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[Personalrobots-commit] SF.net SVN: personalrobots:[21127] pkg/trunk
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From: <tf...@us...> - 2009-08-08 03:57:46
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Revision: 21127
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=21127&view=rev
Author: tfoote
Date: 2009-08-08 03:57:35 +0000 (Sat, 08 Aug 2009)
Log Message:
-----------
moving Path from robot_msgs to nav_msgs #2281
Modified Paths:
--------------
pkg/trunk/highlevel/writing/writing_core/include/writing_core/action_write_on_white_board.h
pkg/trunk/highlevel/writing/writing_core/nodes/run_generate_text_trajectory.py
pkg/trunk/highlevel/writing/writing_core/nodes/run_write_trajectory.py
pkg/trunk/highlevel/writing/writing_core/src/action_write_on_white_board.cpp
pkg/trunk/highlevel/writing/writing_core/src/run_write_on_white_board.cpp
pkg/trunk/stacks/common_msgs/nav_msgs/srv/GetPlan.srv
pkg/trunk/stacks/pr2/pr2_robot_actions/manifest.xml
pkg/trunk/stacks/pr2/pr2_robot_actions/msg/GenerateTextTrajectoryState.msg
pkg/trunk/stacks/pr2/pr2_robot_actions/msg/WritingState.msg
pkg/trunk/stacks/trex/trex_pr2_writing_test/nodes/test_move_to_helper.py
Added Paths:
-----------
pkg/trunk/stacks/common_msgs/nav_msgs/msg/Path.msg
Removed Paths:
-------------
pkg/trunk/stacks/common_msgs/robot_msgs/msg/Path.msg
Modified: pkg/trunk/highlevel/writing/writing_core/include/writing_core/action_write_on_white_board.h
===================================================================
--- pkg/trunk/highlevel/writing/writing_core/include/writing_core/action_write_on_white_board.h 2009-08-08 03:40:53 UTC (rev 21126)
+++ pkg/trunk/highlevel/writing/writing_core/include/writing_core/action_write_on_white_board.h 2009-08-08 03:57:35 UTC (rev 21127)
@@ -42,7 +42,7 @@
#include <ros/node.h>
// Msgs
-#include <robot_msgs/Path.h>
+#include <nav_msgs/Path.h>
#include <std_msgs/Empty.h>
@@ -52,13 +52,13 @@
namespace writing_core{
-class WriteOnWhiteBoardAction: public robot_actions::Action<robot_msgs::Path, std_msgs::Empty>
+class WriteOnWhiteBoardAction: public robot_actions::Action<nav_msgs::Path, std_msgs::Empty>
{
public:
WriteOnWhiteBoardAction();
~WriteOnWhiteBoardAction();
- robot_actions::ResultStatus execute(const robot_msgs::Path& text_trajectory, std_msgs::Empty&);
+ robot_actions::ResultStatus execute(const nav_msgs::Path& text_trajectory, std_msgs::Empty&);
private:
@@ -72,7 +72,7 @@
std::string arm_controller_;
std_msgs::Empty empty_;
- robot_msgs::Path text_trajectory_;
+ nav_msgs::Path text_trajectory_;
//robot_srvs::MoveToPose::Request req_pose_;
//robot_srvs::MoveToPose::Response res_pose_;
Modified: pkg/trunk/highlevel/writing/writing_core/nodes/run_generate_text_trajectory.py
===================================================================
--- pkg/trunk/highlevel/writing/writing_core/nodes/run_generate_text_trajectory.py 2009-08-08 03:40:53 UTC (rev 21126)
+++ pkg/trunk/highlevel/writing/writing_core/nodes/run_generate_text_trajectory.py 2009-08-08 03:57:35 UTC (rev 21127)
@@ -142,7 +142,7 @@
for t in traject(goal.text):
points += [(t[0][0], t[0][1], 0.10)] + [(x, y, -0.05) for (x, y) in t] + [(t[-1][0], t[-1][1], 0.10)]
- msg = robot_msgs.msg.Path()
+ msg = nav_msgs.msg.Path()
msg.poses = []
for (x, y, z) in points:
ps = robot_msgs.msg.PoseStamped()
@@ -161,7 +161,7 @@
w = GenerateTextTrajectoryAction("generate_text_trajectory",
pr2_robot_actions.msg.TextGoal,
pr2_robot_actions.msg.GenerateTextTrajectoryState,
- robot_msgs.msg.Path)
+ nav_msgs.msg.Path)
w.run()
rospy.spin();
Modified: pkg/trunk/highlevel/writing/writing_core/nodes/run_write_trajectory.py
===================================================================
--- pkg/trunk/highlevel/writing/writing_core/nodes/run_write_trajectory.py 2009-08-08 03:40:53 UTC (rev 21126)
+++ pkg/trunk/highlevel/writing/writing_core/nodes/run_write_trajectory.py 2009-08-08 03:57:35 UTC (rev 21127)
@@ -99,7 +99,7 @@
try:
rospy.init_node("write_trajectory", log_level=roslib.msg.Log.DEBUG)
- w = WriteTrajectoryAction("write_trajectory", robot_msgs.msg.Path, robot_actions.msg.WriteTracjectoryState, Empty)
+ w = WriteTrajectoryAction("write_trajectory", nav_msgs.msg.Path, robot_actions.msg.WriteTracjectoryState, Empty)
w.run()
rospy.spin();
Modified: pkg/trunk/highlevel/writing/writing_core/src/action_write_on_white_board.cpp
===================================================================
--- pkg/trunk/highlevel/writing/writing_core/src/action_write_on_white_board.cpp 2009-08-08 03:40:53 UTC (rev 21126)
+++ pkg/trunk/highlevel/writing/writing_core/src/action_write_on_white_board.cpp 2009-08-08 03:57:35 UTC (rev 21127)
@@ -40,7 +40,7 @@
{
WriteOnWhiteBoardAction::WriteOnWhiteBoardAction() :
- robot_actions::Action<robot_msgs::Path, std_msgs::Empty>("write_on_white_board"),
+ robot_actions::Action<nav_msgs::Path, std_msgs::Empty>("write_on_white_board"),
action_name_("write_on_white_board"),
node_(ros::Node::instance()),
arm_controller_("r_arm_cartesian_pose_controller")
@@ -61,7 +61,7 @@
{
};
-robot_actions::ResultStatus WriteOnWhiteBoardAction::execute(const robot_msgs::Path& text_trajectory, std_msgs::Empty& feedback)
+robot_actions::ResultStatus WriteOnWhiteBoardAction::execute(const nav_msgs::Path& text_trajectory, std_msgs::Empty& feedback)
{
ROS_DEBUG("%s: executing.", action_name_.c_str());
Modified: pkg/trunk/highlevel/writing/writing_core/src/run_write_on_white_board.cpp
===================================================================
--- pkg/trunk/highlevel/writing/writing_core/src/run_write_on_white_board.cpp 2009-08-08 03:40:53 UTC (rev 21126)
+++ pkg/trunk/highlevel/writing/writing_core/src/run_write_on_white_board.cpp 2009-08-08 03:57:35 UTC (rev 21127)
@@ -59,7 +59,7 @@
WriteOnWhiteBoardAction write_on_white_board;
robot_actions::ActionRunner runner(10.0);
- runner.connect<robot_msgs::Path, pr2_robot_actions::WritingState, std_msgs::Empty>(write_on_white_board);
+ runner.connect<nav_msgs::Path, pr2_robot_actions::WritingState, std_msgs::Empty>(write_on_white_board);
runner.run();
node.spin();
Copied: pkg/trunk/stacks/common_msgs/nav_msgs/msg/Path.msg (from rev 20633, pkg/trunk/stacks/common_msgs/robot_msgs/msg/Path.msg)
===================================================================
--- pkg/trunk/stacks/common_msgs/nav_msgs/msg/Path.msg (rev 0)
+++ pkg/trunk/stacks/common_msgs/nav_msgs/msg/Path.msg 2009-08-08 03:57:35 UTC (rev 21127)
@@ -0,0 +1 @@
+geometry_msgs/PoseStamped[] poses
Modified: pkg/trunk/stacks/common_msgs/nav_msgs/srv/GetPlan.srv
===================================================================
--- pkg/trunk/stacks/common_msgs/nav_msgs/srv/GetPlan.srv 2009-08-08 03:40:53 UTC (rev 21126)
+++ pkg/trunk/stacks/common_msgs/nav_msgs/srv/GetPlan.srv 2009-08-08 03:57:35 UTC (rev 21127)
@@ -1,4 +1,4 @@
geometry_msgs/PoseStamped goal
float32 tolerance
---
-robot_msgs/Path plan
+nav_msgs/Path plan
Deleted: pkg/trunk/stacks/common_msgs/robot_msgs/msg/Path.msg
===================================================================
--- pkg/trunk/stacks/common_msgs/robot_msgs/msg/Path.msg 2009-08-08 03:40:53 UTC (rev 21126)
+++ pkg/trunk/stacks/common_msgs/robot_msgs/msg/Path.msg 2009-08-08 03:57:35 UTC (rev 21127)
@@ -1 +0,0 @@
-geometry_msgs/PoseStamped[] poses
Modified: pkg/trunk/stacks/pr2/pr2_robot_actions/manifest.xml
===================================================================
--- pkg/trunk/stacks/pr2/pr2_robot_actions/manifest.xml 2009-08-08 03:40:53 UTC (rev 21126)
+++ pkg/trunk/stacks/pr2/pr2_robot_actions/manifest.xml 2009-08-08 03:57:35 UTC (rev 21127)
@@ -7,7 +7,7 @@
<depend package="robot_actions"/>
<depend package="std_msgs"/>
- <depend package="robot_msgs"/>
+ <depend package="nav_msgs"/>
<depend package="geometry_msgs"/>
<depend package="door_msgs"/>
<depend package="pr2_msgs"/>
Modified: pkg/trunk/stacks/pr2/pr2_robot_actions/msg/GenerateTextTrajectoryState.msg
===================================================================
--- pkg/trunk/stacks/pr2/pr2_robot_actions/msg/GenerateTextTrajectoryState.msg 2009-08-08 03:40:53 UTC (rev 21126)
+++ pkg/trunk/stacks/pr2/pr2_robot_actions/msg/GenerateTextTrajectoryState.msg 2009-08-08 03:57:35 UTC (rev 21127)
@@ -10,4 +10,4 @@
TextGoal goal
# Feedback
-robot_msgs/Path feedback
+nav_msgs/Path feedback
Modified: pkg/trunk/stacks/pr2/pr2_robot_actions/msg/WritingState.msg
===================================================================
--- pkg/trunk/stacks/pr2/pr2_robot_actions/msg/WritingState.msg 2009-08-08 03:40:53 UTC (rev 21126)
+++ pkg/trunk/stacks/pr2/pr2_robot_actions/msg/WritingState.msg 2009-08-08 03:57:35 UTC (rev 21127)
@@ -5,7 +5,7 @@
robot_actions/ActionStatus status
# Goal
-robot_msgs/Path goal
+nav_msgs/Path goal
# Feedback
std_msgs/Empty feedback
Modified: pkg/trunk/stacks/trex/trex_pr2_writing_test/nodes/test_move_to_helper.py
===================================================================
--- pkg/trunk/stacks/trex/trex_pr2_writing_test/nodes/test_move_to_helper.py 2009-08-08 03:40:53 UTC (rev 21126)
+++ pkg/trunk/stacks/trex/trex_pr2_writing_test/nodes/test_move_to_helper.py 2009-08-08 03:57:35 UTC (rev 21127)
@@ -148,7 +148,7 @@
generate_text_trajectory = python_actions.ActionClient("generate_text_trajectory",
pr2_robot_actions.msg.TextGoal,
pr2_robot_actions.msg.GenerateTextTrajectoryState,
- robot_msgs.msg.Path)
+ nav_msgs.msg.Path)
generate_text_trajectory.preempt()
time.sleep(2)
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