update

src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Pose2DStamped.h

@@ -11,7 +11,7 @@
 #include <memory>
 
 #include <std_msgs/Header.h>
-#include <geometry_msgs/Pose2D.h>
+#include <robot_geometry_msgs/Pose2D.h>
 
 namespace robot_nav_2d_msgs
 {
@@ -35,7 +35,7 @@ struct Pose2DStamped_
    typedef  ::std_msgs::Header  _header_type;
   _header_type header;
 
-   typedef  ::geometry_msgs::Pose2D  _pose_type;
+   typedef  ::robot_geometry_msgs::Pose2D  _pose_type;
   _pose_type pose;
 
 

src/Libraries/robot_nav_2d_utils/CMakeLists.txt

@@ -28,7 +28,7 @@ target_include_directories(conversions
 target_link_libraries(conversions
     PUBLIC
         robot_nav_2d_msgs
-        geometry_msgs
+        robot_geometry_msgs
         nav_msgs
         nav_grid
         nav_core2
@@ -52,7 +52,7 @@ target_include_directories(path_ops
 target_link_libraries(path_ops
     PUBLIC
         robot_nav_2d_msgs
-        geometry_msgs
+        robot_geometry_msgs
         robot_cpp
 )
 
@@ -66,17 +66,17 @@ target_include_directories(polygons
 if(robot_xmlrpcpp_FOUND)
     target_include_directories(polygons PRIVATE ${robot_xmlrpcpp_INCLUDE_DIRS})
     target_link_libraries(polygons
-        PUBLIC robot_nav_2d_msgs geometry_msgs robot_cpp
+        PUBLIC robot_nav_2d_msgs robot_geometry_msgs robot_cpp
         PRIVATE ${robot_xmlrpcpp_LIBRARIES})
 elseif(XmlRpcCpp_FOUND)
     target_include_directories(polygons PRIVATE ${XmlRpcCpp_INCLUDE_DIRS})
     target_link_libraries(polygons 
-        PUBLIC robot_nav_2d_msgs geometry_msgs robot_cpp 
+        PUBLIC robot_nav_2d_msgs robot_geometry_msgs robot_cpp 
         PRIVATE ${XmlRpcCpp_LIBRARIES})
 else()
     target_include_directories(polygons PRIVATE ${robot_xmlrpcpp_INCLUDE_DIRS})
     target_link_libraries(polygons
-        PUBLIC robot_nav_2d_msgs geometry_msgs robot_cpp
+        PUBLIC robot_nav_2d_msgs robot_geometry_msgs robot_cpp
         PRIVATE ${robot_xmlrpcpp_LIBRARIES})
 endif()
 
@@ -110,7 +110,7 @@ target_include_directories(tf_help
 target_link_libraries(tf_help
     PUBLIC
         robot_nav_2d_msgs
-        geometry_msgs
+        robot_geometry_msgs
         nav_core2
         tf3
         robot_cpp
@@ -166,5 +166,5 @@ message(STATUS "Project: ${PROJECT_NAME}")
 message(STATUS "Version: ${PROJECT_VERSION}")
 message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
 message(STATUS "Libraries: conversions, path_ops, polygons, bounds, tf_help")
-message(STATUS "Dependencies: robot_nav_2d_msgs, geometry_msgs, nav_msgs, nav_grid, nav_core2, tf3, console_bridge, Boost")
+message(STATUS "Dependencies: robot_nav_2d_msgs, robot_geometry_msgs, nav_msgs, nav_grid, nav_core2, tf3, console_bridge, Boost")
 message(STATUS "=================================")

src/Libraries/robot_nav_2d_utils/doc/Conversions.md

@@ -5,35 +5,35 @@
 ## Twist Transformations
 | to `robot_nav_2d_msgs` | from `robot_nav_2d_msgs` |
 | -- | -- |
-| `Twist2D twist3Dto2D(geometry_msgs::Twist)` | `geometry_msgs::Twist twist2Dto3D(Twist2D cmd_vel_2d)`
+| `Twist2D twist3Dto2D(robot_geometry_msgs::Twist)` | `robot_geometry_msgs::Twist twist2Dto3D(Twist2D cmd_vel_2d)`
 
 ## Point Transformations
 | to `robot_nav_2d_msgs` | from `robot_nav_2d_msgs` |
 | -- | -- |
-| `Point2D pointToPoint2D(geometry_msgs::Point)` | `geometry_msgs::Point pointToPoint3D(Point2D)`
-| `Point2D pointToPoint2D(geometry_msgs::Point32)` | `geometry_msgs::Point32 pointToPoint32(Point2D)`
+| `Point2D pointToPoint2D(robot_geometry_msgs::Point)` | `robot_geometry_msgs::Point pointToPoint3D(Point2D)`
+| `Point2D pointToPoint2D(robot_geometry_msgs::Point32)` | `robot_geometry_msgs::Point32 pointToPoint32(Point2D)`
 
 ## Pose Transformations
 | to `robot_nav_2d_msgs` | from `robot_nav_2d_msgs` |
 | -- | -- |
-| `Pose2DStamped poseStampedToPose2D(geometry_msgs::PoseStamped)` | `geometry_msgs::PoseStamped pose2DToPoseStamped(Pose2DStamped)`
-||`geometry_msgs::PoseStamped pose2DToPoseStamped(geometry_msgs::Pose2D, std::string, robot::Time)`|
-||`geometry_msgs::Pose pose2DToPose(geometry_msgs::Pose2D)`|
+| `Pose2DStamped poseStampedToPose2D(robot_geometry_msgs::PoseStamped)` | `robot_geometry_msgs::PoseStamped pose2DToPoseStamped(Pose2DStamped)`
+||`robot_geometry_msgs::PoseStamped pose2DToPoseStamped(robot_geometry_msgs::Pose2D, std::string, robot::Time)`|
+||`robot_geometry_msgs::Pose pose2DToPose(robot_geometry_msgs::Pose2D)`|
 | `Pose2DStamped stampedPoseToPose2D(tf::Stamped<tf::Pose>)` | |
 
 ## Path Transformations
 | to `robot_nav_2d_msgs` | from `robot_nav_2d_msgs` |
 | -- | -- |
 | `Path2D pathToPath(nav_msgs::Path)` |`nav_msgs::Path pathToPath(Path2D)`
-| `Path2D posesToPath2D(std::vector<geometry_msgs::PoseStamped>)` | `nav_msgs::Path poses2DToPath(std::vector<geometry_msgs::Pose2D>, std::string, robot::Time)`
+| `Path2D posesToPath2D(std::vector<robot_geometry_msgs::PoseStamped>)` | `nav_msgs::Path poses2DToPath(std::vector<robot_geometry_msgs::Pose2D>, std::string, robot::Time)`
 
-Also, `nav_msgs::Path posesToPath(std::vector<geometry_msgs::PoseStamped>)`
+Also, `nav_msgs::Path posesToPath(std::vector<robot_geometry_msgs::PoseStamped>)`
 
 ## Polygon Transformations
 | to `robot_nav_2d_msgs` | from `robot_nav_2d_msgs` |
 | -- | -- |
-| `Polygon2D polygon3Dto2D(geometry_msgs::Polygon)` |`geometry_msgs::Polygon polygon2Dto3D(Polygon2D)`
-| `Polygon2DStamped polygon3Dto2D(geometry_msgs::PolygonStamped)` | `geometry_msgs::PolygonStamped polygon2Dto3D(Polygon2DStamped)`
+| `Polygon2D polygon3Dto2D(robot_geometry_msgs::Polygon)` |`robot_geometry_msgs::Polygon polygon2Dto3D(Polygon2D)`
+| `Polygon2DStamped polygon3Dto2D(robot_geometry_msgs::PolygonStamped)` | `robot_geometry_msgs::PolygonStamped polygon2Dto3D(Polygon2DStamped)`
 
 ## Info Transformations
 | to `robot_nav_2d_msgs` | from `robot_nav_2d_msgs` |
@@ -46,7 +46,7 @@ Also, `nav_msgs::Path posesToPath(std::vector<geometry_msgs::PoseStamped>)`
 
 | to two dimensional pose | to three dimensional pose |
 | -- | -- |
-| `Pose2D getOrigin2D(nav_grid::NavGridInfo)` | `geometry_msgs::Pose getOrigin3D(nav_grid::NavGridInfo)`|
+| `Pose2D getOrigin2D(nav_grid::NavGridInfo)` | `robot_geometry_msgs::Pose getOrigin3D(nav_grid::NavGridInfo)`|
 
 ## Bounds Transformations
 | to `robot_nav_2d_msgs` | from `robot_nav_2d_msgs` |

src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/conversions.h

@@ -35,10 +35,10 @@
 #ifndef ROBOT_NAV_2D_UTILS_CONVERSIONS_H
 #define ROBOT_NAV_2D_UTILS_CONVERSIONS_H
 
-#include <geometry_msgs/Point.h>
-#include <geometry_msgs/Pose.h>
-#include <geometry_msgs/Twist.h>
-#include <geometry_msgs/PolygonStamped.h>
+#include <robot_geometry_msgs/Point.h>
+#include <robot_geometry_msgs/Pose.h>
+#include <robot_geometry_msgs/Twist.h>
+#include <robot_geometry_msgs/PolygonStamped.h>
 #include <robot_nav_2d_msgs/Twist2D.h>
 #include <robot_nav_2d_msgs/Path2D.h>
 #include <robot_nav_2d_msgs/Point2D.h>
@@ -58,42 +58,42 @@
 namespace robot_nav_2d_utils
 {
   // Twist Transformations
-  ::geometry_msgs::Twist twist2Dto3D(const ::robot_nav_2d_msgs::Twist2D &cmd_vel_2d);
-  ::robot_nav_2d_msgs::Twist2D twist3Dto2D(const ::geometry_msgs::Twist &cmd_vel);
+  ::robot_geometry_msgs::Twist twist2Dto3D(const ::robot_nav_2d_msgs::Twist2D &cmd_vel_2d);
+  ::robot_nav_2d_msgs::Twist2D twist3Dto2D(const ::robot_geometry_msgs::Twist &cmd_vel);
 
   // Point Transformations
-  ::robot_nav_2d_msgs::Point2D pointToPoint2D(const ::geometry_msgs::Point &point);
-  ::robot_nav_2d_msgs::Point2D pointToPoint2D(const ::geometry_msgs::Point32 &point);
-  ::geometry_msgs::Point pointToPoint3D(const ::robot_nav_2d_msgs::Point2D &point);
-  ::geometry_msgs::Point32 pointToPoint32(const ::robot_nav_2d_msgs::Point2D &point);
+  ::robot_nav_2d_msgs::Point2D pointToPoint2D(const ::robot_geometry_msgs::Point &point);
+  ::robot_nav_2d_msgs::Point2D pointToPoint2D(const ::robot_geometry_msgs::Point32 &point);
+  ::robot_geometry_msgs::Point pointToPoint3D(const ::robot_nav_2d_msgs::Point2D &point);
+  ::robot_geometry_msgs::Point32 pointToPoint32(const ::robot_nav_2d_msgs::Point2D &point);
 
   // Pose Transformations
   // ::robot_nav_2d_msgs::Pose2DStamped stampedPoseToPose2D(const tf::Stamped<tf::Pose>& pose);
-  ::robot_nav_2d_msgs::Pose2DStamped poseStampedToPose2D(const ::geometry_msgs::PoseStamped &pose);
-  ::geometry_msgs::Pose pose2DToPose(const ::geometry_msgs::Pose2D &pose2d);
-  ::geometry_msgs::PoseStamped pose2DToPoseStamped(const ::robot_nav_2d_msgs::Pose2DStamped &pose2d);
-  ::geometry_msgs::PoseStamped pose2DToPoseStamped(const ::geometry_msgs::Pose2D &pose2d,
+  ::robot_nav_2d_msgs::Pose2DStamped poseStampedToPose2D(const ::robot_geometry_msgs::PoseStamped &pose);
+  ::robot_geometry_msgs::Pose pose2DToPose(const ::robot_geometry_msgs::Pose2D &pose2d);
+  ::robot_geometry_msgs::PoseStamped pose2DToPoseStamped(const ::robot_nav_2d_msgs::Pose2DStamped &pose2d);
+  ::robot_geometry_msgs::PoseStamped pose2DToPoseStamped(const ::robot_geometry_msgs::Pose2D &pose2d,
                                                    const ::std::string &frame, const robot::Time &stamp);
 
   // Path Transformations
   ::robot_nav_2d_msgs::Path2D pathToPath(const nav_msgs::Path &path);
-  nav_msgs::Path posesToPath(const ::std::vector<::geometry_msgs::PoseStamped> &poses);
-  ::robot_nav_2d_msgs::Path2D posesToPath2D(const ::std::vector<::geometry_msgs::PoseStamped> &poses);
-  nav_msgs::Path poses2DToPath(const ::std::vector<::geometry_msgs::Pose2D> &poses,
+  nav_msgs::Path posesToPath(const ::std::vector<::robot_geometry_msgs::PoseStamped> &poses);
+  ::robot_nav_2d_msgs::Path2D posesToPath2D(const ::std::vector<::robot_geometry_msgs::PoseStamped> &poses);
+  nav_msgs::Path poses2DToPath(const ::std::vector<::robot_geometry_msgs::Pose2D> &poses,
                                const ::std::string &frame, const robot::Time &stamp);
   nav_msgs::Path pathToPath(const ::robot_nav_2d_msgs::Path2D &path2d);
 
   // Polygon Transformations
-  ::geometry_msgs::Polygon polygon2Dto3D(const ::robot_nav_2d_msgs::Polygon2D &polygon_2d);
-  ::robot_nav_2d_msgs::Polygon2D polygon3Dto2D(const ::geometry_msgs::Polygon &polygon_3d);
-  ::geometry_msgs::PolygonStamped polygon2Dto3D(const ::robot_nav_2d_msgs::Polygon2DStamped &polygon_2d);
-  ::robot_nav_2d_msgs::Polygon2DStamped polygon3Dto2D(const ::geometry_msgs::PolygonStamped &polygon_3d);
+  ::robot_geometry_msgs::Polygon polygon2Dto3D(const ::robot_nav_2d_msgs::Polygon2D &polygon_2d);
+  ::robot_nav_2d_msgs::Polygon2D polygon3Dto2D(const ::robot_geometry_msgs::Polygon &polygon_3d);
+  ::robot_geometry_msgs::PolygonStamped polygon2Dto3D(const ::robot_nav_2d_msgs::Polygon2DStamped &polygon_2d);
+  ::robot_nav_2d_msgs::Polygon2DStamped polygon3Dto2D(const ::robot_geometry_msgs::PolygonStamped &polygon_3d);
 
   // Info Transformations
   ::robot_nav_2d_msgs::NavGridInfo toMsg(const nav_grid::NavGridInfo &info);
   nav_grid::NavGridInfo fromMsg(const ::robot_nav_2d_msgs::NavGridInfo &msg);
-  ::geometry_msgs::Pose getOrigin3D(const nav_grid::NavGridInfo &info);
-  ::geometry_msgs::Pose2D getOrigin2D(const nav_grid::NavGridInfo &info);
+  ::robot_geometry_msgs::Pose getOrigin3D(const nav_grid::NavGridInfo &info);
+  ::robot_geometry_msgs::Pose2D getOrigin2D(const nav_grid::NavGridInfo &info);
   nav_grid::NavGridInfo infoToInfo(const nav_msgs::MapMetaData &metadata, const ::std::string &frame);
   nav_msgs::MapMetaData infoToInfo(const nav_grid::NavGridInfo &info);
 

src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/path_ops.h

@@ -42,7 +42,7 @@ namespace robot_nav_2d_utils
   /**
    * @brief Calculate the linear distance between two poses
    */
-  double poseDistance(const geometry_msgs::Pose2D &pose0, const geometry_msgs::Pose2D &pose1);
+  double poseDistance(const robot_geometry_msgs::Pose2D &pose0, const robot_geometry_msgs::Pose2D &pose1);
 
   /**
    * @brief Calculate the length of the plan, starting from the given index
@@ -52,7 +52,7 @@ namespace robot_nav_2d_utils
   /**
    * @brief Calculate the length of the plan from the pose on the plan closest to the given pose
    */
-  double getPlanLength(const robot_nav_2d_msgs::Path2D &plan, const geometry_msgs::Pose2D &query_pose);
+  double getPlanLength(const robot_nav_2d_msgs::Path2D &plan, const robot_geometry_msgs::Pose2D &query_pose);
 
   /**
    * @brief Increase plan resolution to match that of the costmap by adding points linearly between points

src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/polygons.h

@@ -37,7 +37,7 @@
 
 #include <robot_nav_2d_msgs/Polygon2D.h>
 #include <robot_nav_2d_msgs/ComplexPolygon2D.h>
-#include <geometry_msgs/Pose2D.h>
+#include <robot_geometry_msgs/Pose2D.h>
 #include <robot_xmlrpcpp/XmlRpcValue.h>
 #include <vector>
 #include <string>
@@ -148,7 +148,7 @@ bool equals(const robot_nav_2d_msgs::Polygon2D& polygon0, const robot_nav_2d_msg
  * @return A new moved polygon
  */
 robot_nav_2d_msgs::Polygon2D movePolygonToPose(const robot_nav_2d_msgs::Polygon2D& polygon,
-                                         const geometry_msgs::Pose2D& pose);
+                                         const robot_geometry_msgs::Pose2D& pose);
 
 /**
  * @brief Check if a given point is inside of a polygon

src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/tf_help.h

@@ -36,7 +36,7 @@
 #define ROBOT_NAV_2D_UTILS_TF_HELP_H
 
 #include <nav_core2/common.h>
-#include <geometry_msgs/PoseStamped.h>
+#include <robot_geometry_msgs/PoseStamped.h>
 #include <robot_nav_2d_msgs/Pose2DStamped.h>
 #include <string>
 
@@ -54,7 +54,7 @@ namespace robot_nav_2d_utils
    * @return True if successful transform
    */
   bool transformPose(const TFListenerPtr tf, const ::std::string frame,
-                     const ::geometry_msgs::PoseStamped &in_pose, ::geometry_msgs::PoseStamped &out_pose,
+                     const ::robot_geometry_msgs::PoseStamped &in_pose, ::robot_geometry_msgs::PoseStamped &out_pose,
                      const bool extrapolation_fallback = true);
 
   /**
@@ -83,7 +83,7 @@ namespace robot_nav_2d_utils
    * @param frame_id Frame to transform the pose into
    * @return The resulting transformed pose
    */
-  geometry_msgs::Pose2D transformStampedPose(const TFListenerPtr tf, const ::robot_nav_2d_msgs::Pose2DStamped &pose,
+  robot_geometry_msgs::Pose2D transformStampedPose(const TFListenerPtr tf, const ::robot_nav_2d_msgs::Pose2DStamped &pose,
                                              const ::std::string &frame_id);
 
 } // namespace robot_nav_2d_utils

src/Libraries/robot_nav_2d_utils/src/conversions.cpp

@@ -38,16 +38,16 @@
 namespace robot_nav_2d_utils
 {
 
-  geometry_msgs::Twist twist2Dto3D(const robot_nav_2d_msgs::Twist2D &cmd_vel_2d)
+  robot_geometry_msgs::Twist twist2Dto3D(const robot_nav_2d_msgs::Twist2D &cmd_vel_2d)
   {
-    geometry_msgs::Twist cmd_vel;
+    robot_geometry_msgs::Twist cmd_vel;
     cmd_vel.linear.x = cmd_vel_2d.x;
     cmd_vel.linear.y = cmd_vel_2d.y;
     cmd_vel.angular.z = cmd_vel_2d.theta;
     return cmd_vel;
   }
 
-  robot_nav_2d_msgs::Twist2D twist3Dto2D(const geometry_msgs::Twist &cmd_vel)
+  robot_nav_2d_msgs::Twist2D twist3Dto2D(const robot_geometry_msgs::Twist &cmd_vel)
   {
     robot_nav_2d_msgs::Twist2D cmd_vel_2d;
     cmd_vel_2d.x = cmd_vel.linear.x;
@@ -56,7 +56,7 @@ namespace robot_nav_2d_utils
     return cmd_vel_2d;
   }
 
-  robot_nav_2d_msgs::Point2D pointToPoint2D(const geometry_msgs::Point &point)
+  robot_nav_2d_msgs::Point2D pointToPoint2D(const robot_geometry_msgs::Point &point)
   {
     robot_nav_2d_msgs::Point2D output;
     output.x = point.x;
@@ -64,7 +64,7 @@ namespace robot_nav_2d_utils
     return output;
   }
 
-  robot_nav_2d_msgs::Point2D pointToPoint2D(const geometry_msgs::Point32 &point)
+  robot_nav_2d_msgs::Point2D pointToPoint2D(const robot_geometry_msgs::Point32 &point)
   {
     robot_nav_2d_msgs::Point2D output;
     output.x = point.x;
@@ -72,17 +72,17 @@ namespace robot_nav_2d_utils
     return output;
   }
 
-  geometry_msgs::Point pointToPoint3D(const robot_nav_2d_msgs::Point2D &point)
+  robot_geometry_msgs::Point pointToPoint3D(const robot_nav_2d_msgs::Point2D &point)
   {
-    geometry_msgs::Point output;
+    robot_geometry_msgs::Point output;
     output.x = point.x;
     output.y = point.y;
     return output;
   }
 
-  geometry_msgs::Point32 pointToPoint32(const robot_nav_2d_msgs::Point2D &point)
+  robot_geometry_msgs::Point32 pointToPoint32(const robot_nav_2d_msgs::Point2D &point)
   {
-    geometry_msgs::Point32 output;
+    robot_geometry_msgs::Point32 output;
     output.x = point.x;
     output.y = point.y;
     return output;
@@ -99,7 +99,7 @@ namespace robot_nav_2d_utils
   //   return pose2d;
   // }
 
-  robot_nav_2d_msgs::Pose2DStamped poseStampedToPose2D(const geometry_msgs::PoseStamped &pose)
+  robot_nav_2d_msgs::Pose2DStamped poseStampedToPose2D(const robot_geometry_msgs::PoseStamped &pose)
   {
     robot_nav_2d_msgs::Pose2DStamped pose2d;
     pose2d.header = pose.header;
@@ -109,27 +109,27 @@ namespace robot_nav_2d_utils
     return pose2d;
   }
 
-  geometry_msgs::Pose pose2DToPose(const geometry_msgs::Pose2D &pose2d)
+  robot_geometry_msgs::Pose pose2DToPose(const robot_geometry_msgs::Pose2D &pose2d)
   {
-    geometry_msgs::Pose pose;
+    robot_geometry_msgs::Pose pose;
     pose.position.x = pose2d.x;
     pose.position.y = pose2d.y;
     // pose.orientation = tf::createQuaternionMsgFromYaw(pose2d.theta);
     return pose;
   }
 
-  geometry_msgs::PoseStamped pose2DToPoseStamped(const robot_nav_2d_msgs::Pose2DStamped &pose2d)
+  robot_geometry_msgs::PoseStamped pose2DToPoseStamped(const robot_nav_2d_msgs::Pose2DStamped &pose2d)
   {
-    geometry_msgs::PoseStamped pose;
+    robot_geometry_msgs::PoseStamped pose;
     pose.header = pose2d.header;
     pose.pose = pose2DToPose(pose2d.pose);
     return pose;
   }
 
-  // geometry_msgs::PoseStamped pose2DToPoseStamped(const geometry_msgs::Pose2D& pose2d,
+  // robot_geometry_msgs::PoseStamped pose2DToPoseStamped(const robot_geometry_msgs::Pose2D& pose2d,
   //                                                const std::string& frame, const robot::Time& stamp)
   // {
-  //   geometry_msgs::PoseStamped pose;
+  //   robot_geometry_msgs::PoseStamped pose;
   //   pose.header.frame_id = frame;
   //   pose.header.stamp = stamp;
   //   pose.pose.position.x = pose2d.x;
@@ -152,7 +152,7 @@ namespace robot_nav_2d_utils
     return path2d;
   }
 
-  nav_msgs::Path posesToPath(const std::vector<geometry_msgs::PoseStamped> &poses)
+  nav_msgs::Path posesToPath(const std::vector<robot_geometry_msgs::PoseStamped> &poses)
   {
     nav_msgs::Path path;
     if (poses.empty())
@@ -168,7 +168,7 @@ namespace robot_nav_2d_utils
     return path;
   }
 
-  robot_nav_2d_msgs::Path2D posesToPath2D(const std::vector<geometry_msgs::PoseStamped> &poses)
+  robot_nav_2d_msgs::Path2D posesToPath2D(const std::vector<robot_geometry_msgs::PoseStamped> &poses)
   {
     robot_nav_2d_msgs::Path2D path;
     if (poses.empty())
@@ -186,7 +186,7 @@ namespace robot_nav_2d_utils
     return path;
   }
 
-  // nav_msgs::Path poses2DToPath(const std::vector<geometry_msgs::Pose2D>& poses,
+  // nav_msgs::Path poses2DToPath(const std::vector<robot_geometry_msgs::Pose2D>& poses,
   //                              const std::string& frame, const robot::Time& stamp)
   // {
   //   nav_msgs::Path path;
@@ -213,9 +213,9 @@ namespace robot_nav_2d_utils
     return path;
   }
 
-  geometry_msgs::Polygon polygon2Dto3D(const robot_nav_2d_msgs::Polygon2D &polygon_2d)
+  robot_geometry_msgs::Polygon polygon2Dto3D(const robot_nav_2d_msgs::Polygon2D &polygon_2d)
   {
-    geometry_msgs::Polygon polygon;
+    robot_geometry_msgs::Polygon polygon;
     polygon.points.reserve(polygon_2d.points.size());
     for (const auto &pt : polygon_2d.points)
     {
@@ -224,7 +224,7 @@ namespace robot_nav_2d_utils
     return polygon;
   }
 
-  robot_nav_2d_msgs::Polygon2D polygon3Dto2D(const geometry_msgs::Polygon &polygon_3d)
+  robot_nav_2d_msgs::Polygon2D polygon3Dto2D(const robot_geometry_msgs::Polygon &polygon_3d)
   {
     robot_nav_2d_msgs::Polygon2D polygon;
     polygon.points.reserve(polygon_3d.points.size());
@@ -235,15 +235,15 @@ namespace robot_nav_2d_utils
     return polygon;
   }
 
-  geometry_msgs::PolygonStamped polygon2Dto3D(const robot_nav_2d_msgs::Polygon2DStamped &polygon_2d)
+  robot_geometry_msgs::PolygonStamped polygon2Dto3D(const robot_nav_2d_msgs::Polygon2DStamped &polygon_2d)
   {
-    geometry_msgs::PolygonStamped polygon;
+    robot_geometry_msgs::PolygonStamped polygon;
     polygon.header = polygon_2d.header;
     polygon.polygon = polygon2Dto3D(polygon_2d.polygon);
     return polygon;
   }
 
-  robot_nav_2d_msgs::Polygon2DStamped polygon3Dto2D(const geometry_msgs::PolygonStamped &polygon_3d)
+  robot_nav_2d_msgs::Polygon2DStamped polygon3Dto2D(const robot_geometry_msgs::PolygonStamped &polygon_3d)
   {
     robot_nav_2d_msgs::Polygon2DStamped polygon;
     polygon.header = polygon_3d.header;
@@ -291,18 +291,18 @@ namespace robot_nav_2d_utils
     return info;
   }
 
-  geometry_msgs::Pose getOrigin3D(const nav_grid::NavGridInfo &info)
+  robot_geometry_msgs::Pose getOrigin3D(const nav_grid::NavGridInfo &info)
   {
-    geometry_msgs::Pose origin;
+    robot_geometry_msgs::Pose origin;
     origin.position.x = info.origin_x;
     origin.position.y = info.origin_y;
     origin.orientation.w = 1.0;
     return origin;
   }
 
-  geometry_msgs::Pose2D getOrigin2D(const nav_grid::NavGridInfo &info)
+  robot_geometry_msgs::Pose2D getOrigin2D(const nav_grid::NavGridInfo &info)
   {
-    geometry_msgs::Pose2D origin;
+    robot_geometry_msgs::Pose2D origin;
     origin.x = info.origin_x;
     origin.y = info.origin_y;
     return origin;

src/Libraries/robot_nav_2d_utils/src/path_ops.cpp

@@ -40,7 +40,7 @@
 namespace robot_nav_2d_utils
 {
 
-  double poseDistance(const geometry_msgs::Pose2D &pose0, const geometry_msgs::Pose2D &pose1)
+  double poseDistance(const robot_geometry_msgs::Pose2D &pose0, const robot_geometry_msgs::Pose2D &pose1)
   {
     return hypot(pose0.x - pose1.x, pose0.y - pose1.y);
   }
@@ -55,7 +55,7 @@ namespace robot_nav_2d_utils
     return length;
   }
 
-  double getPlanLength(const robot_nav_2d_msgs::Path2D &plan, const geometry_msgs::Pose2D &query_pose)
+  double getPlanLength(const robot_nav_2d_msgs::Path2D &plan, const robot_geometry_msgs::Pose2D &query_pose)
   {
     if (plan.poses.size() == 0)
       return 0.0;
@@ -87,10 +87,10 @@ namespace robot_nav_2d_utils
     global_plan_out.poses.push_back(last_stp);
 
     double sq_resolution = resolution * resolution;
-    geometry_msgs::Pose2D last = last_stp.pose;
+    robot_geometry_msgs::Pose2D last = last_stp.pose;
     for (unsigned int i = 1; i < global_plan_in.poses.size(); ++i)
     {
-      geometry_msgs::Pose2D loop = global_plan_in.poses[i].pose;
+      robot_geometry_msgs::Pose2D loop = global_plan_in.poses[i].pose;
       double sq_dist = (loop.x - last.x) * (loop.x - last.x) + (loop.y - last.y) * (loop.y - last.y);
       if (sq_dist > sq_resolution)
       {

src/Libraries/robot_nav_2d_utils/src/polygons.cpp

@@ -365,7 +365,7 @@ bool equals(const robot_nav_2d_msgs::Polygon2D& polygon0, const robot_nav_2d_msg
 }
 
 robot_nav_2d_msgs::Polygon2D movePolygonToPose(const robot_nav_2d_msgs::Polygon2D& polygon,
-                                         const geometry_msgs::Pose2D& pose)
+                                         const robot_geometry_msgs::Pose2D& pose)
 {
   robot_nav_2d_msgs::Polygon2D new_polygon;
   new_polygon.points.resize(polygon.points.size());

src/Libraries/robot_nav_2d_utils/src/tf_help.cpp

@@ -42,7 +42,7 @@
 namespace robot_nav_2d_utils
 {
   bool transformPose(const TFListenerPtr tf, const ::std::string frame,
-                     const ::geometry_msgs::PoseStamped &in_pose, ::geometry_msgs::PoseStamped &out_pose,
+                     const ::robot_geometry_msgs::PoseStamped &in_pose, ::robot_geometry_msgs::PoseStamped &out_pose,
                      const bool extrapolation_fallback)
   {
     // if (in_pose.header.frame_id == frame)
@@ -60,7 +60,7 @@ namespace robot_nav_2d_utils
     // {
     //   if (!extrapolation_fallback)
     //     throw;
-    //   geometry_msgs::PoseStamped latest_in_pose;
+    //   robot_geometry_msgs::PoseStamped latest_in_pose;
     //   latest_in_pose.header.frame_id = in_pose.header.frame_id;
     //   latest_in_pose.pose = in_pose.pose;
     //   tf->transform(latest_in_pose, out_pose, frame);
@@ -78,8 +78,8 @@ namespace robot_nav_2d_utils
                      const ::robot_nav_2d_msgs::Pose2DStamped &in_pose, ::robot_nav_2d_msgs::Pose2DStamped &out_pose,
                      const bool extrapolation_fallback)
   {
-    geometry_msgs::PoseStamped in_3d_pose = pose2DToPoseStamped(in_pose);
-    geometry_msgs::PoseStamped out_3d_pose;
+    robot_geometry_msgs::PoseStamped in_3d_pose = pose2DToPoseStamped(in_pose);
+    robot_geometry_msgs::PoseStamped out_3d_pose;
 
     bool ret = transformPose(tf, frame, in_3d_pose, out_3d_pose, extrapolation_fallback);
     if (ret)
@@ -89,7 +89,7 @@ namespace robot_nav_2d_utils
     return ret;
   }
 
-  ::geometry_msgs::Pose2D transformStampedPose(const TFListenerPtr tf, const ::robot_nav_2d_msgs::Pose2DStamped &pose,
+  ::robot_geometry_msgs::Pose2D transformStampedPose(const TFListenerPtr tf, const ::robot_nav_2d_msgs::Pose2DStamped &pose,
                                              const ::std::string &frame_id)
   {
     robot_nav_2d_msgs::Pose2DStamped local_pose;

src/Libraries/robot_nav_2d_utils/test/polygon_tests.cpp

@@ -148,7 +148,7 @@ TEST(Polygon2D, broken_arrays)
 TEST(Polygon2D, test_move)
 {
   Polygon2D square = polygonFromString("[[0.5, 0.5], [0.5, -0.5], [-0.5, -0.5], [-0.5, 0.5]]");
-  geometry_msgs::Pose2D pose;
+  robot_geometry_msgs::Pose2D pose;
   Polygon2D square2 = robot_nav_2d_utils::movePolygonToPose(square, pose);
   EXPECT_TRUE(robot_nav_2d_utils::equals(square, square2));
   pose.x = 15;

src/Libraries/tf3/CHANGELOG.rst

@@ -489,7 +489,7 @@ Changelog for package tf2
 * more compatability
 * bringing in helper functions for buffer_core from tf.h/cpp
 * rethrowing to new exceptions
-* converting Storage to geometry_msgs::TransformStamped
+* converting Storage to robot_geometry_msgs::TransformStamped
 * removing deprecated useage
 * cleaning up includes
 * moving all implementations into cpp file

src/Libraries/tf3/include/tf3/buffer_core.h

@@ -163,7 +163,7 @@ public:
    * New in geometry 1.1
    */
   /*
-  geometry_msgs::Twist
+  robot_geometry_msgs::Twist
     lookupTwist(const std::string& tracking_frame, const std::string& observation_frame, const std::string& reference_frame,
 		const tf::Point & reference_point, const std::string& reference_point_frame, 
 		const robot::Time& time, const robot::Duration& averaging_interval) const;
@@ -181,7 +181,7 @@ public:
    * New in geometry 1.1
    */
   /*
-  geometry_msgs::Twist
+  robot_geometry_msgs::Twist
     lookupTwist(const std::string& tracking_frame, const std::string& observation_frame, 
 		const robot::Time& time, const robot::Duration& averaging_interval) const;
   */

src/Libraries/tf3/include/tf3/compat.h

@@ -1,4 +1,4 @@
-// Compatibility types to avoid using robot:: or geometry_msgs:: namespaces inside tf3
+// Compatibility types to avoid using robot:: or robot_geometry_msgs:: namespaces inside tf3
 #ifndef TF3_COMPAT_H
 #define TF3_COMPAT_H
 
@@ -7,7 +7,7 @@
 
 namespace tf3 {
 
-// Minimal header/message equivalents owned by tf3 (no robot:: or geometry_msgs::)
+// Minimal header/message equivalents owned by tf3 (no robot:: or robot_geometry_msgs::)
 struct HeaderMsg
 {
   uint32_t seq;

src/Libraries/tf3/include/tf3/impl/utils.h

@@ -53,7 +53,7 @@ template<typename T>
   }
 
 /** Generic version of toQuaternion. It tries to convert the argument
- * to a geometry_msgs::Quaternion
+ * to a robot_geometry_msgs::Quaternion
  * \param t some object
  * \return a copy of the same quaternion as a tf3::Quaternion
  */

src/Libraries/tf3/src/buffer_core.cpp

@@ -672,14 +672,14 @@ tf3::TransformStampedMsg BufferCore::lookupTransform(const std::string& target_f
 
 
 /*
-geometry_msgs::Twist BufferCore::lookupTwist(const std::string& tracking_frame, 
+robot_geometry_msgs::Twist BufferCore::lookupTwist(const std::string& tracking_frame, 
                                           const std::string& observation_frame, 
                                           const robot::Time& time, 
                                           const robot::Duration& averaging_interval) const
 {
   try
   {
-  geometry_msgs::Twist t;
+  robot_geometry_msgs::Twist t;
   old_tf_.lookupTwist(tracking_frame, observation_frame, 
                       time, averaging_interval, t);
   return t;
@@ -702,7 +702,7 @@ geometry_msgs::Twist BufferCore::lookupTwist(const std::string& tracking_frame,
   }
 }
 
-geometry_msgs::Twist BufferCore::lookupTwist(const std::string& tracking_frame, 
+robot_geometry_msgs::Twist BufferCore::lookupTwist(const std::string& tracking_frame, 
                                           const std::string& observation_frame, 
                                           const std::string& reference_frame,
                                           const tf3::Point & reference_point, 
@@ -711,7 +711,7 @@ geometry_msgs::Twist BufferCore::lookupTwist(const std::string& tracking_frame,
                                           const robot::Duration& averaging_interval) const
 {
   try{
-  geometry_msgs::Twist t;
+  robot_geometry_msgs::Twist t;
   old_tf_.lookupTwist(tracking_frame, observation_frame, reference_frame, reference_point, reference_point_frame,
                       time, averaging_interval, t);
   return t;

src/Libraries/tf3/test/cache_unittest.cpp

@@ -32,7 +32,7 @@
 #include "tf3/LinearMath/Quaternion.h"
 #include <stdexcept>
 
-#include <geometry_msgs/TransformStamped.h>
+#include <robot_geometry_msgs/TransformStamped.h>
 
 #include <cmath>
 

src/Libraries/tf3/test/simple_tf3_core.cpp

@@ -36,7 +36,7 @@
 TEST(tf3, setTransformFail)
 {
   tf3::BufferCore tfc;
-  geometry_msgs::TransformStamped st;
+  robot_geometry_msgs::TransformStamped st;
   EXPECT_FALSE(tfc.setTransform(st, "authority1"));
 
 }
@@ -44,7 +44,7 @@ TEST(tf3, setTransformFail)
 TEST(tf3, setTransformValid)
 {
   tf3::BufferCore tfc;
-  geometry_msgs::TransformStamped st;
+  robot_geometry_msgs::TransformStamped st;
   st.header.frame_id = "foo";
   st.header.stamp = robot::Time(1.0);
   st.child_frame_id = "child";
@@ -56,7 +56,7 @@ TEST(tf3, setTransformValid)
 TEST(tf3, setTransformInvalidQuaternion)
 {
   tf3::BufferCore tfc;
-  geometry_msgs::TransformStamped st;
+  robot_geometry_msgs::TransformStamped st;
   st.header.frame_id = "foo";
   st.header.stamp = robot::Time(1.0);
   st.child_frame_id = "child";
@@ -86,7 +86,7 @@ TEST(tf3_canTransform, Nothing_Exists)
 TEST(tf3_lookupTransform, LookupException_One_Exists)
 {
   tf3::BufferCore tfc;
-  geometry_msgs::TransformStamped st;
+  robot_geometry_msgs::TransformStamped st;
   st.header.frame_id = "foo";
   st.header.stamp = robot::Time(1.0);
   st.child_frame_id = "child";
@@ -99,7 +99,7 @@ TEST(tf3_lookupTransform, LookupException_One_Exists)
 TEST(tf3_canTransform, One_Exists)
 {
   tf3::BufferCore tfc;
-  geometry_msgs::TransformStamped st;
+  robot_geometry_msgs::TransformStamped st;
   st.header.frame_id = "foo";
   st.header.stamp = robot::Time(1.0);
   st.child_frame_id = "child";
@@ -113,7 +113,7 @@ TEST(tf3_chainAsVector, chain_v_configuration)
   tf3::BufferCore mBC;
   tf3::TestBufferCore tBC;
 
-  geometry_msgs::TransformStamped st;
+  robot_geometry_msgs::TransformStamped st;
   st.header.stamp = robot::Time(0);
   st.transform.rotation.w = 1;
 
@@ -196,7 +196,7 @@ TEST(tf3_walkToTopParent, walk_i_configuration)
   tf3::BufferCore mBC;
   tf3::TestBufferCore tBC;
 
-  geometry_msgs::TransformStamped st;
+  robot_geometry_msgs::TransformStamped st;
   st.header.stamp = robot::Time(0);
   st.transform.rotation.w = 1;
 
@@ -243,7 +243,7 @@ TEST(tf3_walkToTopParent, walk_v_configuration)
   tf3::BufferCore mBC;
   tf3::TestBufferCore tBC;
 
-  geometry_msgs::TransformStamped st;
+  robot_geometry_msgs::TransformStamped st;
   st.header.stamp = robot::Time(0);
   st.transform.rotation.w = 1;
 

src/Libraries/tf3/test/speed_test.cpp

@@ -50,7 +50,7 @@ int main(int argc, char** argv)
   console_bridge::setLogLevel(console_bridge::CONSOLE_BRIDGE_LOG_INFO);
 
   tf3::BufferCore bc;
-  geometry_msgs::TransformStamped t;
+  robot_geometry_msgs::TransformStamped t;
   t.header.stamp = robot::Time(1);
   t.header.frame_id = "root";
   t.child_frame_id = "0";
@@ -106,7 +106,7 @@ int main(int argc, char** argv)
   std::string v_frame0 = boost::lexical_cast<std::string>(num_levels - 1);
   std::string v_frame1 = boost::lexical_cast<std::string>(num_levels/2 - 1);
   CONSOLE_BRIDGE_logInform("%s to %s", v_frame0.c_str(), v_frame1.c_str());
-  geometry_msgs::TransformStamped out_t;
+  robot_geometry_msgs::TransformStamped out_t;
 
   const uint32_t count = 1000000;
   CONSOLE_BRIDGE_logInform("Doing %d %d-level %lf-interval tests", count, num_levels, time_interval);

src/Libraries/tf3/test/static_cache_test.cpp

@@ -31,7 +31,7 @@
 #include <tf3/time_cache.h>
 #include <stdexcept>
 
-#include <geometry_msgs/TransformStamped.h>
+#include <robot_geometry_msgs/TransformStamped.h>
 
 #include <cmath>