_msgs::Polyline::ConstPtr& msg);

Modified: pkg/trunk/stacks/visualization/rviz/manifest.xml
===================================================================
--- pkg/trunk/stacks/visualization/rviz/manifest.xml	2009-08-07 20:38:02 UTC (rev 21042)
+++ pkg/trunk/stacks/visualization/rviz/manifest.xml	2009-08-07 20:41:56 UTC (rev 21043)
@@ -16,6 +16,7 @@
     <depend package="std_msgs"/>
     <depend package="robot_msgs"/>
     <depend package="sensor_msgs"/>
+    <depend package="geometry_msgs"/>
     <depend package="nav_msgs"/>
     <depend package="mechanism_msgs" />
     <depend package="deprecated_msgs"/>

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	2009-08-07 20:38:02 UTC (rev 21042)
+++ pkg/trunk/stacks/visualization/rviz/src/rviz/displays/particle_cloud_2d_display.cpp	2009-08-07 20:41:56 UTC (rev 21043)
@@ -168,7 +168,7 @@
   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(nav_msgs::PoseArray::__s_getDataType());
+  topic_prop->setMessageType(geometry_msgs::PoseArray::__s_getDataType());
 }
 
 void ParticleCloud2DDisplay::fixedFrameChanged()
@@ -180,7 +180,7 @@
 {
 }
 
-void ParticleCloud2DDisplay::processMessage(const nav_msgs::PoseArray::ConstPtr& msg)
+void ParticleCloud2DDisplay::processMessage(const geometry_msgs::PoseArray::ConstPtr& msg)
 {
   clear();
 
@@ -275,7 +275,7 @@
   causeRender();
 }
 
-void ParticleCloud2DDisplay::incomingMessage(const nav_msgs::PoseArray::ConstPtr& msg)
+void ParticleCloud2DDisplay::incomingMessage(const geometry_msgs::PoseArray::ConstPtr& msg)
 {
   processMessage(msg);
 }

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	2009-08-07 20:38:02 UTC (rev 21042)
+++ pkg/trunk/stacks/visualization/rviz/src/rviz/displays/particle_cloud_2d_display.h	2009-08-07 20:41:56 UTC (rev 21043)
@@ -35,7 +35,7 @@
 #include "helpers/color.h"
 #include "properties/forwards.h"
 
-#include <nav_msgs/PoseArray.h>
+#include <geometry_msgs/PoseArray.h>
 
 #include <ros/ros.h>
 
@@ -84,8 +84,8 @@
   void subscribe();
   void unsubscribe();
   void clear();
-  void incomingMessage(const nav_msgs::PoseArray::ConstPtr& msg);
-  void processMessage(const nav_msgs::PoseArray::ConstPtr& msg);
+  void incomingMessage(const geometry_msgs::PoseArray::ConstPtr& msg);
+  void processMessage(const geometry_msgs::PoseArray::ConstPtr& msg);
 
   // overrides from Display
   virtual void onEnable();


This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.