git commit -m "first commit"

navigations/nav_msgs/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package nav_msgs
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.13.1 (2021-01-11)
+-------------------
+* Update package maintainers (`#168 <https://github.com/ros/common_msgs/issues/168>`_)
+* Add LoadMap service (`#164 <https://github.com/ros/common_msgs/issues/164>`_)
+* Contributors: David V. Lu!!, Michel Hidalgo
+
+1.13.0 (2020-05-21)
+-------------------
+* Bump CMake version to avoid CMP0048 warning (`#158 <https://github.com/ros/common_msgs/issues/158>`_)
+* Contributors: Shane Loretz
+
+1.12.7 (2018-11-06)
+-------------------
+
+1.12.6 (2018-05-03)
+-------------------
+
+1.12.5 (2016-09-30)
+-------------------
+
+1.12.4 (2016-02-22)
+-------------------
+
+1.12.3 (2015-04-20)
+-------------------
+
+1.12.2 (2015-03-21)
+-------------------
+* change type of initial_pose in SetMap service to PoseWithCovarianceStamped
+* Contributors: Stephan Wirth
+
+1.12.1 (2015-03-17)
+-------------------
+* updating outdated urls. fixes `#52 <https://github.com/ros/common_msgs/issues/52>`_.
+* Adds a SetMap service message to support swap maps functionality in amcl
+* Contributors: Tully Foote, liz-murphy
+
+1.12.0 (2014-12-29)
+-------------------
+
+1.11.6 (2014-11-04)
+-------------------
+
+1.11.5 (2014-10-27)
+-------------------
+
+1.11.4 (2014-06-19)
+-------------------
+
+1.11.3 (2014-05-07)
+-------------------
+* Export architecture_independent flag in package.xml
+* Contributors: Scott K Logan
+
+1.11.2 (2014-04-24)
+-------------------
+
+1.11.1 (2014-04-16)
+-------------------
+
+1.11.0 (2014-03-04)
+-------------------
+
+1.10.6 (2014-02-27)
+-------------------
+
+1.10.5 (2014-02-25)
+-------------------
+
+1.10.4 (2014-02-18)
+-------------------
+
+1.10.3 (2014-01-07)
+-------------------
+
+1.10.2 (2013-08-19)
+-------------------
+
+1.10.1 (2013-08-16)
+-------------------
+
+1.10.0 (2013-07-13)
+-------------------
+
+1.9.16 (2013-05-21)
+-------------------
+* added action definition for getting maps
+* update email in package.xml
+
+1.9.15 (2013-03-08)
+-------------------
+
+1.9.14 (2013-01-19)
+-------------------
+
+1.9.13 (2013-01-13)
+-------------------
+
+1.9.12 (2013-01-02)
+-------------------
+
+1.9.11 (2012-12-17)
+-------------------
+* modified dep type of catkin
+
+1.9.10 (2012-12-13)
+-------------------
+* add missing downstream depend
+* switched from langs to message_* packages
+
+1.9.9 (2012-11-22)
+------------------
+
+1.9.8 (2012-11-14)
+------------------
+
+1.9.7 (2012-10-30)
+------------------
+* fix catkin function order
+
+1.9.6 (2012-10-18)
+------------------
+* updated cmake min version to 2.8.3, use cmake_parse_arguments instead of custom macro
+
+1.9.5 (2012-09-28)
+------------------
+
+1.9.4 (2012-09-27 18:06)
+------------------------
+
+1.9.3 (2012-09-27 17:39)
+------------------------
+* cleanup
+* cleaned up package.xml files
+* updated to latest catkin
+* fixed dependencies and more
+* updated to latest catkin: created package.xmls, updated CmakeLists.txt
+
+1.9.2 (2012-09-05)
+------------------
+* updated pkg-config in manifest.xml
+
+1.9.1 (2012-09-04)
+------------------
+* use install destination variables, removed manual installation of manifests
+
+1.9.0 (2012-08-29)
+------------------
+* updated to current catkin
+
+1.8.13 (2012-07-26 18:34:15 +0000)
+----------------------------------
+
+1.8.8 (2012-06-12 22:36)
+------------------------
+* make find_package REQUIRED
+* removed obsolete catkin tag from manifest files
+* fixed package dependencies for several common messages (fixed `#3956 <https://github.com/ros/common_msgs/issues/3956>`_)
+* adding manifest exports
+* removed depend, added catkin
+* stripping depend and export tags from common_msgs manifests as msg dependencies are now declared in cmake and stack.yaml.  Also removed bag migration exports
+* common_msgs: removing migration rules as all are over a year old
+* bye bye vestigial MSG_DIRS
+* nav_msgs: getting rid of other build files and cleaning up
+* common_msgs: starting catkin conversion
+* adios rosbuild2 in manifest.xml
+* catkin updates
+* catkin_project
+* Updated to work with new message generation macros
+* More tweaking for standalone message generation
+* Getting standalone message generation working... w/o munging rosbuild2
+* more rosbuild2 hacking
+* missing dependencies
+* updating bagmigration exports
+* rosbuild2 taking shape
+* removing old exports ros`#2292 <https://github.com/ros/common_msgs/issues/2292>`_
+* Added Ubuntu platform tags to manifest
+* Adding a start pose to the GetPlan service
+* Remove use of deprecated rosbuild macros
+* Fixing migration rules for nav_msgs.
+* Changed byte to int8, in response to map_server doc review
+* changing review status
+* adding documentation for `#2997 <https://github.com/ros/common_msgs/issues/2997>`_
+* removing redundant range statements as per ticket:2997
+* Adding documentation to the Odometry message to make things more clear
+* manifest update
+* updated description and url
+* full migration rules
+* adding child_frame_id as per discussion about odometry message
+* Adding a header to Path
+* Adding a header to the GridCells message
+* Adding a new GridCells message for displaying obstacles in nav_view and rviz
+* clearing API reviews for they've been through a bunch of them recently.
+* fixing stack name
+* Adding comments to path
+* documenting messages
+* Making odometry migration fail until we have worked out appropriate way to handle covariances.
+* Changing naming of bag migration rules.
+* Modifying migration rules for Odometry and WrenchStamped change of field names.
+* Adding actual migration rules for all of the tested common_msgs migrations.
+* `#2250 <https://github.com/ros/common_msgs/issues/2250>`_ getting rid of _with_covariance in Odometry fields
+* nav_msgs: added missing srv export
+* Adding migration rules to get migration tests to pass.
+* removing last of robot_msgs and all dependencies on it
+* moving Path from robot_msgs to nav_msgs `#2281 <https://github.com/ros/common_msgs/issues/2281>`_
+* adding header to OccupancyGrid `#1906 <https://github.com/ros/common_msgs/issues/1906>`_
+* First half of the change from deprecated_msgs::RobotBase2DOdom to nav_msgs::Odometry, I think all the c++ compiles, can't speak for functionality yet, also... the python has yet to be run... this may break some things
+* moving PoseArray into geometry_msgs `#1907 <https://github.com/ros/common_msgs/issues/1907>`_
+* fixing names
+* Removing header since there's already one in the pose and fixing message definition to have variable names
+* adding Odometry message as per API review and ticket:2250
+* merging in the changes to messages see ros-users email.  THis is about half the common_msgs API changes
+* Forgot to check in the services I added.... shoot
+* Moving StaticMap.srv to GetMap.srv and moving Plan.srv to GetPlan.srv, also moving them to nav_msgs and removing the nav_srvs package
+* Merging tha actionlib branch back into trunk
+  r29135@att (orig r19792):  eitanme | 2009-07-27 18:30:30 -0700
+  Creating a branch for actionlib.... hopefully for the last time
+  r29137@att (orig r19794):  eitanme | 2009-07-27 18:32:49 -0700
+  Changing ParticleCloud to PoseArray
+  r29139@att (orig r19796):  eitanme | 2009-07-27 18:33:42 -0700
+  Adding action definition to the rep
+  r29148@att (orig r19805):  eitanme | 2009-07-27 18:47:39 -0700
+  Some fixes... almost compiling
+  r29165@att (orig r19822):  eitanme | 2009-07-27 20:41:07 -0700
+  Macro version of the typedefs that compiles
+  r29213@att (orig r19869):  eitanme | 2009-07-28 11:49:10 -0700
+  Compling version of the ActionServer re-write complete with garbage collection, be default it will keep goals without goal handles for 5 seconds
+  r29220@att (orig r19876):  eitanme | 2009-07-28 12:06:06 -0700
+  Fix to make sure that transitions into preempting and recalling states actually happen
+  r29254@att (orig r19888):  eitanme | 2009-07-28 13:27:40 -0700
+  Forgot to actually call the cancel callback... addind a subscriber on the cancel topic
+  r29267@att (orig r19901):  eitanme | 2009-07-28 14:41:09 -0700
+  Adding text field to GoalStatus to allow users to throw some debugging information into the GoalStatus messages
+  r29275@att (orig r19909):  eitanme | 2009-07-28 15:43:49 -0700
+  Using tf remapping as I should've been doing for awhile
+  r29277@att (orig r19911):  eitanme | 2009-07-28 15:48:48 -0700
+  The navigation stack can now handle goals that aren't in the global frame. However, these goals will be transformed to the global frame at the time of reception, so for achieving them accurately the global frame of move_base should really be set to match the goals.
+  r29299@att (orig r19933):  stuglaser | 2009-07-28 17:08:10 -0700
+  Created genaction.py script to create the various messages that an action needs
+  r29376@att (orig r20003):  vijaypradeep | 2009-07-29 02:45:24 -0700
+  ActionClient is running. MoveBase ActionServer seems to be crashing
+  r29409@att (orig r20033):  vijaypradeep | 2009-07-29 11:57:54 -0700
+  Fixing bug with adding status trackers
+  r29410@att (orig r20034):  vijaypradeep | 2009-07-29 11:58:18 -0700
+  Changing from Release to Debug
+  r29432@att (orig r20056):  vijaypradeep | 2009-07-29 14:07:30 -0700
+  No longer building goal_manager_test.cpp
+  r29472@att (orig r20090):  vijaypradeep | 2009-07-29 17:04:14 -0700
+  Lots of Client-Side doxygen
+  r29484@att (orig r20101):  vijaypradeep | 2009-07-29 18:35:01 -0700
+  Adding to mainpage.dox
+  r29487@att (orig r20104):  eitanme | 2009-07-29 18:55:06 -0700
+  Removing file to help resolve merge I hope
+  r29489@att (orig r20106):  eitanme | 2009-07-29 19:00:07 -0700
+  Removing another file to try to resolve the branch
+  r29492@att (orig r20108):  eitanme | 2009-07-29 19:14:25 -0700
+  Again removing a file to get the merge working
+  r29493@att (orig r20109):  eitanme | 2009-07-29 19:34:45 -0700
+  Removing yet another file on which ssl negotiation fails
+  r29500@att (orig r20116):  eitanme | 2009-07-29 19:54:18 -0700
+  Fixing bug in genaction
+* moving MapMetaData and OccGrid into nav_msgs `#1303 <https://github.com/ros/common_msgs/issues/1303>`_
+* created nav_msgs and moved ParticleCloud there `#1300 <https://github.com/ros/common_msgs/issues/1300>`_

navigations/nav_msgs/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(nav_msgs)
+
+find_package(catkin REQUIRED COMPONENTS geometry_msgs message_generation std_msgs actionlib_msgs)
+
+add_message_files(
+  DIRECTORY msg
+  FILES
+  GridCells.msg
+  MapMetaData.msg
+  OccupancyGrid.msg
+  Odometry.msg
+  Path.msg)
+
+add_service_files(
+  DIRECTORY srv
+  FILES
+  GetMap.srv
+  GetPlan.srv
+  SetMap.srv
+  LoadMap.srv)
+
+add_action_files(
+  FILES
+  GetMap.action)
+
+generate_messages(DEPENDENCIES geometry_msgs std_msgs actionlib_msgs)
+
+catkin_package(CATKIN_DEPENDS geometry_msgs message_runtime std_msgs actionlib_msgs)

navigations/nav_msgs/action/GetMap.action

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+# Get the map as a nav_msgs/OccupancyGrid
+---
+nav_msgs/OccupancyGrid map
+---
+# no feedback

navigations/nav_msgs/msg/GridCells.msg

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+#an array of cells in a 2D grid
+Header header
+float32 cell_width
+float32 cell_height
+geometry_msgs/Point[] cells

navigations/nav_msgs/msg/MapMetaData.msg

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+# This hold basic information about the characterists of the OccupancyGrid
+
+# The time at which the map was loaded
+time map_load_time
+# The map resolution [m/cell]
+float32 resolution
+# Map width [cells]
+uint32 width
+# Map height [cells]
+uint32 height
+# The origin of the map [m, m, rad].  This is the real-world pose of the
+# cell (0,0) in the map.
+geometry_msgs/Pose origin

navigations/nav_msgs/msg/OccupancyGrid.msg

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+# This represents a 2-D grid map, in which each cell represents the probability of
+# occupancy.
+
+Header header 
+
+#MetaData for the map
+MapMetaData info
+
+# The map data, in row-major order, starting with (0,0).  Occupancy
+# probabilities are in the range [0,100].  Unknown is -1.
+int8[] data

navigations/nav_msgs/msg/Odometry.msg

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+# This represents an estimate of a position and velocity in free space.  
+# The pose in this message should be specified in the coordinate frame given by header.frame_id.
+# The twist in this message should be specified in the coordinate frame given by the child_frame_id
+Header header
+string child_frame_id
+geometry_msgs/PoseWithCovariance pose
+geometry_msgs/TwistWithCovariance twist

navigations/nav_msgs/msg/Path.msg

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+#An array of poses that represents a Path for a robot to follow
+Header header
+geometry_msgs/PoseStamped[] poses

navigations/nav_msgs/package.xml

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+<package>
+  <name>nav_msgs</name>
+  <version>1.13.1</version>
+  <description>
+    nav_msgs defines the common messages used to interact with the
+    <a href="http://wiki.ros.org/navigation">navigation</a> stack.
+  </description>
+  <maintainer email="michel@ekumenlabs.com">Michel Hidalgo</maintainer>
+  <license>BSD</license>
+
+  <url>http://wiki.ros.org/nav_msgs</url>
+  <author email="tfoote@osrfoundation.org">Tully Foote</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>actionlib_msgs</build_depend>
+
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>message_runtime</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>actionlib_msgs</run_depend>
+
+  <export>
+    <architecture_independent/>
+  </export>
+</package>

navigations/nav_msgs/srv/GetMap.srv

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+# Get the map as a nav_msgs/OccupancyGrid
+---
+nav_msgs/OccupancyGrid map

navigations/nav_msgs/srv/GetPlan.srv

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+# Get a plan from the current position to the goal Pose 
+
+# The start pose for the plan
+geometry_msgs/PoseStamped start
+
+# The final pose of the goal position
+geometry_msgs/PoseStamped goal
+
+# If the goal is obstructed, how many meters the planner can 
+# relax the constraint in x and y before failing. 
+float32 tolerance
+---
+nav_msgs/Path plan

navigations/nav_msgs/srv/LoadMap.srv

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+# URL of map resource
+# Can be an absolute path to a file: file:///path/to/maps/floor1.yaml
+# Or, relative to a ROS package: package://my_ros_package/maps/floor2.yaml
+string map_url
+---
+# Result code defintions
+uint8 RESULT_SUCCESS=0
+uint8 RESULT_MAP_DOES_NOT_EXIST=1
+uint8 RESULT_INVALID_MAP_DATA=2
+uint8 RESULT_INVALID_MAP_METADATA=3
+uint8 RESULT_UNDEFINED_FAILURE=255
+
+# Returned map is only valid if result equals RESULT_SUCCESS
+nav_msgs/OccupancyGrid map
+uint8 result

navigations/nav_msgs/srv/SetMap.srv

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+# Set a new map together with an initial pose
+nav_msgs/OccupancyGrid map
+geometry_msgs/PoseWithCovarianceStamped initial_pose
+---
+bool success
+