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[Personalrobots-commit] SF.net SVN: personalrobots:[22394] pkg/trunk
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From: <ei...@us...> - 2009-08-20 02:39:26
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Revision: 22394
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=22394&view=rev
Author: eitanme
Date: 2009-08-20 02:39:16 +0000 (Thu, 20 Aug 2009)
Log Message:
-----------
Moving move_base messages and action description to the move_base_msgs package to remove a lot of dependencies
Modified Paths:
--------------
pkg/trunk/sandbox/move_base_client/manifest.xml
pkg/trunk/sandbox/move_base_client/src/move_base_client.cpp
pkg/trunk/sandbox/move_base_client/src/move_base_translator.cpp
pkg/trunk/sandbox/move_base_client/src/simple_move_base_client.cpp
pkg/trunk/stacks/navigation/move_base/include/move_base/move_base.h
pkg/trunk/stacks/navigation/move_base/manifest.xml
pkg/trunk/stacks/navigation/move_base/src/move_base.cpp
pkg/trunk/stacks/navigation/tutorials/simple_navigation_goals/manifest.xml
pkg/trunk/stacks/navigation/tutorials/simple_navigation_goals/src/simple_navigation_goals.cpp
Added Paths:
-----------
pkg/trunk/stacks/navigation/move_base_msgs/
pkg/trunk/stacks/navigation/move_base_msgs/CMakeLists.txt
pkg/trunk/stacks/navigation/move_base_msgs/Makefile
pkg/trunk/stacks/navigation/move_base_msgs/action/
pkg/trunk/stacks/navigation/move_base_msgs/mainpage.dox
pkg/trunk/stacks/navigation/move_base_msgs/manifest.xml
pkg/trunk/stacks/navigation/move_base_msgs/msg/
Removed Paths:
-------------
pkg/trunk/stacks/navigation/move_base/action/
pkg/trunk/stacks/navigation/move_base/msg/
Modified: pkg/trunk/sandbox/move_base_client/manifest.xml
===================================================================
--- pkg/trunk/sandbox/move_base_client/manifest.xml 2009-08-20 02:33:37 UTC (rev 22393)
+++ pkg/trunk/sandbox/move_base_client/manifest.xml 2009-08-20 02:39:16 UTC (rev 22394)
@@ -7,7 +7,8 @@
<review status="unreviewed" notes=""/>
<url>http://pr.willowgarage.com/wiki/move_base_client</url>
- <depend package="move_base" />
+ <depend package="move_base_msgs" />
+ <depend package="nav_robot_actions" />
<depend package="actionlib" />
<depend package="action_translator" />
<depend package="geometry_msgs" />
Modified: pkg/trunk/sandbox/move_base_client/src/move_base_client.cpp
===================================================================
--- pkg/trunk/sandbox/move_base_client/src/move_base_client.cpp 2009-08-20 02:33:37 UTC (rev 22393)
+++ pkg/trunk/sandbox/move_base_client/src/move_base_client.cpp 2009-08-20 02:39:16 UTC (rev 22394)
@@ -34,14 +34,14 @@
#include "ros/ros.h"
-#include "move_base/MoveBaseAction.h"
+#include "move_base_msgs/MoveBaseAction.h"
#include "actionlib/client/action_client.h"
#include "boost/thread.hpp"
using namespace actionlib;
using namespace geometry_msgs;
-using namespace move_base;
+using namespace move_base_msgs;
typedef ActionClient<MoveBaseAction> MoveBaseClient;
Modified: pkg/trunk/sandbox/move_base_client/src/move_base_translator.cpp
===================================================================
--- pkg/trunk/sandbox/move_base_client/src/move_base_translator.cpp 2009-08-20 02:33:37 UTC (rev 22393)
+++ pkg/trunk/sandbox/move_base_client/src/move_base_translator.cpp 2009-08-20 02:39:16 UTC (rev 22394)
@@ -37,7 +37,7 @@
#include "geometry_msgs/PoseStamped.h"
#include "nav_robot_actions/MoveBaseState.h"
-#include "move_base/MoveBaseAction.h"
+#include "move_base_msgs/MoveBaseAction.h"
#include "actionlib/client/action_client.h"
#include "action_translator/action_translator.h"
#include "robot_actions/action_runner.h"
@@ -47,17 +47,17 @@
move_base::MoveBaseGoal fromOldGoal(const PoseStamped& old_goal)
{
- move_base::MoveBaseGoal new_goal;
+ move_base_msgs::MoveBaseGoal new_goal;
new_goal.target_pose = old_goal;
return new_goal;
}
-/*PoseStamped fromActionFeedback(const move_base::MoveBaseFeedback& action_feedback)
+/*PoseStamped fromActionFeedback(const move_base_msgs::MoveBaseFeedback& action_feedback)
{
return action_feedback.cur_pose;
}*/
-PoseStamped fromActionResult(const move_base::MoveBaseResult& action_result)
+PoseStamped fromActionResult(const move_base_msgs::MoveBaseResult& action_result)
{
return action_result.final_pose;
}
@@ -68,7 +68,7 @@
ros::NodeHandle n;
- action_translator::ActionTranslator<move_base::MoveBaseAction, PoseStamped, PoseStamped>
+ action_translator::ActionTranslator<move_base_msgs::MoveBaseAction, PoseStamped, PoseStamped>
translator("move_base", &fromOldGoal, NULL, &fromActionResult);
robot_actions::ActionRunner runner(10.0);
Modified: pkg/trunk/sandbox/move_base_client/src/simple_move_base_client.cpp
===================================================================
--- pkg/trunk/sandbox/move_base_client/src/simple_move_base_client.cpp 2009-08-20 02:33:37 UTC (rev 22393)
+++ pkg/trunk/sandbox/move_base_client/src/simple_move_base_client.cpp 2009-08-20 02:39:16 UTC (rev 22394)
@@ -34,14 +34,14 @@
#include "ros/ros.h"
-#include "move_base/MoveBaseAction.h"
+#include "move_base_msgs/MoveBaseAction.h"
#include "actionlib/client/simple_action_client.h"
#include "boost/thread.hpp"
using namespace actionlib;
using namespace geometry_msgs;
-using namespace move_base;
+using namespace move_base_msgs;
typedef SimpleActionClient<MoveBaseAction> MoveBaseClient;
Modified: pkg/trunk/stacks/navigation/move_base/include/move_base/move_base.h
===================================================================
--- pkg/trunk/stacks/navigation/move_base/include/move_base/move_base.h 2009-08-20 02:33:37 UTC (rev 22393)
+++ pkg/trunk/stacks/navigation/move_base/include/move_base/move_base.h 2009-08-20 02:39:16 UTC (rev 22394)
@@ -39,7 +39,7 @@
#include <ros/ros.h>
#include <actionlib/server/single_goal_action_server.h>
-#include <move_base/MoveBaseAction.h>
+#include <move_base_msgs/MoveBaseAction.h>
#include <nav_core/base_local_planner.h>
#include <nav_core/base_global_planner.h>
@@ -56,7 +56,7 @@
namespace move_base {
//typedefs to help us out with the action server so that we don't hace to type so much
- typedef actionlib::SingleGoalActionServer<MoveBaseAction> MoveBaseActionServer;
+ typedef actionlib::SingleGoalActionServer<move_base_msgs::MoveBaseAction> MoveBaseActionServer;
enum MoveBaseState {
PLANNING,
@@ -155,7 +155,7 @@
void goalCB(const geometry_msgs::PoseStamped::ConstPtr& goal);
- void executeCb(const MoveBaseGoalConstPtr& move_base_goal);
+ void executeCb(const move_base_msgs::MoveBaseGoalConstPtr& move_base_goal);
geometry_msgs::PoseStamped goalToGlobalFrame(const geometry_msgs::PoseStamped& goal_pose_msg);
Modified: pkg/trunk/stacks/navigation/move_base/manifest.xml
===================================================================
--- pkg/trunk/stacks/navigation/move_base/manifest.xml 2009-08-20 02:33:37 UTC (rev 22393)
+++ pkg/trunk/stacks/navigation/move_base/manifest.xml 2009-08-20 02:39:16 UTC (rev 22394)
@@ -12,6 +12,7 @@
<depend package="roscpp"/>
<depend package="rosconsole"/>
<depend package="std_msgs"/>
+ <depend package="move_base_msgs"/>
<depend package="geometry_msgs"/>
<depend package="visualization_msgs"/>
<depend package="robot_actions"/>
Modified: pkg/trunk/stacks/navigation/move_base/src/move_base.cpp
===================================================================
--- pkg/trunk/stacks/navigation/move_base/src/move_base.cpp 2009-08-20 02:33:37 UTC (rev 22393)
+++ pkg/trunk/stacks/navigation/move_base/src/move_base.cpp 2009-08-20 02:39:16 UTC (rev 22394)
@@ -63,7 +63,7 @@
position_pub_ = ros_node_.advertise<geometry_msgs::PoseStamped>("~current_position", 1);
ros::NodeHandle action_node(ros_node_, name);
- action_goal_pub_ = action_node.advertise<MoveBaseActionGoal>("goal", 1);
+ action_goal_pub_ = action_node.advertise<move_base_msgs::MoveBaseActionGoal>("goal", 1);
//we'll provide a mechanism for some people to send goals as PoseStamped messages over a topic
//they won't get any useful information back about its status, but this is useful for tools
@@ -130,7 +130,7 @@
void MoveBase::goalCB(const geometry_msgs::PoseStamped::ConstPtr& goal){
ROS_DEBUG("In ROS goal callback, wrapping the PoseStamped in the action message and re-sending to the server.");
- MoveBaseActionGoal action_goal;
+ move_base_msgs::MoveBaseActionGoal action_goal;
action_goal.goal.target_pose = *goal;
action_goal_pub_.publish(action_goal);
@@ -381,7 +381,7 @@
}
- void MoveBase::executeCb(const MoveBaseGoalConstPtr& move_base_goal)
+ void MoveBase::executeCb(const move_base_msgs::MoveBaseGoalConstPtr& move_base_goal)
{
geometry_msgs::PoseStamped goal = move_base_goal->target_pose;
std::vector<geometry_msgs::PoseStamped> global_plan;
@@ -462,7 +462,7 @@
//check that the observation buffers for the costmap are current, we don't want to drive blind
if(!controller_costmap_ros_->isCurrent()){
- ROS_WARN("[%s]:Sensor data is out of date, we're not going to allow commanding of the base for safety",ros_node_.getName().c_str());
+ ROS_WARN("[%s]:Sensor data is out of date, we're not going to allow commanding of the base for safety",ros::this_node::getName().c_str());
publishZeroVelocity();
return;
}
Added: pkg/trunk/stacks/navigation/move_base_msgs/CMakeLists.txt
===================================================================
--- pkg/trunk/stacks/navigation/move_base_msgs/CMakeLists.txt (rev 0)
+++ pkg/trunk/stacks/navigation/move_base_msgs/CMakeLists.txt 2009-08-20 02:39:16 UTC (rev 22394)
@@ -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)
+
+rosbuild_init()
+
+#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 ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})
Added: pkg/trunk/stacks/navigation/move_base_msgs/Makefile
===================================================================
--- pkg/trunk/stacks/navigation/move_base_msgs/Makefile (rev 0)
+++ pkg/trunk/stacks/navigation/move_base_msgs/Makefile 2009-08-20 02:39:16 UTC (rev 22394)
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
Added: pkg/trunk/stacks/navigation/move_base_msgs/mainpage.dox
===================================================================
--- pkg/trunk/stacks/navigation/move_base_msgs/mainpage.dox (rev 0)
+++ pkg/trunk/stacks/navigation/move_base_msgs/mainpage.dox 2009-08-20 02:39:16 UTC (rev 22394)
@@ -0,0 +1,119 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b move_base_msgs is ...
+
+<!--
+In addition to providing an overview of your package,
+this is the section where the specification and design/architecture
+should be detailed. While the original specification may be done on the
+wiki, it should be transferred here once your package starts to take shape.
+You can then link to this documentation page from the Wiki.
+-->
+
+
+\section codeapi Code API
+
+<!--
+Provide links to specific auto-generated API documentation within your
+package that is of particular interest to a reader. Doxygen will
+document pretty much every part of your code, so do your best here to
+point the reader to the actual API.
+
+If your codebase is fairly large or has different sets of APIs, you
+should use the doxygen 'group' tag to keep these APIs together. For
+example, the roscpp documentation has 'libros' group.
+-->
+
+\section rosapi ROS API
+
+<!--
+Names are very important in ROS because they can be remapped on the
+command-line, so it is VERY IMPORTANT THAT YOU LIST NAMES AS THEY
+APPEAR IN THE CODE. You should list names of every topic, service and
+parameter used in your code. There is a template below that you can
+use to document each node separately.
+
+List of nodes:
+- \b node_name1
+- \b node_name2
+-->
+
+<!-- START: copy from here to 'END' for each node
+
+<hr>
+
+\subsection node_name node_name
+
+node_name does (provide a basic description of your node)
+
+\subsubsection Usage
+\verbatim
+$ 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/navigation/move_base_msgs/manifest.xml
===================================================================
--- pkg/trunk/stacks/navigation/move_base_msgs/manifest.xml (rev 0)
+++ pkg/trunk/stacks/navigation/move_base_msgs/manifest.xml 2009-08-20 02:39:16 UTC (rev 22394)
@@ -0,0 +1,22 @@
+<package>
+ <description brief="Holds the action description and relevant messages for the move_base package">
+
+ Holds the action description and relevant messages for the move_base package
+
+ </description>
+ <author>Eitan Marder-Eppstein</author>
+ <license>BSD</license>
+ <review status="unreviewed" notes=""/>
+ <url>http://pr.willowgarage.com/wiki/move_base_msgs</url>
+ <depend package="roslib"/>
+ <depend package="std_msgs"/>
+ <depend package="actionlib"/>
+ <depend package="geometry_msgs"/>
+
+ <export>
+ <cpp cflags="-I${prefix}/msg/cpp"/>
+ </export>
+
+</package>
+
+
Modified: pkg/trunk/stacks/navigation/tutorials/simple_navigation_goals/manifest.xml
===================================================================
--- pkg/trunk/stacks/navigation/tutorials/simple_navigation_goals/manifest.xml 2009-08-20 02:33:37 UTC (rev 22393)
+++ pkg/trunk/stacks/navigation/tutorials/simple_navigation_goals/manifest.xml 2009-08-20 02:39:16 UTC (rev 22394)
@@ -8,7 +8,7 @@
<license>BSD</license>
<review status="unreviewed" notes=""/>
<url>http://pr.willowgarage.com/wiki/simple_navigation_goals</url>
- <depend package="move_base"/>
+ <depend package="move_base_msgs"/>
<depend package="actionlib"/>
<depend package="roscpp"/>
Modified: pkg/trunk/stacks/navigation/tutorials/simple_navigation_goals/src/simple_navigation_goals.cpp
===================================================================
--- pkg/trunk/stacks/navigation/tutorials/simple_navigation_goals/src/simple_navigation_goals.cpp 2009-08-20 02:33:37 UTC (rev 22393)
+++ pkg/trunk/stacks/navigation/tutorials/simple_navigation_goals/src/simple_navigation_goals.cpp 2009-08-20 02:39:16 UTC (rev 22394)
@@ -38,12 +38,12 @@
* http://pr.willowgarage.com/wiki/navigation/Tutorials/SendingSimpleGoals
*********************************************************************/
#include <ros/ros.h>
-#include <move_base/MoveBaseAction.h>
+#include <move_base_msgs/MoveBaseAction.h>
#include <actionlib/client/simple_action_client.h>
#include <boost/thread.hpp>
-typedef actionlib::SimpleActionClient<move_base::MoveBaseAction> MoveBaseClient;
+typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;
void spinThread(){
ros::spin();
@@ -61,7 +61,7 @@
//give some time for connections to register
sleep(2.0);
- move_base::MoveBaseGoal goal;
+ move_base_msgs::MoveBaseGoal goal;
//we'll send a goal to the robot to move 2 meters forward
goal.target_pose.header.frame_id = "base_link";
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