git commit -m "first commit"

navigations/unique_identifier/README.rst

@@ -0,0 +1,13 @@
+unique_identifier
+=================
+
+ROS messages and interfaces for Universally Unique Identifiers.
+
+ * http://en.wikipedia.org/wiki/Uuid
+ * http://tools.ietf.org/html/rfc4122.html
+
+ROS documentation:
+
+ * http://www.ros.org/wiki/unique_id
+ * http://www.ros.org/wiki/unique_identifier
+ * http://www.ros.org/wiki/uuid_msgs

navigations/unique_identifier/unique_id/CHANGELOG.rst

@@ -0,0 +1,52 @@
+Change history
+==============
+
+1.0.6 (2017-04-04)
+------------------
+
+ * Remove Python ``install_requires`` option.
+ * Fix minor catkin lint issues.
+
+1.0.5 (2015-04-17)
+------------------
+
+ * Alter C++ unique_id functions to work in multiple cpp files (`#7`_).
+
+1.0.4 (2014-04-30)
+------------------
+
+1.0.3 (2013-07-24)
+------------------
+
+ * Make unit tests conditional on ``CATKIN_ENABLE_TESTING``.
+
+1.0.2 (2013-07-18)
+-------------------
+
+1.0.1 (2013-03-25)
+-------------------
+
+ * Fix catkin Python install problem (`#4`_).
+
+1.0.0 (2013-03-18)
+-------------------
+
+ * Hydro release.
+ * Convert to catkin (`#1`_).
+
+0.9.0 (2013-01-03)
+------------------
+
+ * Initial release to Groovy.
+ * Add support for C++ interface using boost uuid package.
+
+0.8.0 (2012-07-19)
+------------------
+
+ * Initial release to Fuerte.
+ * Supports Python interface based on standard uuid package, but no
+   C++ API yet.
+
+.. _`#1`: https://github.com/ros-geographic-info/unique_identifier/issues/1
+.. _`#4`: https://github.com/ros-geographic-info/unique_identifier/issues/4
+.. _`#7`: https://github.com/ros-geographic-info/unique_identifier/issues/7

navigations/unique_identifier/unique_id/CMakeLists.txt

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(unique_id)
+
+find_package(catkin REQUIRED COMPONENTS roscpp rospy uuid_msgs)
+find_package(Boost REQUIRED)
+include_directories(include ${catkin_INCLUDE_DIRS})
+
+catkin_python_setup()
+catkin_package(INCLUDE_DIRS include
+               CATKIN_DEPENDS uuid_msgs
+               DEPENDS Boost)
+
+install(DIRECTORY include/${PROJECT_NAME}/
+        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+
+# unit tests
+if (CATKIN_ENABLE_TESTING)
+  add_subdirectory(tests)
+endif()

navigations/unique_identifier/unique_id/conf.py

@@ -0,0 +1,246 @@
+# -*- coding: utf-8 -*-
+#
+# unique_id documentation build configuration file, created by
+# sphinx-quickstart on Wed Apr 25 16:01:20 2012.
+#
+# This file is execfile()d with the current directory set to its containing dir.
+#
+# Note that not all possible configuration values are present in this
+# autogenerated file.
+#
+# All configuration values have a default; values that are commented out
+# serve to show the default.
+
+import sys, os
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#sys.path.insert(0, os.path.abspath('.'))
+
+# -- General configuration -----------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be extensions
+# coming with Sphinx (named 'sphinx.ext.*') or your custom ones.
+extensions = ['sphinx.ext.autodoc', 'sphinx.ext.intersphinx', 'sphinx.ext.todo', 'sphinx.ext.viewcode']
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# The suffix of source filenames.
+source_suffix = '.rst'
+
+# The encoding of source files.
+#source_encoding = 'utf-8-sig'
+
+# The master toctree document.
+master_doc = 'index'
+
+# General information about the project.
+project = u'unique_id'
+copyright = u'2012, Jack O\'Quin'
+
+# The version info for the project you're documenting, acts as replacement for
+# |version| and |release|, also used in various other places throughout the
+# built documents.
+#
+# The short X.Y version.
+version = '0.9'
+# The full version, including alpha/beta/rc tags.
+release = '0.9.0'
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#language = None
+
+# There are two options for replacing |today|: either, you set today to some
+# non-false value, then it is used:
+#today = ''
+# Else, today_fmt is used as the format for a strftime call.
+#today_fmt = '%B %d, %Y'
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+exclude_patterns = ['_build']
+
+# The reST default role (used for this markup: `text`) to use for all documents.
+#default_role = None
+
+# If true, '()' will be appended to :func: etc. cross-reference text.
+#add_function_parentheses = True
+
+# If true, the current module name will be prepended to all description
+# unit titles (such as .. function::).
+#add_module_names = True
+
+# If true, sectionauthor and moduleauthor directives will be shown in the
+# output. They are ignored by default.
+#show_authors = False
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = 'sphinx'
+
+# A list of ignored prefixes for module index sorting.
+#modindex_common_prefix = []
+
+
+# -- Options for HTML output ---------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+html_theme = 'default'
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further.  For a list of options available for each theme, see the
+# documentation.
+#html_theme_options = {}
+
+# Add any paths that contain custom themes here, relative to this directory.
+#html_theme_path = []
+
+# The name for this set of Sphinx documents.  If None, it defaults to
+# "<project> v<release> documentation".
+#html_title = None
+
+# A shorter title for the navigation bar.  Default is the same as html_title.
+#html_short_title = None
+
+# The name of an image file (relative to this directory) to place at the top
+# of the sidebar.
+#html_logo = None
+
+# The name of an image file (within the static path) to use as favicon of the
+# docs.  This file should be a Windows icon file (.ico) being 16x16 or 32x32
+# pixels large.
+#html_favicon = None
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = []
+
+# If not '', a 'Last updated on:' timestamp is inserted at every page bottom,
+# using the given strftime format.
+#html_last_updated_fmt = '%b %d, %Y'
+
+# If true, SmartyPants will be used to convert quotes and dashes to
+# typographically correct entities.
+#html_use_smartypants = True
+
+# Custom sidebar templates, maps document names to template names.
+#html_sidebars = {}
+
+# Additional templates that should be rendered to pages, maps page names to
+# template names.
+#html_additional_pages = {}
+
+# If false, no module index is generated.
+#html_domain_indices = True
+
+# If false, no index is generated.
+#html_use_index = True
+
+# If true, the index is split into individual pages for each letter.
+#html_split_index = False
+
+# If true, links to the reST sources are added to the pages.
+#html_show_sourcelink = True
+
+# If true, "Created using Sphinx" is shown in the HTML footer. Default is True.
+#html_show_sphinx = True
+
+# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True.
+#html_show_copyright = True
+
+# If true, an OpenSearch description file will be output, and all pages will
+# contain a <link> tag referring to it.  The value of this option must be the
+# base URL from which the finished HTML is served.
+#html_use_opensearch = ''
+
+# This is the file name suffix for HTML files (e.g. ".xhtml").
+#html_file_suffix = None
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = 'unique_iddoc'
+
+
+# -- Options for LaTeX output --------------------------------------------------
+
+latex_elements = {
+# The paper size ('letterpaper' or 'a4paper').
+#'papersize': 'letterpaper',
+
+# The font size ('10pt', '11pt' or '12pt').
+#'pointsize': '10pt',
+
+# Additional stuff for the LaTeX preamble.
+#'preamble': '',
+}
+
+# Grouping the document tree into LaTeX files. List of tuples
+# (source start file, target name, title, author, documentclass [howto/manual]).
+latex_documents = [
+  ('index', 'unique_id.tex', u'ROS support for universally unique identifiers.',
+   u'Jack O\'Quin', 'manual'),
+]
+
+# The name of an image file (relative to this directory) to place at the top of
+# the title page.
+#latex_logo = None
+
+# For "manual" documents, if this is true, then toplevel headings are parts,
+# not chapters.
+#latex_use_parts = False
+
+# If true, show page references after internal links.
+#latex_show_pagerefs = False
+
+# If true, show URL addresses after external links.
+#latex_show_urls = False
+
+# Documents to append as an appendix to all manuals.
+#latex_appendices = []
+
+# If false, no module index is generated.
+#latex_domain_indices = True
+
+
+# -- Options for manual page output --------------------------------------------
+
+# One entry per manual page. List of tuples
+# (source start file, name, description, authors, manual section).
+man_pages = [
+    ('index', 'unique_id', u'ROS support for universally unique identifiers.',
+     [u'Jack O\'Quin'], 1)
+]
+
+# If true, show URL addresses after external links.
+#man_show_urls = False
+
+
+# -- Options for Texinfo output ------------------------------------------------
+
+# Grouping the document tree into Texinfo files. List of tuples
+# (source start file, target name, title, author,
+#  dir menu entry, description, category)
+texinfo_documents = [
+  ('index', 'unique_id', u'unique_id Documentation',
+   u'Jack O\'Quin', 'unique_id', 'ROS support for universally unique identifiers.',
+   'Miscellaneous'),
+]
+
+# Documents to append as an appendix to all manuals.
+#texinfo_appendices = []
+
+# If false, no module index is generated.
+#texinfo_domain_indices = True
+
+# How to display URL addresses: 'footnote', 'no', or 'inline'.
+#texinfo_show_urls = 'footnote'
+
+
+# Example configuration for intersphinx: refer to the Python standard library.
+intersphinx_mapping = {'http://docs.python.org/': None}

navigations/unique_identifier/unique_id/include/unique_id/impl/unique_id.h

@@ -0,0 +1,115 @@
+/* -*- mode: C++ -*- */
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (C) 2012 Jack O'Quin
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of the author nor other contributors may be
+*     used to endorse or promote products derived from this software
+*     without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+#ifndef _IMPL_UNIQUE_ID_H_
+#define _IMPL_UNIQUE_ID_H_ 1
+
+/** @file
+
+    @brief Private implementation details for C++ unique_id interface.
+
+    @author Jack O'Quin
+ */
+
+#include <ros/ros.h>
+
+#include <boost/uuid/uuid_generators.hpp>
+
+namespace unique_id
+{
+
+  /** @brief C++ namespace for private implementation details. */
+  namespace impl
+  {
+    /* Instantiate boost string UUID generator. */
+    static boost::uuids::string_generator genString;
+
+    /* Instantiate boost random UUID generator. */
+    static boost::uuids::random_generator genRandom;
+
+    /* RFC 4122 namespace for URL identifiers. */
+    static const std::string url_namespace =
+      "6ba7b811-9dad-11d1-80b4-00c04fd430c8";
+
+    /* RFC 4122 UUID for URL identifiers. */
+    static const boost::uuids::uuid url_namespace_uuid =
+      genString(url_namespace);
+
+    /* Instantiate boost URL name UUID generator. */
+    static boost::uuids::name_generator genURL(url_namespace_uuid);
+
+    /* Generate RFC4122 Version 1 Time-Based UUID */
+    static boost::uuids::uuid genTime(ros::Time uuid_time, uint64_t hw_addr)
+    {
+      // Get no. of 100 nanosecond intervals since 00:00:00 October 15, 1582
+      // The RFC4122 standard only requires the least significant 60 bits for timestamp
+
+      // No. of 100 ns intervals between 00:00:00 Oct 15, 1582 and 00:00:00 Jan 1, 1970
+      uint64_t offset = 122192928000000000;
+
+      uint64_t num_hundred_epoch = static_cast<uint64_t>(uuid_time.sec) / (1e-9 * 100) +
+                                   static_cast<uint64_t>(uuid_time.nsec) / 100;
+      // Note: Adding offset in the same line as the above statement may yield incorrect
+      //       values on some systems
+      uint64_t num_hundred_rfc = num_hundred_epoch + offset;
+
+      uint32_t time_low = static_cast<uint32_t>(num_hundred_rfc);
+      uint16_t time_mid = static_cast<uint16_t>(num_hundred_rfc >> 32);
+      uint16_t version = 0x1000;
+      uint16_t time_hi_and_version = static_cast<uint16_t>(num_hundred_rfc >> (32 + 16)) | version;
+
+      // Generate Clock Sequence ID based on random number
+      uint16_t clock_seq_and_reserved = (rand() % (1 << 14)) | 0x8000;
+
+      boost::uuids::uuid uu = {
+                                static_cast<uint8_t>(time_low >> 24), static_cast<uint8_t>(time_low >> 16),
+                                static_cast<uint8_t>(time_low >> 8),  static_cast<uint8_t>(time_low),
+                                static_cast<uint8_t>(time_mid >> 8),  static_cast<uint8_t>(time_mid),
+                                static_cast<uint8_t>(time_hi_and_version >> 8),
+                                static_cast<uint8_t>(time_hi_and_version),
+                                static_cast<uint8_t>(clock_seq_and_reserved >> 8),
+                                static_cast<uint8_t>(clock_seq_and_reserved),
+                                static_cast<uint8_t>(hw_addr >> 40), static_cast<uint8_t>(hw_addr >> 32),
+                                static_cast<uint8_t>(hw_addr >> 24), static_cast<uint8_t>(hw_addr >> 16),
+                                static_cast<uint8_t>(hw_addr >> 8),  static_cast<uint8_t>(hw_addr)
+                              };
+      return uu;
+    }
+
+  } // end namespace impl
+
+} // end namespace unique_id
+
+#endif // _IMPL_UNIQUE_ID_H_

navigations/unique_identifier/unique_id/include/unique_id/unique_id.h

@@ -0,0 +1,209 @@
+/* -*- mode: C++ -*- */
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (C) 2012 Jack O'Quin
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of the author nor other contributors may be
+*     used to endorse or promote products derived from this software
+*     without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+#ifndef _UNIQUE_ID_H_
+#define _UNIQUE_ID_H_ 1
+
+/** @file
+
+    @brief Helper functions for universally unique identifiers and messages.
+
+    @author Jack O'Quin
+ */
+
+#include <string>
+
+#include <boost/uuid/uuid.hpp>
+#include <boost/uuid/uuid_io.hpp>
+
+#include <ros/ros.h>
+#include <uuid_msgs/UniqueID.h>
+
+#include <unique_id/impl/unique_id.h> // private implementation details
+
+/** @brief C++ namespace for unique_id helper functions.
+ *
+ *  Various ROS components use universally unique identifiers. This
+ *  header provides functions for working with a common
+ *  uuid_msgs/UniqueID message, and the boost uuid class.
+ *
+ *   - http://en.wikipedia.org/wiki/Uuid
+ *   - http://tools.ietf.org/html/rfc4122.html
+ *   - http://www.boost.org/doc/libs/1_42_0/libs/uuid/uuid.html
+ *
+ *  Programmers are free to create UUID objects using any approved RFC
+ *  4122 method. The boost uuid interface supports them all.
+ *
+ *  Functions in this namespace provide simple APIs, not requiring
+ *  detailed knowledge of RFC 4122 or the boost uuid interface.  ROS
+ *  applications are likely to need either a random or a name-based
+ *  UUID.
+ *
+ *   - fromRandom() generates a random UUID.
+ *   - fromURL() generates a name-based UUID from a URL string.
+ */
+namespace unique_id
+{
+
+/** @brief Create UUID object from UniqueID message.
+ *
+ *  @param msg uuid_msgs/UniqueID message.
+ *  @returns boost::uuids::uuid object.
+ */
+static inline boost::uuids::uuid fromMsg(uuid_msgs::UniqueID const &msg)
+{
+  boost::uuids::uuid uu{};
+  std::copy(msg.uuid.begin(), msg.uuid.end(), uu.begin());
+  return uu;
+}
+
+/** @brief Generate a random UUID object.
+ *
+ *  @returns type 4 boost::uuids::uuid object.
+ *
+ *  Different calls to this function at any time or place will almost
+ *  certainly generate different UUIDs. The method used is RFC 4122
+ *  variant 4.
+ */
+static inline boost::uuids::uuid fromRandom(void)
+{
+  return impl::genRandom();
+}
+
+/** @brief Generate UUID from canonical hex string.
+ *
+ *  @param str string containing canonical hex representation
+ *  @returns corresponding boost::uuids::uuid object.
+ *
+ *  @note This is not a general service for generating a UUID from an
+ *  arbitrary character string. The fromURL() function will do that
+ *  for any Uniform Resource Identifier.
+ *
+ *  The canonical hex string is a human-readable representation of a
+ *  correctly-formatted sixteen-byte UUID. In addition to the dashes,
+ *  it should contain exactly 32 hexadecimal digits.  The @a str can
+ *  be any accepted by the boost uuid string generator, but that is
+ *  not well-defined. The format produced by toHexString() works
+ *  reliably: "01234567-89ab-cdef-0123-456789abcdef".
+ *
+ *  @warning Strings not accepted by boost may produce undefined
+ *  results: perhaps throwing a @c std::runtime_error exception, or
+ *  silently ignoring parts of the string.
+ */
+static inline boost::uuids::uuid fromHexString(std::string const &str)
+{
+  return impl::genString(str);
+}
+
+/** @brief Generate UUID from Uniform Resource Identifier.
+ *
+ *  @param url URL for identifier creation.
+ *  @returns type 5 boost::uuids::uuid object.
+ *
+ *  Matching @a url strings must yield the same UUID. Different @a url
+ *  strings will almost certainly generate different UUIDs. The method
+ *  used is RFC 4122 variant 5, computing the SHA-1 hash of the @a
+ *  url.
+ *
+ *  For any given @a url, this function returns the same UUID as the
+ *  corresponding Python @c unique_id.fromURL() function.
+ *
+ *  For example, Open Street Map identifiers are encoded like this,
+ *  with decimal representations of the integer OSM node, way, or
+ *  relation identifiers appended to the URL:
+ *
+ *   - fromURL("http://openstreetmap.org/node/123456789")
+ *   - fromURL("http://openstreetmap.org/way/6543210")
+ *   - fromURL("http://openstreetmap.org/relation/999999")
+ */
+static inline boost::uuids::uuid fromURL(std::string const &url)
+{
+  return impl::genURL(url);
+}
+
+/** @brief Generate a Time Based UUID object. Users are recommended to seed the random
+ *         number generator using srand from the calling application to generate the clock_id
+ *
+ *  @param timestamp The ros::Time timestamp for UUID generation
+ *  @param hw_addr A 48-bit (6 octets) network address assigned to the 48 LSBs
+ *  @returns type 1 boost::uuids::uuid object.
+ *
+ *  Different calls to this function at any time or place will almost
+ *  certainly generate different UUIDs. The method used is RFC 4122
+ *  version 1.
+ */
+static inline boost::uuids::uuid fromTime(ros::Time timestamp, uint64_t hw_addr)
+{
+  return impl::genTime(timestamp, hw_addr);
+}
+
+/** @brief Create a UniqueID message from a UUID object.
+ *
+ *  @param uu boost::uuids::uuid object.
+ *  @returns uuid_msgs/UniqueID message.
+ */
+static inline uuid_msgs::UniqueID toMsg(boost::uuids::uuid const &uu)
+{
+  uuid_msgs::UniqueID msg;
+  std::copy(uu.begin(), uu.end(), msg.uuid.begin());
+  return msg;
+}
+
+/** @brief Get the canonical string representation for a boost UUID.
+ *
+ *  @param uu boost::uuids::uuid object.
+ *  @returns canonical UUID hex string: "01234567-89ab-cdef-0123-456789abcdef".
+ *
+ *  A @c boost::uuids::uuid object yields the same representation via
+ *  its @c << operator or @c to_string() function.
+ */
+static inline std::string toHexString(boost::uuids::uuid const &uu)
+{
+  return boost::uuids::to_string(uu);
+}
+
+/** @brief Get the canonical string representation for a UniqueID message.
+ *
+ *  @param msg uuid_msgs/UniqueID message.
+ *  @returns canonical UUID hex string: "01234567-89ab-cdef-0123-456789abcdef".
+ */
+static inline std::string toHexString(uuid_msgs::UniqueID const &msg)
+{
+  return boost::uuids::to_string(fromMsg(msg));
+}
+
+} // end namespace unique_id
+
+#endif // _UNIQUE_ID_H_

navigations/unique_identifier/unique_id/index.rst

@@ -0,0 +1,16 @@
+unique_id: ROS universally unique identifier support
+====================================================
+
+Contents:
+
+.. toctree::
+   :maxdepth: 2
+
+   unique_id
+   CHANGELOG
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`modindex`

navigations/unique_identifier/unique_id/mainpage.dox

@@ -0,0 +1,13 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+This package provides Python and C++ interfaces for managing
+universally unique identifiers.
+
+There are no ROS nodes or commands.
+
+Note: For Time-Based UUID generation using the C++ interface
+      seed the random number generator through srand()
+
+*/

navigations/unique_identifier/unique_id/package.xml

@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+
+  <name>unique_id</name>
+  <version>1.0.6</version>
+  <description>
+    ROS Python and C++ interfaces for universally unique identifiers.
+  </description>
+  <maintainer email="jack.oquin@gmail.com">Jack O'Quin</maintainer>
+  <author>Jack O'Quin</author>
+  <license>BSD</license>
+  <url>http://ros.org/wiki/unique_id</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
+  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
+
+  <depend>roscpp</depend>
+  <depend>rospy</depend>
+  <depend>uuid_msgs</depend>
+
+  <test_depend>rosunit</test_depend>
+
+  <export>
+    <rosdoc config="rosdoc.yaml" />
+  </export>
+
+</package>

navigations/unique_identifier/unique_id/rosdoc.yaml

@@ -0,0 +1,8 @@
+ - builder: doxygen
+   name: C++ API
+   output_dir: c++
+   file_patterns: '*.c *.cpp *.h *.cc *.hh *.dox'
+ - builder: sphinx
+   name: Python API
+   output_dir: python
+

navigations/unique_identifier/unique_id/setup.py

@@ -0,0 +1,11 @@
+#!/usr/bin/env python
+
+from setuptools import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    packages=['unique_id'],
+    package_dir={'': 'src'},
+    )
+
+setup(**d)

navigations/unique_identifier/unique_id/src/unique_id/__init__.py

@@ -0,0 +1,146 @@
+# Software License Agreement (BSD License)
+#
+# Copyright (C) 2012, Jack O'Quin
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of the author nor of other contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""
+Python module for unique_id helper functions.
+
+Various ROS components use universally unique identifiers
+(UUID_). This module provides functions for working with a common
+`uuid_msgs/UniqueID`_ message, and the standard Python
+:class:`uuid.UUID` class.
+
+Programmers are free to create UUID objects using any approved `RFC
+4122`_ method. The standard Python :py:mod:`uuid` module supports them
+all.
+
+Functions in this module provide simple APIs, not requiring detailed
+knowledge of `RFC 4122`_ or the :py:mod:`uuid` interface.  ROS
+applications are likely to need either a random or a name-based UUID.
+
+ * :func:`fromRandom` generates a random UUID.
+ * :func:`fromURL` generates a name-based UUID from a URL string.
+
+.. _`uuid_msgs/UniqueID`: http://ros.org/doc/api/uuid_msgs/html/msg/UniqueID.html
+.. _`RFC 4122`: http://tools.ietf.org/html/rfc4122.html
+.. _UUID: http://en.wikipedia.org/wiki/Uuid
+
+"""
+
+# enable some python3 compatibility options:
+from __future__ import absolute_import, print_function, unicode_literals
+
+from uuid_msgs.msg import UniqueID
+
+import uuid
+
+def fromMsg(msg):
+    """Create UUID object from UniqueID message.
+
+    :param msg: `uuid_msgs/UniqueID`_ message.
+    :returns: :class:`uuid.UUID` object.
+    """
+    return uuid.UUID(bytes = msg.uuid)
+
+def fromRandom():
+    """Generate a random UUID object.
+
+    :returns: type 4 :class:`uuid.UUID` object.
+
+    Different calls to this function at any time or place will almost
+    certainly generate different UUIDs. The method used is `RFC 4122`_
+    variant 4.
+    """
+    return uuid.uuid4()
+
+def fromURL(url):
+    """Generate UUID from Uniform Resource Locator.
+
+    :param url: URL for identifier creation.
+    :returns: type 5 :class:`uuid.UUID` object.
+
+    Matching *url* strings must yield the same UUID. Different *url*
+    strings will almost certainly generate different UUIDs. The method
+    used is `RFC 4122`_ variant 5, computing the SHA-1 hash of the
+    *url*.
+
+    For any given *url*, this function returns the same UUID as the
+    corresponding C++ `unique_id::fromURL()` function.
+
+    For example, Open Street Map identifiers are encoded like this,
+    with decimal representations of the integer OSM node, way, or
+    relation identifiers appended to the URL::
+
+        fromURL('http://openstreetmap.org/node/' + str(node_id))
+        fromURL('http://openstreetmap.org/way/' + str(way_id))
+        fromURL('http://openstreetmap.org/relation/' + str(rel_id))
+
+    """
+    return uuid.uuid5(uuid.NAMESPACE_URL, url)
+
+def fromTime(timestamp, hw_addr):
+    """Generate a Time Based UUID object.
+
+    :param timestamp: The rospy.Time timestamp for UUID generation
+    :param hw_addr: A 48-bit long representing the network address
+    :returns: type 1 :class:`uuid.UUID` object
+
+    Different calls to this function at any time or place will almost
+    certainly generate different UUIDs. The method used is RFC 4122
+    version 1.
+    """
+    uu = uuid.uuid1(hw_addr)
+    offset = 122192928000000000
+    nano_epoch = long(timestamp.secs / (100 * 1e-9) + timestamp.nsecs / 100)
+    # return nano_epoch
+    nano_rfc = nano_epoch + offset
+    data = (nano_rfc & 0x0000000FFFFFFFF, (nano_rfc >> 32) & 0x000FFFF, (nano_rfc >> 48) | 0x1000,
+            uu.fields[3], uu.fields[4], uu.fields[5])
+    return uuid.UUID(fields=data)
+
+def toMsg(uuid_obj):
+    """Create a UniqueID message from a UUID object.
+
+    :param uuid_obj: standard Python :class:`uuid.UUID` object.
+    :returns: `uuid_msgs/UniqueID`_ message.
+    """
+    return UniqueID(uuid = uuid_obj.bytes)
+
+def toHexString(msg):
+    """Get the canonical hexadecimal string representation for a UniqueID message.
+
+    :param msg: `uuid_msgs/UniqueID`_ message.
+    :returns: UUID hex string: '01234567-89ab-cdef-0123-456789abcdef'.
+
+    A :class:`uuid.UUID` object yields the same representation via the
+    :py:func:`str` function.
+    """
+    return str(fromMsg(msg))

navigations/unique_identifier/unique_id/tests/CMakeLists.txt

@@ -0,0 +1,15 @@
+### Unit tests
+#
+#   Only configured when CATKIN_ENABLE_TESTING is true.
+
+# C++ gtests
+catkin_add_gtest(test_${PROJECT_NAME}
+                 test_${PROJECT_NAME}.cpp
+                 second_test_${PROJECT_NAME}.cpp)
+add_dependencies(test_${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
+target_link_libraries(test_${PROJECT_NAME}
+                      ${Boost_LIBRARIES}
+                      ${catkin_LIBRARIES})
+
+# Python nose tests
+catkin_add_nosetests(test_${PROJECT_NAME}.py)

navigations/unique_identifier/unique_id/tests/second_test_unique_id.cpp

@@ -0,0 +1,193 @@
+//
+// A second C++ unit test for unique_id interface, which must be able
+// to be included in more than one source file.
+//
+
+#include <gtest/gtest.h>
+
+#include <unique_id/unique_id.h>
+
+using namespace unique_id;
+typedef boost::uuids::uuid uuid;
+typedef uuid_msgs::UniqueID UniqueID;
+
+///////////////////////////////////////////////////////////////
+// Test cases
+///////////////////////////////////////////////////////////////
+
+// Test random generator
+TEST(BoostUUID2, fromRandom)
+{
+  static const int N = 1000;
+  uuid uu[N];
+  for (int i = 0; i < N; ++i)
+    {
+      uu[i] = fromRandom();
+      for (int j = i-1; j >= 0; --j)
+        {
+          EXPECT_NE(uu[i], uu[j]);
+        }
+    }
+}
+
+TEST(BoostUUID2, emptyURL)
+{
+  std::string s;
+  uuid x = fromURL(s);
+  uuid y = fromURL(s);
+  EXPECT_EQ(x, y);
+  // MUST yield same result as Python fromURL() function:
+  EXPECT_EQ(toHexString(x), "1b4db7eb-4057-5ddf-91e0-36dec72071f5");
+}
+
+TEST(BoostUUID2, sameURL)
+{
+  std::string s("http://openstreetmap.org/node/1");
+  uuid x = fromURL(s);
+  uuid y = fromURL(s);
+  EXPECT_EQ(x, y);
+  // MUST yield same result as Python fromURL() function:
+  EXPECT_EQ(toHexString(x), "ef362ac8-9659-5481-b954-88e9b741c8f9");
+}
+
+TEST(BoostUUID2, differentOsmNamespace)
+{
+  uuid x = fromURL("http://openstreetmap.org/node/1");
+  uuid y = fromURL("http://openstreetmap.org/way/1");
+  EXPECT_NE(x, y);
+  // MUST yield same result as Python fromURL() function:
+  EXPECT_EQ(toHexString(y), "b3180681-b125-5e41-bd04-3c8b046175b4");
+}
+
+TEST(BoostUUID2, actualOsmNode)
+{
+  uuid x = fromURL("http://openstreetmap.org/node/1");
+  uuid y = fromURL("http://openstreetmap.org/node/152370223");
+  EXPECT_NE(x, y);
+  // MUST yield same result as Python fromURL() function:
+  EXPECT_EQ(toHexString(y), "8e0b7d8a-c433-5c42-be2e-fbd97ddff9ac");
+}
+
+TEST(BoostUUID2, fromHexString)
+{
+  std::string s("da7c242f-2efe-5175-9961-49cc621b80b9");
+  std::string r = toHexString(fromHexString(s));
+  EXPECT_EQ(s, r);
+}
+
+TEST(BoostUUID2, fromStringNoDashes)
+{
+  std::string s("da7c242f-2efe-5175-9961-49cc621b80b9");
+  std::string s_hex("da7c242f2efe5175996149cc621b80b9");
+  std::string r = toHexString(fromHexString(s_hex));
+  EXPECT_EQ(s, r);
+}
+
+TEST(BoostUUID2, fromBracesString)
+{
+  std::string s("da7c242f-2efe-5175-9961-49cc621b80b9");
+  std::string s_braces = "{" + s + "}";
+  std::string r = toHexString(fromHexString(s_braces));
+  EXPECT_EQ(s, r);
+}
+
+TEST(BoostUUID2, fromUrnString)
+{
+  // This documents boost 1.46.1 behavior, but is an undefined
+  // fromHexString() input, not really a valid test case.
+  std::string s("da7c242f-2efe-5175-9961-49cc621b80b9");
+  std::string s_urn = "urn:uuid:" + s;
+  std::string r = toHexString(fromHexString(s_urn));
+  EXPECT_NE(s, r);
+}
+
+TEST(BoostUUID2, fromTooLongString)
+{
+  // This documents boost 1.46.1 behavior, but is an undefined
+  // fromHexString() input, not really a valid test case.
+  std::string s("da7c242f-2efe-5175-9961-49cc621b80b9");
+  std::string s_too_long = s + "-0001";
+  std::string r = toHexString(fromHexString(s_too_long));
+  EXPECT_EQ(s, r);
+}
+
+TEST(BoostUUID2, fromTooShortString)
+{
+  // This documents boost 1.46.1 behavior, but is an undefined
+  // fromHexString() input, not really a valid test case.
+  std::string s("da7c242f-2efe-5175-9961-49cc621b80");
+  try
+    {
+      uuid x = fromHexString(s);
+      FAIL();                           // expected exception not thrown
+      EXPECT_NE(toHexString(x), s);
+    }
+  catch (std::runtime_error &e)
+    {
+      EXPECT_EQ(e.what(), std::string("invalid uuid string"));
+    }
+  catch (...)
+    {
+      FAIL();                           // unexpected exception
+    }
+}
+
+TEST(BoostUUID2, fromBogusString)
+{
+  // This documents boost 1.46.1 behavior, but is an undefined
+  // fromHexString() input, not really a valid test case.
+  std::string s("Invalid UUID string");
+  try
+    {
+      uuid x = fromHexString(s);
+      FAIL();                           // expected exception not thrown
+      EXPECT_NE(toHexString(x), s);
+    }
+  catch (std::runtime_error &e)
+    {
+      EXPECT_EQ(e.what(), std::string("invalid uuid string"));
+    }
+  catch (...)
+    {
+      FAIL();                           // unexpected exception
+    }
+}
+
+TEST(UniqueID2, nilMessage)
+{
+  UniqueID x;
+  UniqueID y = toMsg(uuid());
+  EXPECT_EQ(x.uuid, y.uuid);
+}
+
+TEST(UniqueID2, randomMessage)
+{
+  UniqueID x;
+  UniqueID y = toMsg(fromRandom());
+  EXPECT_NE(x.uuid, y.uuid);
+}
+
+TEST(UniqueID2, equivalentMessages)
+{
+  std::string s("da7c242f-2efe-5175-9961-49cc621b80b9");
+  UniqueID x = toMsg(fromHexString(s));
+  UniqueID y = toMsg(fromHexString(s));
+  EXPECT_EQ(x.uuid, y.uuid);
+  EXPECT_EQ(s, toHexString(y));
+}
+
+TEST(UniqueID2, toAndFromMessage)
+{
+  std::string s("da7c242f-2efe-5175-9961-49cc621b80b9");
+  uuid x = uuid(fromHexString(s));
+  uuid y = fromMsg(toMsg(x));
+  EXPECT_EQ(x, y);
+}
+
+TEST(UniqueID2, messageToString)
+{
+  std::string s("da7c242f-2efe-5175-9961-49cc621b80b9");
+  UniqueID x = toMsg(fromHexString(s));
+  std::string y = toHexString(x);
+  EXPECT_EQ(s, y);
+}

navigations/unique_identifier/unique_id/tests/test_unique_id.cpp

@@ -0,0 +1,327 @@
+//
+// C++ unit tests for unique_id interface.
+//
+#include <gtest/gtest.h>
+
+#include <ros/ros.h>
+#include <unique_id/unique_id.h>
+
+using namespace unique_id;
+typedef boost::uuids::uuid uuid;
+typedef uuid_msgs::UniqueID UniqueID;
+
+///////////////////////////////////////////////////////////////
+// Test cases
+///////////////////////////////////////////////////////////////
+
+// Test random generator
+TEST(BoostUUID, fromRandom)
+{
+  static const int N = 1000;
+  uuid uu[N];
+  for (int i = 0; i < N; ++i)
+    {
+      uu[i] = fromRandom();
+      for (int j = i-1; j >= 0; --j)
+        {
+          EXPECT_NE(uu[i], uu[j]);
+        }
+    }
+}
+
+// Test Timebased UUID
+TEST(BoostUUID, fromTime)
+{
+  ros::Time t(1515778146, 239216089);
+  uint64_t hw_addr = 0xAABBCCDDEEFF;
+
+  // Generate UUID from time and hardware address
+  uuid uu = fromTime(t, hw_addr);
+
+  // Obtain time since epoch back from the generated uuid
+  std::vector<uint8_t> data(uu.size());
+  std::copy(uu.begin(), uu.end(), data.begin());
+
+  uint64_t timestamp = (static_cast<uint64_t>(data[0]) << 24) + (static_cast<uint64_t>(data[1]) << 16) +
+                       (static_cast<uint64_t>(data[2]) << 8) + static_cast<uint64_t>(data[3]) +
+                       (static_cast<uint64_t>(data[4]) << 40) + (static_cast<uint64_t>(data[5]) << 32) +
+                       (static_cast<uint64_t>(data[6] & 0x0F) << 56) + (static_cast<uint64_t>(data[7]) << 48);
+  uint64_t offset = 122192928000000000;  // time offset in 100 ns intervals between RFC4122 Timestamp and Epoch Time
+  uint64_t ns_intervals = timestamp - offset;
+  uint64_t uu_hw_addr = 0;
+  for (int8_t i=0; i < 6; i++)
+  {
+    uu_hw_addr += static_cast<uint64_t>(data[uu.size() - 1 - i]) << 8*i;
+  }
+
+  ros::Time uu_time;
+  uu_time.sec = static_cast<int32_t>(ns_intervals / 1e9 * 100);
+  uu_time.nsec = static_cast<int32_t>((ns_intervals - static_cast<uint64_t>(uu_time.sec) / (100 * 1e-9)) * 100);
+
+  EXPECT_EQ(t.sec, uu_time.sec);
+  // The UUID stores the timestamp in 100ns intervals,
+  // so we lose precision for the 1's and 10's value of the nanoseconds in the time given
+  EXPECT_EQ(t.nsec - uu_time.nsec, 89);
+  EXPECT_EQ(hw_addr, uu_hw_addr);
+}
+
+TEST(BoostUUID, timeWithinSameInterval)
+{
+  ros::Time t1(1515778146, 239216020);
+  ros::Time t2(1515778146, 239216080);
+  uint64_t hw_addr = 0xAABBCCDDEEFF;
+
+  // Generate UUIDs from times and hardware address
+  uuid uu1 = fromTime(t1, hw_addr);
+  uuid uu2 = fromTime(t2, hw_addr);
+
+  // Obtain times since epoch back from uu1
+  std::vector<uint8_t> data(uu1.size());
+  std::copy(uu1.begin(), uu1.end(), data.begin());
+
+  uint64_t timestamp = (static_cast<uint64_t>(data[0]) << 24) + (static_cast<uint64_t>(data[1]) << 16) +
+                       (static_cast<uint64_t>(data[2]) << 8) + static_cast<uint64_t>(data[3]) +
+                       (static_cast<uint64_t>(data[4]) << 40) + (static_cast<uint64_t>(data[5]) << 32) +
+                       (static_cast<uint64_t>(data[6] & 0x0F) << 56) + (static_cast<uint64_t>(data[7]) << 48);
+  uint64_t offset = 122192928000000000;  // time offset in 100 ns intervals between RFC4122 Timestamp and Epoch Time
+  uint64_t ns_intervals = timestamp - offset;
+
+  ros::Time uu1_time;
+  uu1_time.sec = static_cast<int32_t>(ns_intervals / 1e9 * 100);
+  uu1_time.nsec = static_cast<int32_t>((ns_intervals - static_cast<uint64_t>(uu1_time.sec) / (100 * 1e-9)) * 100);
+
+  // Obtain times since epoch back from uu2
+  std::copy(uu2.begin(), uu2.end(), data.begin());
+
+  timestamp = (static_cast<uint64_t>(data[0]) << 24) + (static_cast<uint64_t>(data[1]) << 16) +
+              (static_cast<uint64_t>(data[2]) << 8) + static_cast<uint64_t>(data[3]) +
+              (static_cast<uint64_t>(data[4]) << 40) + (static_cast<uint64_t>(data[5]) << 32) +
+              (static_cast<uint64_t>(data[6] & 0x0F) << 56) + (static_cast<uint64_t>(data[7]) << 48);
+  ns_intervals = timestamp - offset;
+
+  ros::Time uu2_time;
+  uu2_time.sec = static_cast<int32_t>(ns_intervals / 1e9 * 100);
+  uu2_time.nsec = static_cast<int32_t>((ns_intervals - static_cast<uint64_t>(uu2_time.sec) / (100 * 1e-9)) * 100);
+
+  // Compare
+  // Since both timestamps were in the same 100ns interval, should get same timestamp
+  EXPECT_EQ(uu1_time.sec, uu2_time.sec);
+  EXPECT_EQ(uu1_time.nsec, uu2_time.nsec);
+
+  // While timestamps are the same, the clock_id is a randomly generated 14-bit value
+  // So, we should still expect the uuids generated to be different
+  EXPECT_NE(uu1, uu2);
+}
+
+TEST(BoostUUID, timeWithinDifferentInterval)
+{
+  ros::Time t1(1515778146, 239216020);
+  ros::Time t2(1515778146, 239216120);
+  uint64_t hw_addr = 0xAABBCCDDEEFF;
+
+  // Generate UUIDs from times and hardware address
+  uuid uu1 = fromTime(t1, hw_addr);
+  uuid uu2 = fromTime(t2, hw_addr);
+
+  // Obtain times since epoch back from uu1
+  std::vector<uint8_t> data(uu1.size());
+  std::copy(uu1.begin(), uu1.end(), data.begin());
+
+  uint64_t timestamp = (static_cast<uint64_t>(data[0]) << 24) + (static_cast<uint64_t>(data[1]) << 16) +
+                       (static_cast<uint64_t>(data[2]) << 8) + static_cast<uint64_t>(data[3]) +
+                       (static_cast<uint64_t>(data[4]) << 40) + (static_cast<uint64_t>(data[5]) << 32) +
+                       (static_cast<uint64_t>(data[6] & 0x0F) << 56) + (static_cast<uint64_t>(data[7]) << 48);
+  uint64_t offset = 122192928000000000;  // time offset in 100 ns intervals between RFC4122 Timestamp and Epoch Time
+  uint64_t ns_intervals = timestamp - offset;
+
+  ros::Time uu1_time;
+  uu1_time.sec = static_cast<int32_t>(ns_intervals / 1e9 * 100);
+  uu1_time.nsec = static_cast<int32_t>((ns_intervals - static_cast<uint64_t>(uu1_time.sec) / (100 * 1e-9)) * 100);
+
+  // Obtain times since epoch back from uu2
+  std::copy(uu2.begin(), uu2.end(), data.begin());
+
+  timestamp = (static_cast<uint64_t>(data[0]) << 24) + (static_cast<uint64_t>(data[1]) << 16) +
+              (static_cast<uint64_t>(data[2]) << 8) + static_cast<uint64_t>(data[3]) +
+              (static_cast<uint64_t>(data[4]) << 40) + (static_cast<uint64_t>(data[5]) << 32) +
+              (static_cast<uint64_t>(data[6] & 0x0F) << 56) + (static_cast<uint64_t>(data[7]) << 48);
+  ns_intervals = timestamp - offset;
+
+  ros::Time uu2_time;
+  uu2_time.sec = static_cast<int32_t>(ns_intervals / 1e9 * 100);
+  uu2_time.nsec = static_cast<int32_t>((ns_intervals - static_cast<uint64_t>(uu2_time.sec) / (100 * 1e-9)) * 100);
+
+  // Compare
+  // Since both timestamps were in different 100ns intervals, should get different timestamps (at the ns level)
+  EXPECT_EQ(uu1_time.sec, uu2_time.sec);
+  EXPECT_NE(uu1_time.nsec, uu2_time.nsec);
+}
+
+TEST(BoostUUID, emptyURL)
+{
+  std::string s;
+  uuid x = fromURL(s);
+  uuid y = fromURL(s);
+  EXPECT_EQ(x, y);
+  // MUST yield same result as Python fromURL() function:
+  EXPECT_EQ(toHexString(x), "1b4db7eb-4057-5ddf-91e0-36dec72071f5");
+}
+
+TEST(BoostUUID, sameURL)
+{
+  std::string s("http://openstreetmap.org/node/1");
+  uuid x = fromURL(s);
+  uuid y = fromURL(s);
+  EXPECT_EQ(x, y);
+  // MUST yield same result as Python fromURL() function:
+  EXPECT_EQ(toHexString(x), "ef362ac8-9659-5481-b954-88e9b741c8f9");
+}
+
+TEST(BoostUUID, differentOsmNamespace)
+{
+  uuid x = fromURL("http://openstreetmap.org/node/1");
+  uuid y = fromURL("http://openstreetmap.org/way/1");
+  EXPECT_NE(x, y);
+  // MUST yield same result as Python fromURL() function:
+  EXPECT_EQ(toHexString(y), "b3180681-b125-5e41-bd04-3c8b046175b4");
+}
+
+TEST(BoostUUID, actualOsmNode)
+{
+  uuid x = fromURL("http://openstreetmap.org/node/1");
+  uuid y = fromURL("http://openstreetmap.org/node/152370223");
+  EXPECT_NE(x, y);
+  // MUST yield same result as Python fromURL() function:
+  EXPECT_EQ(toHexString(y), "8e0b7d8a-c433-5c42-be2e-fbd97ddff9ac");
+}
+
+TEST(BoostUUID, fromHexString)
+{
+  std::string s("da7c242f-2efe-5175-9961-49cc621b80b9");
+  std::string r = toHexString(fromHexString(s));
+  EXPECT_EQ(s, r);
+}
+
+TEST(BoostUUID, fromStringNoDashes)
+{
+  std::string s("da7c242f-2efe-5175-9961-49cc621b80b9");
+  std::string s_hex("da7c242f2efe5175996149cc621b80b9");
+  std::string r = toHexString(fromHexString(s_hex));
+  EXPECT_EQ(s, r);
+}
+
+TEST(BoostUUID, fromBracesString)
+{
+  std::string s("da7c242f-2efe-5175-9961-49cc621b80b9");
+  std::string s_braces = "{" + s + "}";
+  std::string r = toHexString(fromHexString(s_braces));
+  EXPECT_EQ(s, r);
+}
+
+TEST(BoostUUID, fromUrnString)
+{
+  // This documents boost 1.46.1 behavior, but is an undefined
+  // fromHexString() input, not really a valid test case.
+  std::string s("da7c242f-2efe-5175-9961-49cc621b80b9");
+  std::string s_urn = "urn:uuid:" + s;
+  std::string r = toHexString(fromHexString(s_urn));
+  EXPECT_NE(s, r);
+}
+
+TEST(BoostUUID, fromTooLongString)
+{
+  // This documents boost 1.46.1 behavior, but is an undefined
+  // fromHexString() input, not really a valid test case.
+  std::string s("da7c242f-2efe-5175-9961-49cc621b80b9");
+  std::string s_too_long = s + "-0001";
+  std::string r = toHexString(fromHexString(s_too_long));
+  EXPECT_EQ(s, r);
+}
+
+TEST(BoostUUID, fromTooShortString)
+{
+  // This documents boost 1.46.1 behavior, but is an undefined
+  // fromHexString() input, not really a valid test case.
+  std::string s("da7c242f-2efe-5175-9961-49cc621b80");
+  try
+    {
+      uuid x = fromHexString(s);
+      FAIL();                           // expected exception not thrown
+      EXPECT_NE(toHexString(x), s);
+    }
+  catch (std::runtime_error &e)
+    {
+      EXPECT_EQ(e.what(), std::string("invalid uuid string"));
+    }
+  catch (...)
+    {
+      FAIL();                           // unexpected exception
+    }
+}
+
+TEST(BoostUUID, fromBogusString)
+{
+  // This documents boost 1.46.1 behavior, but is an undefined
+  // fromHexString() input, not really a valid test case.
+  std::string s("Invalid UUID string");
+  try
+    {
+      uuid x = fromHexString(s);
+      FAIL();                           // expected exception not thrown
+      EXPECT_NE(toHexString(x), s);
+    }
+  catch (std::runtime_error &e)
+    {
+      EXPECT_EQ(e.what(), std::string("invalid uuid string"));
+    }
+  catch (...)
+    {
+      FAIL();                           // unexpected exception
+    }
+}
+
+TEST(UniqueID, nilMessage)
+{
+  UniqueID x;
+  UniqueID y = toMsg(uuid());
+  EXPECT_EQ(x.uuid, y.uuid);
+}
+
+TEST(UniqueID, randomMessage)
+{
+  UniqueID x;
+  UniqueID y = toMsg(fromRandom());
+  EXPECT_NE(x.uuid, y.uuid);
+}
+
+TEST(UniqueID, equivalentMessages)
+{
+  std::string s("da7c242f-2efe-5175-9961-49cc621b80b9");
+  UniqueID x = toMsg(fromHexString(s));
+  UniqueID y = toMsg(fromHexString(s));
+  EXPECT_EQ(x.uuid, y.uuid);
+  EXPECT_EQ(s, toHexString(y));
+}
+
+TEST(UniqueID, toAndFromMessage)
+{
+  std::string s("da7c242f-2efe-5175-9961-49cc621b80b9");
+  uuid x = uuid(fromHexString(s));
+  uuid y = fromMsg(toMsg(x));
+  EXPECT_EQ(x, y);
+}
+
+TEST(UniqueID, messageToString)
+{
+  std::string s("da7c242f-2efe-5175-9961-49cc621b80b9");
+  UniqueID x = toMsg(fromHexString(s));
+  std::string y = toHexString(x);
+  EXPECT_EQ(s, y);
+}
+
+// Run all the tests that were declared with TEST()
+int main(int argc, char **argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}

navigations/unique_identifier/unique_id/tests/test_unique_id.py

@@ -0,0 +1,202 @@
+#!/usr/bin/env python
+
+# enable some python3 compatibility options:
+# (unicode_literals not compatible with python2 uuid module)
+from __future__ import absolute_import, print_function
+
+import sys
+import unittest
+
+import uuid                     # standard Python module
+
+import rospy
+from uuid_msgs.msg import UniqueID
+from unique_id import *
+
+class TestPythonUUID(unittest.TestCase):
+    """Unit tests for Python UUID generation.
+    """
+
+    # random UUID generation tests
+    def test_random_uuids(self):
+        N = 1000
+        uu = []
+        for i in xrange(N):
+            uu.append(fromRandom())
+            self.assertEqual(type(uu[i]), uuid.UUID)
+            for j in xrange(i-1, -1, -1):
+                self.assertNotEqual(uu[i], uu[j])
+
+    # UUID generation from URL tests
+    def test_empty_url(self):
+        x = fromURL('')
+        self.assertEqual(type(x), uuid.UUID)
+        y = fromURL('')
+        self.assertEqual(type(y), uuid.UUID)
+        self.assertEqual(x, y)
+        # MUST yield same result as C++ fromURL() function:
+        self.assertEqual(str(x), "1b4db7eb-4057-5ddf-91e0-36dec72071f5")
+
+    def test_same_url(self):
+        x = fromURL('http://openstreetmap.org/node/1')
+        self.assertEqual(type(x), uuid.UUID)
+        y = fromURL('http://openstreetmap.org/node/1')
+        self.assertEqual(type(y), uuid.UUID)
+        self.assertEqual(x, y)
+        # MUST yield same result as C++ fromURL() function:
+        self.assertEqual(str(x), 'ef362ac8-9659-5481-b954-88e9b741c8f9')
+
+    def test_same_id_different_osm_namespace(self):
+        x = fromURL('http://openstreetmap.org/node/1')
+        y = fromURL('http://openstreetmap.org/way/1')
+        self.assertNotEqual(x, y)
+        # MUST yield same result as C++ fromURL() function:
+        self.assertEqual(str(y), 'b3180681-b125-5e41-bd04-3c8b046175b4')
+
+    def test_actual_osm_node_id(self):
+        x = fromURL('http://openstreetmap.org/node/1')
+        y = fromURL('http://openstreetmap.org/node/152370223')
+        self.assertNotEqual(x, y)
+        # MUST yield same result as C++ fromURL() function:
+        self.assertEqual(str(y), '8e0b7d8a-c433-5c42-be2e-fbd97ddff9ac')
+
+    def test_route_segment(self):
+        start = 'da7c242f-2efe-5175-9961-49cc621b80b9'
+        end = '812f1c08-a34b-5a21-92b9-18b2b0cf4950'
+        x = fromURL('http://ros.org/wiki/road_network/' + start + '/' + end)
+        y = fromURL('http://ros.org/wiki/road_network/' + end + '/' + start)
+        self.assertNotEqual(x, y)
+        # MUST yield same result as C++ fromURL() function:
+        self.assertEqual(str(x), 'acaa906e-8411-5b45-a446-ccdc2fc39f29')
+
+    # UniqueID message generation tests
+    def test_msg_creation(self):
+        msg = toMsg(fromURL('http://openstreetmap.org/node/152370223'))
+        self.assertEqual(toHexString(msg),
+                         '8e0b7d8a-c433-5c42-be2e-fbd97ddff9ac')
+        
+    def test_msg_same_id_different_namespace(self):
+        x = toMsg(fromURL('http://openstreetmap.org/node/1'))
+        y = toMsg(fromURL('http://openstreetmap.org/way/1'))
+        self.assertNotEqual(x, y)
+        self.assertEqual(toHexString(y),
+                         'b3180681-b125-5e41-bd04-3c8b046175b4')
+
+    def test_msg_route_segment(self):
+        start = 'da7c242f-2efe-5175-9961-49cc621b80b9'
+        end = '812f1c08-a34b-5a21-92b9-18b2b0cf4950'
+        x = toMsg(fromURL('http://ros.org/wiki/road_network/'
+                          + start + '/' + end))
+        y = toMsg(fromURL('http://ros.org/wiki/road_network/'
+                          + end + '/' + start))
+        self.assertNotEqual(x, y)
+        self.assertEqual(toHexString(x),
+                         'acaa906e-8411-5b45-a446-ccdc2fc39f29')
+
+    def test_nil_msg(self):
+        x = UniqueID()
+        y = toMsg(uuid.UUID(hex='00000000-0000-0000-0000-000000000000'))
+        self.assertEqual(x, y)
+
+    def test_random_msg(self):
+        x = UniqueID()
+        y = toMsg(fromRandom())
+        self.assertNotEqual(x, y)
+
+    def test_equivalent_msgs(self):
+        s = 'da7c242f-2efe-5175-9961-49cc621b80b9'
+        x = toMsg(uuid.UUID(s))
+        y = toMsg(uuid.UUID(s))
+        self.assertEqual(x, y)
+        self.assertEqual(s, toHexString(y))
+
+    def test_to_and_from_msg(self):
+        x = uuid.UUID('da7c242f-2efe-5175-9961-49cc621b80b9')
+        y = (fromMsg(toMsg(x)))
+        self.assertEqual(x, y)
+        self.assertEqual(type(y), uuid.UUID)
+
+    def test_msg_to_string(self):
+        s = 'da7c242f-2efe-5175-9961-49cc621b80b9'
+        x = toMsg(uuid.UUID(s))
+        y = toHexString(x)
+        self.assertEqual(s, y)
+        self.assertEqual(type(y), str)
+
+    # UUID Time-Based Generation
+    def test_time(self):
+        hw_addr = 0xAABBCCDDEEFF
+        t = rospy.Time(1515778146, 239216089)
+        uu = fromTime(t, hw_addr)  # generate UUID
+        offset = 122192928000000000  # in 100ns intervals between RFC4122 timestamp and epoch time
+        ns_intervals_rfc = uu.fields[0] + (uu.fields[1] << 32) + ((uu.fields[2] & 0x0FFF) << 48)
+        ns_intervals_epoch = ns_intervals_rfc - offset
+        uu_time = rospy.Time()
+        uu_time.secs = long(ns_intervals_epoch / 1e9 * 100)
+        uu_time.nsecs = long(ns_intervals_epoch - uu_time.secs / (100 * 1e-9)) * 100
+
+        self.assertEqual(t.secs, uu_time.secs)
+        # Expect 89ns to be shaved off due to timestamp being stored in 100ns intervals
+        self.assertEqual(t.nsecs - uu_time.nsecs, 89)
+        # Should be able to retrieve the hardware id
+        self.assertEqual(hw_addr, uu.fields[5])
+
+    def test_time_same_interval(self):
+        hw_addr = 0xAABBCCDDEEFF
+        t1 = rospy.Time(1515778146, 239216020)
+        t2 = rospy.Time(1515778146, 239216080)
+        uu1 = fromTime(t1, hw_addr)  # generate UUID for t1
+        uu2 = fromTime(t2, hw_addr)  # generate UUID for t2
+        offset = 122192928000000000  # in 100ns intervals between RFC4122 timestamp and epoch time
+
+        # Get time associated with uuid uu1
+        ns_intervals_rfc = uu1.fields[0] + (uu1.fields[1] << 32) + ((uu1.fields[2] & 0x0FFF) << 48)
+        ns_intervals_epoch = ns_intervals_rfc - offset
+        uu1_time = rospy.Time()
+        uu1_time.secs = long(ns_intervals_epoch / 1e9 * 100)
+        uu1_time.nsecs = long(ns_intervals_epoch - uu1_time.secs / (100 * 1e-9)) * 100
+
+        # Get time associated with uuid uu2
+        ns_intervals_rfc = uu2.fields[0] + (uu2.fields[1] << 32) + ((uu2.fields[2] & 0x0FFF) << 48)
+        ns_intervals_epoch = ns_intervals_rfc - offset
+        uu2_time = rospy.Time()
+        uu2_time.secs = long(ns_intervals_epoch / 1e9 * 100)
+        uu2_time.nsecs = long(ns_intervals_epoch - uu2_time.secs / (100 * 1e-9)) * 100
+
+        self.assertEqual(uu1_time.secs, uu2_time.secs)
+        # Timestamps should be same as they were generated for timestamps in the same 100ns interval
+        self.assertEqual(uu1_time.nsecs, uu2_time.nsecs)
+        # UUIDs should be different due to different (hopefully) randomly generated 14-bit clock ids 
+        self.assertNotEqual(uu1, uu2)
+
+    def test_time_different_interval(self):
+        hw_addr = 0xAABBCCDDEEFF
+        t1 = rospy.Time(1515778146, 239216020)
+        t2 = rospy.Time(1515778146, 239216120)
+        uu1 = fromTime(t1, hw_addr)  # generate UUID for t1
+        uu2 = fromTime(t2, hw_addr)  # generate UUID for t2
+        offset = 122192928000000000  # in 100ns intervals between RFC4122 timestamp and epoch time
+
+        # Get time associated with uuid uu1
+        ns_intervals_rfc = uu1.fields[0] + (uu1.fields[1] << 32) + ((uu1.fields[2] & 0x0FFF) << 48)
+        ns_intervals_epoch = ns_intervals_rfc - offset
+        uu1_time = rospy.Time()
+        uu1_time.secs = long(ns_intervals_epoch / 1e9 * 100)
+        uu1_time.nsecs = long(ns_intervals_epoch - uu1_time.secs / (100 * 1e-9)) * 100
+
+        # Get time associated with uuid uu2
+        ns_intervals_rfc = uu2.fields[0] + (uu2.fields[1] << 32) + ((uu2.fields[2] & 0x0FFF) << 48)
+        ns_intervals_epoch = ns_intervals_rfc - offset
+        uu2_time = rospy.Time()
+        uu2_time.secs = long(ns_intervals_epoch / 1e9 * 100)
+        uu2_time.nsecs = long(ns_intervals_epoch - uu2_time.secs / (100 * 1e-9)) * 100
+
+        # Timestamps were generated for the same second
+        self.assertEqual(uu1_time.secs, uu2_time.secs)
+        # Timestamps should be different as they were generated for times in different 100ns intervals
+        self.assertNotEqual(uu1_time.nsecs, uu2_time.nsecs)
+
+
+if __name__ == '__main__':
+    import rosunit
+    rosunit.unitrun('unique_id', 'test_uuid_py', TestPythonUUID) 

navigations/unique_identifier/unique_id/unique_id.rst

@@ -0,0 +1,5 @@
+unique_id
+---------
+
+.. automodule:: unique_id
+   :members:

navigations/unique_identifier/unique_identifier/CHANGELOG.rst

@@ -0,0 +1,49 @@
+Change history
+==============
+
+1.0.6 (2017-04-04)
+------------------
+
+1.0.5 (2015-04-17)
+------------------
+
+1.0.4 (2014-04-30)
+------------------
+
+ * add architecture independent tag
+
+1.0.3 (2013-07-24)
+------------------
+
+1.0.2 (2013-07-18)
+-------------------
+
+ * Add missing metapackage dependency on catkin (`#5`_).
+
+1.0.1 (2013-03-25)
+-------------------
+
+ * Hydro release update.
+
+1.0.0 (2013-03-18)
+-------------------
+
+ * Hydro release.
+ * Convert to catkin (`#1`_).
+ * Make **unique_identifier** into a metapackage, depending on the
+   **uuid_msgs** and **unique_id** packages. It should only be used
+   for dependencies in dry stacks. Wet packages will depend directly
+   on **uuid_msgs** and **unique_id**.
+
+0.9.0 (2013-01-03)
+------------------
+
+ * Initial release to Groovy.
+
+0.8.0 (2012-07-19)
+------------------
+
+ * Initial release to Fuerte.
+
+.. _`#1`: https://github.com/ros-geographic-info/unique_identifier/issues/1
+.. _`#5`: https://github.com/ros-geographic-info/unique_identifier/issues/5

navigations/unique_identifier/unique_identifier/CMakeLists.txt

@@ -0,0 +1,4 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(unique_identifier)
+find_package(catkin REQUIRED)
+catkin_metapackage()

navigations/unique_identifier/unique_identifier/package.xml

@@ -0,0 +1,30 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+
+  <name>unique_identifier</name>
+  <version>1.0.6</version>
+  <description>
+    ROS messages and interfaces for universally unique identifiers.
+
+    Not needed for wet packages, use only to resolve dry stack
+    dependencies.
+  </description>
+  <maintainer email="jack.oquin@gmail.com">Jack O'Quin</maintainer>
+  <author>Jack O'Quin</author>
+  <license>BSD</license>
+  <url>http://ros.org/wiki/unique_identifier</url>
+  <url type="repository">https://github.com/ros-geographic-info/unique_identifier</url>
+  <url type="bugtracker">https://github.com/ros-geographic-info/unique_identifier/issues</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>unique_id</exec_depend>
+  <exec_depend>uuid_msgs</exec_depend>
+
+  <export>
+    <metapackage/>
+    <architecture_independent/>
+  </export>
+
+</package>

navigations/unique_identifier/uuid_msgs/CHANGELOG.rst

@@ -0,0 +1,43 @@
+Change history
+==============
+
+1.0.6 (2017-04-04)
+------------------
+
+1.0.5 (2015-04-17)
+------------------
+
+1.0.4 (2014-04-30)
+------------------
+
+ * add architecture independent tag
+
+1.0.3 (2013-07-24)
+------------------
+
+1.0.2 (2013-07-18)
+-------------------
+
+1.0.1 (2013-03-25)
+-------------------
+
+ * Hydro release update.
+
+1.0.0 (2013-03-18)
+-------------------
+
+ * Hydro release.
+ * Convert to catkin (`#1`_).
+
+0.9.0 (2013-01-03)
+------------------
+
+ * Initial release to Groovy.
+
+0.8.0 (2012-07-19)
+------------------
+
+ * Initial release to Fuerte.
+ * Provides uuid_msgs/UniqueID message.
+
+.. _`#1`: https://github.com/ros-geographic-info/unique_identifier/issues/1

navigations/unique_identifier/uuid_msgs/CMakeLists.txt

@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(uuid_msgs)
+
+find_package(catkin REQUIRED COMPONENTS message_generation std_msgs)
+# We want boost/format.hpp, which isn't in its own component.
+find_package(Boost REQUIRED)
+
+add_message_files(DIRECTORY msg FILES UniqueID.msg)
+generate_messages(DEPENDENCIES std_msgs)
+
+catkin_package(
+  CATKIN_DEPENDS message_runtime std_msgs
+  DEPENDS Boost)

navigations/unique_identifier/uuid_msgs/mainpage.dox

@@ -0,0 +1,9 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+This package contains ROS messages for universally unique identifiers (UUIDs).
+
+It does not provide any nodes, libraries or scripts.
+
+*/

navigations/unique_identifier/uuid_msgs/msg/UniqueID.msg

@@ -0,0 +1,6 @@
+# A universally unique identifier (UUID).
+#
+#  http://en.wikipedia.org/wiki/Universally_unique_identifier
+#  http://tools.ietf.org/html/rfc4122.html
+
+uint8[16] uuid

navigations/unique_identifier/uuid_msgs/package.xml

@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+
+  <name>uuid_msgs</name>
+  <version>1.0.6</version>
+  <description>
+    ROS messages for universally unique identifiers.
+  </description>
+  <maintainer email="jack.oquin@gmail.com">Jack O'Quin</maintainer>
+  <author>Jack O'Quin</author>
+  <license>BSD</license>
+  <url>http://ros.org/wiki/uuid_msgs</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>message_generation</build_depend>
+
+  <depend>std_msgs</depend>
+
+  <exec_depend>message_runtime</exec_depend>
+  
+  <export>
+    <architecture_independent/>
+  </export>
+
+</package>