git commit -m "first commit"

navigations/nav_2d_msgs/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(nav_2d_msgs)
+
+find_package(catkin REQUIRED COMPONENTS
+    geometry_msgs
+    message_generation
+    std_msgs
+)
+
+add_message_files(FILES
+    ComplexPolygon2D.msg
+    NavGridInfo.msg
+    NavGridOfChars.msg
+    NavGridOfCharsUpdate.msg
+    NavGridOfDoubles.msg
+    NavGridOfDoublesUpdate.msg
+    Path2D.msg
+    Point2D.msg
+    Polygon2D.msg
+    Polygon2DCollection.msg
+    Polygon2DStamped.msg
+    Pose2D32.msg
+    Pose2DStamped.msg
+    Twist2D.msg
+    Twist2D32.msg
+    Twist2DStamped.msg
+    UIntBounds.msg
+)
+
+add_service_files(FILES SwitchPlugin.srv)
+
+generate_messages(DEPENDENCIES geometry_msgs std_msgs)
+
+catkin_package(
+    CATKIN_DEPENDS geometry_msgs message_runtime std_msgs
+)

navigations/nav_2d_msgs/README.md

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+# nav_2d_msgs
+
+This package has basic message types for two dimensional navigation. Many of the messages are similar to those in `geometry_msgs` or `nav_msgs` but are streamlined to only be concerned with 2.5 dimensional `(x, y, theta)` navigation. This eliminates quaternions from the messages in many places, which make calculations faster and avoids that particular headache when only one orientation value is needed for 2.5D navigation.
+
+## Points and Poses
+ * [`Point2D`](msg/Point2D.msg) - like `geometry_msgs::Point` but just `x` and `y` (no `z`)
+ * [`Pose2DStamped`](msg/Pose2DStamped.msg) - `geometry_msgs::Pose2D` with a header
+ * [`Pose2D32`](msg/Pose2D32.msg) - `(x, y, theta)` with only 32bit floating point precision.
+ * [`Path2D`](msg/Path2D.msg) - An array of `Pose2D` with a header. Similar to `nav_msgs::Path` but without redundant headers.
+
+## Polygons
+ * [`Polygon2D`](msg/Polygon2D.msg) - Like `geometry_msgs::Polygon` but with 64 bit precision and no `z` coordinate.
+ * [`Polygon2DStamped`](msg/Polygon2DStamped.msg) - above with a header
+ * [`ComplexPolygon2D`](msg/ComplexPolygon2D.msg) - Non-simple Polygon2D, i.e. polygon with inner holes
+ * [`Polygon2DCollection`](msg/Polygon2DCollection.msg) - A list of complex polygons, with a header and an optional parallel list of colors.
+
+## Twists
+ * [`Twist2D`](msg/Twist2D.msg) - Like `geometry_msgs::Twist` but only `(x, y, theta)` (and not separated into linear and angular)
+ * [`Twist2DStamped`](msg/Twist2DStamped.msg) - above with a header
+ * [`Twist2D32`](msg/Twist2D32.msg) - `(x, y, theta)` with only 32bit floating point precision.
+
+## NavGrids
+ * [`NavGridInfo`](msg/NavGridInfo.msg) - Same data as `nav_grid::NavGridInfo`. Similar to `nav_msgs::MapMetadata`
+ * [`NavGridOfChars`](msg/NavGridOfChars.msg) - Data for `nav_grid::NavGrid<unsigned char>`. Similar to `nav_msgs::OccupancyGrid`
+ * [`NavGridOfDoubles`](msg/NavGridOfDoubles.msg) - Data for `nav_grid::NavGrid<double>`
+ * [`NavGridOfCharsUpdate`](msg/NavGridOfCharsUpdate.msg) and [`NavGridOfDoublesUpdate`](msg/NavGridOfDoublesUpdate.msg) - Similar to `map_msgs::OccupancyGridUpdate`
+ * [`UIntBounds`](msg/UIntBounds.msg) - Same data as `nav_core2::UIntBounds`. Used in both `Update` messages.
+
+## Service
+ * [`SwitchPlugin`](srv/SwitchPlugin.srv) - A simple service equivalent to [SetString.srv](https://discourse.ros.org/t/suggestions-for-std-srvs/1079) use by the PluginMux.

navigations/nav_2d_msgs/msg/ComplexPolygon2D.msg

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+# Representation for a non-simple polygon, i.e. one with holes
+Polygon2D outer    # The outer perimeter
+Polygon2D[] inner  # The perimeter of any inner holes

navigations/nav_2d_msgs/msg/NavGridInfo.msg

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+uint32 width
+uint32 height
+float64 resolution
+string frame_id
+float64 origin_x
+float64 origin_y

navigations/nav_2d_msgs/msg/NavGridOfChars.msg

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+time stamp
+NavGridInfo info
+# The map data, in row-major order, starting with (0,0).
+# Unlike nav_msgs/OccupancyGrid, the values are [0, 256), not [-1, 100]
+uint8[] data

navigations/nav_2d_msgs/msg/NavGridOfCharsUpdate.msg

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+time stamp
+UIntBounds bounds
+uint8[] data

navigations/nav_2d_msgs/msg/NavGridOfDoubles.msg

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+time stamp
+NavGridInfo info
+# The map data, in row-major order, starting with (0,0).
+float64[] data

navigations/nav_2d_msgs/msg/NavGridOfDoublesUpdate.msg

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+time stamp
+UIntBounds bounds
+float64[] data

navigations/nav_2d_msgs/msg/Path2D.msg

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+Header header
+geometry_msgs/Pose2D[] poses

navigations/nav_2d_msgs/msg/Point2D.msg

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+float64 x
+float64 y

navigations/nav_2d_msgs/msg/Polygon2D.msg

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+Point2D[] points

navigations/nav_2d_msgs/msg/Polygon2DCollection.msg

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+# Primarily used for visualization
+# Colors are optional
+std_msgs/Header header
+ComplexPolygon2D[] polygons
+std_msgs/ColorRGBA[] colors

navigations/nav_2d_msgs/msg/Polygon2DStamped.msg

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+std_msgs/Header header
+Polygon2D polygon

navigations/nav_2d_msgs/msg/Pose2D32.msg

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+float32 x
+float32 y
+float32 theta

navigations/nav_2d_msgs/msg/Pose2DStamped.msg

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+Header header
+geometry_msgs/Pose2D pose

navigations/nav_2d_msgs/msg/Twist2D.msg

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+float64 x
+float64 y
+float64 theta

navigations/nav_2d_msgs/msg/Twist2D32.msg

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+float32 x
+float32 y
+float32 theta

navigations/nav_2d_msgs/msg/Twist2DStamped.msg

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+std_msgs/Header header
+Twist2D velocity

navigations/nav_2d_msgs/msg/UIntBounds.msg

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+# Bounds are inclusive
+uint32 min_x
+uint32 min_y
+uint32 max_x
+uint32 max_y

navigations/nav_2d_msgs/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>nav_2d_msgs</name>
+  <version>0.3.0</version>
+  <description>Basic message types for two dimensional navigation, extending from geometry_msgs::Pose2D.</description>
+  <maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>geometry_msgs</depend>
+  <depend>std_msgs</depend>
+  <build_depend>message_generation</build_depend>
+  <build_export_depend>message_runtime</build_export_depend>
+  <exec_depend>message_runtime</exec_depend>
+
+</package>

navigations/nav_2d_msgs/srv/SwitchPlugin.srv

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+string new_plugin
+---
+bool success
+string message