[Personalrobots-commit] SF.net SVN: personalrobots:[21130] pkg/trunk

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

Revision: 21130
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=21130&view=rev
Author:   tfoote
Date:     2009-08-08 04:10:57 +0000 (Sat, 08 Aug 2009)

Log Message:
-----------
deprecating VOPose allowing #1941 to slip milestones

Modified Paths:
--------------
    pkg/trunk/deprecated/deprecated_msgs/manifest.xml
    pkg/trunk/stacks/estimation/robot_pose_ekf/include/robot_pose_ekf/odom_estimation_node.h
    pkg/trunk/stacks/estimation/robot_pose_ekf/manifest.xml
    pkg/trunk/stacks/estimation/robot_pose_ekf/src/odom_estimation_node.cpp
    pkg/trunk/vision/visual_odometry/nodes/diff.py
    pkg/trunk/vision/visual_odometry/nodes/vo.py

Added Paths:
-----------
    pkg/trunk/deprecated/deprecated_msgs/msg/VOPose.msg

Removed Paths:
-------------
    pkg/trunk/stacks/common_msgs/robot_msgs/msg/VOPose.msg

Modified: pkg/trunk/deprecated/deprecated_msgs/manifest.xml
===================================================================
--- pkg/trunk/deprecated/deprecated_msgs/manifest.xml	2009-08-08 04:06:22 UTC (rev 21129)
+++ pkg/trunk/deprecated/deprecated_msgs/manifest.xml	2009-08-08 04:10:57 UTC (rev 21130)
@@ -11,6 +11,7 @@
   <logo>http://www.willowgarage.com/files/willowgarage/robot10.jpg</logo>
   <depend package="roslib"/>
   <depend package="std_msgs"/>
+  <depend package="geometry_msgs"/>
   <export>
     <cpp cflags="-I${prefix}/msg/cpp"/>
   </export>

Copied: pkg/trunk/deprecated/deprecated_msgs/msg/VOPose.msg (from rev 20633, pkg/trunk/stacks/common_msgs/robot_msgs/msg/VOPose.msg)
===================================================================
--- pkg/trunk/deprecated/deprecated_msgs/msg/VOPose.msg	                        (rev 0)
+++ pkg/trunk/deprecated/deprecated_msgs/msg/VOPose.msg	2009-08-08 04:10:57 UTC (rev 21130)
@@ -0,0 +1,3 @@
+Header header
+geometry_msgs/Pose pose
+int32 inliers

Deleted: pkg/trunk/stacks/common_msgs/robot_msgs/msg/VOPose.msg
===================================================================
--- pkg/trunk/stacks/common_msgs/robot_msgs/msg/VOPose.msg	2009-08-08 04:06:22 UTC (rev 21129)
+++ pkg/trunk/stacks/common_msgs/robot_msgs/msg/VOPose.msg	2009-08-08 04:10:57 UTC (rev 21130)
@@ -1,3 +0,0 @@
-Header header
-geometry_msgs/Pose pose
-int32 inliers

Modified: pkg/trunk/stacks/estimation/robot_pose_ekf/include/robot_pose_ekf/odom_estimation_node.h
===================================================================
--- pkg/trunk/stacks/estimation/robot_pose_ekf/include/robot_pose_ekf/odom_estimation_node.h	2009-08-08 04:06:22 UTC (rev 21129)
+++ pkg/trunk/stacks/estimation/robot_pose_ekf/include/robot_pose_ekf/odom_estimation_node.h	2009-08-08 04:10:57 UTC (rev 21130)
@@ -49,7 +49,7 @@
 #include "geometry_msgs/Twist.h"
 #include "geometry_msgs/PoseWithRatesStamped.h"
 #include "geometry_msgs/PoseStamped.h"
-#include "robot_msgs/VOPose.h"
+#include "deprecated_msgs/VOPose.h"
 #include "geometry_msgs/PoseWithCovarianceStamped.h"
 
 #include <boost/thread/mutex.hpp>
@@ -96,7 +96,7 @@
   void imuCallback(const ImuConstPtr& imu);
 
   /// callback function for vo data
-  void voCallback(const tf::MessageNotifier<robot_msgs::VOPose>::MessagePtr& vo);
+  void voCallback(const tf::MessageNotifier<deprecated_msgs::VOPose>::MessagePtr& vo);
 
 
   ros::NodeHandle node_;
@@ -115,7 +115,7 @@
   tf::TransformBroadcaster odom_broadcaster_;
 
   // message notifier for vo
-  tf::MessageNotifier<robot_msgs::VOPose>*  vo_notifier_;
+  tf::MessageNotifier<deprecated_msgs::VOPose>*  vo_notifier_;
 
   // vectors
   MatrixWrapper::ColumnVector vel_desi_;

Modified: pkg/trunk/stacks/estimation/robot_pose_ekf/manifest.xml
===================================================================
--- pkg/trunk/stacks/estimation/robot_pose_ekf/manifest.xml	2009-08-08 04:06:22 UTC (rev 21129)
+++ pkg/trunk/stacks/estimation/robot_pose_ekf/manifest.xml	2009-08-08 04:10:57 UTC (rev 21130)
@@ -11,6 +11,7 @@
 <depend package="std_msgs" />
 <depend package="robot_msgs" />
 <depend package="geometry_msgs" />
+<depend package="deprecated_msgs" />
 <depend package="nav_msgs" />
 <depend package="tf" />
 <depend package="gtest"/>

Modified: pkg/trunk/stacks/estimation/robot_pose_ekf/src/odom_estimation_node.cpp
===================================================================
--- pkg/trunk/stacks/estimation/robot_pose_ekf/src/odom_estimation_node.cpp	2009-08-08 04:06:22 UTC (rev 21129)
+++ pkg/trunk/stacks/estimation/robot_pose_ekf/src/odom_estimation_node.cpp	2009-08-08 04:10:57 UTC (rev 21130)
@@ -102,7 +102,7 @@
     // subscribe to vo messages
     if (vo_used_){
       ROS_INFO("VO sensor can be used");
-      vo_notifier_ = new MessageNotifier<robot_msgs::VOPose>(robot_state_,  boost::bind(&OdomEstimationNode::voCallback, this, _1), "vo", "base_link", 10);
+      vo_notifier_ = new MessageNotifier<deprecated_msgs::VOPose>(robot_state_,  boost::bind(&OdomEstimationNode::voCallback, this, _1), "vo", "base_link", 10);
     }
     else ROS_INFO("VO sensor will NOT be used");
 
@@ -240,7 +240,7 @@
 
 
   // callback function for VO data
-  void OdomEstimationNode::voCallback(const MessageNotifier<robot_msgs::VOPose>::MessagePtr& vo)
+  void OdomEstimationNode::voCallback(const MessageNotifier<deprecated_msgs::VOPose>::MessagePtr& vo)
   {
     assert(vo_used_);
 

Modified: pkg/trunk/vision/visual_odometry/nodes/diff.py
===================================================================
--- pkg/trunk/vision/visual_odometry/nodes/diff.py	2009-08-08 04:06:22 UTC (rev 21129)
+++ pkg/trunk/vision/visual_odometry/nodes/diff.py	2009-08-08 04:10:57 UTC (rev 21130)
@@ -50,7 +50,7 @@
     self.prev_a = 0
     self.prev_b = 0
     rospy.Subscriber('/stereo/raw_stereo', sensor_msgs.msg.RawStereo, self.handle_a, queue_size=2, buff_size=7000000)
-    rospy.Subscriber('/vo', robot_msgs.msg.VOPose, self.handle_b, queue_size=2, buff_size=7000000)
+    rospy.Subscriber('/vo', deprecated_msgs.msg.VOPose, self.handle_b, queue_size=2, buff_size=7000000)
 
   def handle_a(self, msg):
     self.prev_a = msg.header.stamp.to_seconds()

Modified: pkg/trunk/vision/visual_odometry/nodes/vo.py
===================================================================
--- pkg/trunk/vision/visual_odometry/nodes/vo.py	2009-08-08 04:06:22 UTC (rev 21129)
+++ pkg/trunk/vision/visual_odometry/nodes/vo.py	2009-08-08 04:10:57 UTC (rev 21130)
@@ -75,7 +75,7 @@
   def __init__(self):
     rospy.Subscriber('/stereo/raw_stereo', sensor_msgs.msg.RawStereo, self.handle_raw_stereo, queue_size=2, buff_size=7000000)
 
-    self.pub_vo = rospy.Publisher("/vo", robot_msgs.msg.VOPose)
+    self.pub_vo = rospy.Publisher("/vo", deprecated_msgs.msg.VOPose)
 
     self.vo = None
     self.modulo = 0
@@ -93,7 +93,7 @@
     pair = [imgAdapted(i, size) for i in [ msg.left_image, msg.right_image ]]
     af = SparseStereoFrame(pair[0], pair[1], feature_detector = self.fd, descriptor_scheme = self.ds)
     pose = self.vo.handle_frame(af)
-    p = robot_msgs.msg.VOPose()
+    p = deprecated_msgs.msg.VOPose()
     p.inliers = self.vo.inl
     # XXX - remove after camera sets frame_id
     p.header = roslib.msg.Header(0, msg.header.stamp, "stereo_link")


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