From e4db1da907b8d77ac8b838d4a03e4e57a8c0eb6f Mon Sep 17 00:00:00 2001 From: HiepLM Date: Tue, 30 Dec 2025 09:56:49 +0700 Subject: [PATCH] hiep sua ten file --- tf3_geometry_msgs/CMakeLists.txt | 2 +- tf3_geometry_msgs/test/test_tomsg_frommsg.cpp | 4 +-- tf3_sensor_msgs/CMakeLists.txt | 2 +- .../include/tf3_sensor_msgs/tf3_sensor_msgs.h | 26 ++++++++-------- tf3_sensor_msgs/test/test_tf2_sensor_msgs.cpp | 30 +++++++++---------- 5 files changed, 32 insertions(+), 32 deletions(-) diff --git a/tf3_geometry_msgs/CMakeLists.txt b/tf3_geometry_msgs/CMakeLists.txt index 135047b..83b3a1e 100755 --- a/tf3_geometry_msgs/CMakeLists.txt +++ b/tf3_geometry_msgs/CMakeLists.txt @@ -33,7 +33,7 @@ target_include_directories(tf3_geometry_msgs $ ) -# Liên kết với std_msgs nếu bạn có file Header.h trong include/std_msgs/ +# Liên kết với robot_std_msgs nếu bạn có file Header.h trong include/robot_std_msgs/ target_link_libraries(tf3_geometry_msgs INTERFACE geometry_msgs data_convert diff --git a/tf3_geometry_msgs/test/test_tomsg_frommsg.cpp b/tf3_geometry_msgs/test/test_tomsg_frommsg.cpp index c84b36e..18776a1 100755 --- a/tf3_geometry_msgs/test/test_tomsg_frommsg.cpp +++ b/tf3_geometry_msgs/test/test_tomsg_frommsg.cpp @@ -48,7 +48,7 @@ robot_geometry_msgs::Vector3& value_initialize(robot_geometry_msgs::Vector3 &m1) return m1; } -std_msgs::Header& value_initialize(std_msgs::Header & h) +robot_std_msgs::Header& value_initialize(robot_std_msgs::Header & h) { h.stamp = robot::Time(10); h.frame_id = "foobar"; @@ -121,7 +121,7 @@ robot_geometry_msgs::TransformStamped& value_initialize(robot_geometry_msgs::Tra return m1; } -void expect_near(const std_msgs::Header & h1, const std_msgs::Header & h2) +void expect_near(const robot_std_msgs::Header & h1, const robot_std_msgs::Header & h2) { EXPECT_NEAR(h1.stamp.toSec(), h2.stamp.toSec(), EPS); EXPECT_STREQ(h1.frame_id.c_str(), h2.frame_id.c_str()); diff --git a/tf3_sensor_msgs/CMakeLists.txt b/tf3_sensor_msgs/CMakeLists.txt index f94f269..afdedc4 100755 --- a/tf3_sensor_msgs/CMakeLists.txt +++ b/tf3_sensor_msgs/CMakeLists.txt @@ -31,7 +31,7 @@ target_include_directories(tf3_sensor_msgs ) target_link_libraries(tf3_sensor_msgs INTERFACE - sensor_msgs + robot_sensor_msgs data_convert ) diff --git a/tf3_sensor_msgs/include/tf3_sensor_msgs/tf3_sensor_msgs.h b/tf3_sensor_msgs/include/tf3_sensor_msgs/tf3_sensor_msgs.h index 051c8e7..a9dfd27 100755 --- a/tf3_sensor_msgs/include/tf3_sensor_msgs/tf3_sensor_msgs.h +++ b/tf3_sensor_msgs/include/tf3_sensor_msgs/tf3_sensor_msgs.h @@ -31,8 +31,8 @@ #define TF3_SENSOR_MSGS_H #include -#include -#include +#include +#include #include #include #include @@ -52,7 +52,7 @@ namespace tf3 */ template <> inline -const tf3::Time& getTimestamp(const sensor_msgs::PointCloud2& p) {return data_convert::convertTime(p.header.stamp);} +const tf3::Time& getTimestamp(const robot_sensor_msgs::PointCloud2& p) {return data_convert::convertTime(p.header.stamp);} /** \brief Extract a frame ID from the header of a PointCloud2 message. * This function is a specialization of the getFrameId template defined in tf3/convert.h. @@ -62,12 +62,12 @@ const tf3::Time& getTimestamp(const sensor_msgs::PointCloud2& p) {return data_co */ template <> inline -const std::string& getFrameId(const sensor_msgs::PointCloud2 &p) {return p.header.frame_id;} +const std::string& getFrameId(const robot_sensor_msgs::PointCloud2 &p) {return p.header.frame_id;} // this method needs to be implemented by client library developers template <> inline -void doTransform(const sensor_msgs::PointCloud2 &p_in, sensor_msgs::PointCloud2 &p_out, const tf3::TransformStampedMsg& t_in) +void doTransform(const robot_sensor_msgs::PointCloud2 &p_in, robot_sensor_msgs::PointCloud2 &p_out, const tf3::TransformStampedMsg& t_in) { p_out = p_in; p_out.header.seq = p_in.header.seq; @@ -78,13 +78,13 @@ void doTransform(const sensor_msgs::PointCloud2 &p_in, sensor_msgs::PointCloud2 t_in.transform.rotation.w, t_in.transform.rotation.x, t_in.transform.rotation.y, t_in.transform.rotation.z); - sensor_msgs::PointCloud2ConstIterator x_in(p_in, "x"); - sensor_msgs::PointCloud2ConstIterator y_in(p_in, "y"); - sensor_msgs::PointCloud2ConstIterator z_in(p_in, "z"); + robot_sensor_msgs::PointCloud2ConstIterator x_in(p_in, "x"); + robot_sensor_msgs::PointCloud2ConstIterator y_in(p_in, "y"); + robot_sensor_msgs::PointCloud2ConstIterator z_in(p_in, "z"); - sensor_msgs::PointCloud2Iterator x_out(p_out, "x"); - sensor_msgs::PointCloud2Iterator y_out(p_out, "y"); - sensor_msgs::PointCloud2Iterator z_out(p_out, "z"); + robot_sensor_msgs::PointCloud2Iterator x_out(p_out, "x"); + robot_sensor_msgs::PointCloud2Iterator y_out(p_out, "y"); + robot_sensor_msgs::PointCloud2Iterator z_out(p_out, "z"); Eigen::Vector3f point; for(; x_in != x_in.end(); ++x_in, ++y_in, ++z_in, ++x_out, ++y_out, ++z_out) { @@ -96,12 +96,12 @@ void doTransform(const sensor_msgs::PointCloud2 &p_in, sensor_msgs::PointCloud2 } inline -sensor_msgs::PointCloud2 toMsg(const sensor_msgs::PointCloud2 &in) +robot_sensor_msgs::PointCloud2 toMsg(const robot_sensor_msgs::PointCloud2 &in) { return in; } inline -void fromMsg(const sensor_msgs::PointCloud2 &msg, sensor_msgs::PointCloud2 &out) +void fromMsg(const robot_sensor_msgs::PointCloud2 &msg, robot_sensor_msgs::PointCloud2 &out) { out = msg; } diff --git a/tf3_sensor_msgs/test/test_tf2_sensor_msgs.cpp b/tf3_sensor_msgs/test/test_tf2_sensor_msgs.cpp index ae1fce8..1375e59 100755 --- a/tf3_sensor_msgs/test/test_tf2_sensor_msgs.cpp +++ b/tf3_sensor_msgs/test/test_tf2_sensor_msgs.cpp @@ -39,14 +39,14 @@ static const double EPS = 1e-3; TEST(Tf2Sensor, PointCloud2) { - sensor_msgs::PointCloud2 cloud; - sensor_msgs::PointCloud2Modifier modifier(cloud); + robot_sensor_msgs::PointCloud2 cloud; + robot_sensor_msgs::PointCloud2Modifier modifier(cloud); modifier.setPointCloud2FieldsByString(2, "xyz", "rgb"); modifier.resize(1); - sensor_msgs::PointCloud2Iterator iter_x(cloud, "x"); - sensor_msgs::PointCloud2Iterator iter_y(cloud, "y"); - sensor_msgs::PointCloud2Iterator iter_z(cloud, "z"); + robot_sensor_msgs::PointCloud2Iterator iter_x(cloud, "x"); + robot_sensor_msgs::PointCloud2Iterator iter_y(cloud, "y"); + robot_sensor_msgs::PointCloud2Iterator iter_z(cloud, "z"); *iter_x = 1; *iter_y = 2; @@ -62,12 +62,12 @@ TEST(Tf2Sensor, PointCloud2) data_convert::convertTime(robot::Time(2.0)) ); - sensor_msgs::PointCloud2 cloud_simple; // hoặc v1 + robot_sensor_msgs::PointCloud2 cloud_simple; // hoặc v1 tf3::doTransform(cloud, cloud_simple, tfm1); - // sensor_msgs::PointCloud2 cloud_simple = tf_buffer->transform(cloud, "B", ros::Duration(2.0)); - sensor_msgs::PointCloud2Iterator iter_x_after(cloud_simple, "x"); - sensor_msgs::PointCloud2Iterator iter_y_after(cloud_simple, "y"); - sensor_msgs::PointCloud2Iterator iter_z_after(cloud_simple, "z"); + // robot_sensor_msgs::PointCloud2 cloud_simple = tf_buffer->transform(cloud, "B", ros::Duration(2.0)); + robot_sensor_msgs::PointCloud2Iterator iter_x_after(cloud_simple, "x"); + robot_sensor_msgs::PointCloud2Iterator iter_y_after(cloud_simple, "y"); + robot_sensor_msgs::PointCloud2Iterator iter_z_after(cloud_simple, "z"); EXPECT_NEAR(*iter_x_after, -9, EPS); EXPECT_NEAR(*iter_y_after, 18, EPS); EXPECT_NEAR(*iter_z_after, 27, EPS); @@ -79,13 +79,13 @@ TEST(Tf2Sensor, PointCloud2) data_convert::convertTime(robot::Time(2.0)) ); - sensor_msgs::PointCloud2 cloud_advanced; // hoặc v1 + robot_sensor_msgs::PointCloud2 cloud_advanced; // hoặc v1 tf3::doTransform(cloud, cloud_advanced, tfm2); - // sensor_msgs::PointCloud2 cloud_advanced = tf_buffer->transform(cloud, "B", ros::Time(2.0), + // robot_sensor_msgs::PointCloud2 cloud_advanced = tf_buffer->transform(cloud, "B", ros::Time(2.0), // "A", ros::Duration(3.0)); - sensor_msgs::PointCloud2Iterator iter_x_advanced(cloud_advanced, "x"); - sensor_msgs::PointCloud2Iterator iter_y_advanced(cloud_advanced, "y"); - sensor_msgs::PointCloud2Iterator iter_z_advanced(cloud_advanced, "z"); + robot_sensor_msgs::PointCloud2Iterator iter_x_advanced(cloud_advanced, "x"); + robot_sensor_msgs::PointCloud2Iterator iter_y_advanced(cloud_advanced, "y"); + robot_sensor_msgs::PointCloud2Iterator iter_z_advanced(cloud_advanced, "z"); EXPECT_NEAR(*iter_x_advanced, -9, EPS); EXPECT_NEAR(*iter_y_advanced, 18, EPS); EXPECT_NEAR(*iter_z_advanced, 27, EPS);