diff --git a/config/mprim/ekf.yaml b/config/mprim/ekf.yaml index 7344ee3..4bf871d 100755 --- a/config/mprim/ekf.yaml +++ b/config/mprim/ekf.yaml @@ -65,9 +65,9 @@ odom_frame: $(arg tf_prefix)odom # Defaults to "odom" if unspeci base_link_frame: $(arg tf_prefix)base_footprint # Defaults to "base_link" if unspecified world_frame: $(arg tf_prefix)odom # Defaults to the value of odom_frame if unspecified -# The filter accepts an arbitrary number of inputs from each input message type (nav_msgs/Odometry, +# The filter accepts an arbitrary number of inputs from each input message type (robot_nav_msgs/Odometry, # geometry_msgs/PoseWithCovarianceStamped, geometry_msgs/TwistWithCovarianceStamped, -# sensor_msgs/Imu). To add an input, simply append the next number in the sequence to its "base" name, e.g., odom0, +# robot_sensor_msgs/Imu). To add an input, simply append the next number in the sequence to its "base" name, e.g., odom0, # odom1, twist0, twist1, imu0, imu1, imu2, etc. The value should be the topic name. These parameters obviously have no # default values, and must be specified. odom0: odom diff --git a/doc/architecture_discussion.md b/doc/architecture_discussion.md index a5ceb30..ffe3067 100644 --- a/doc/architecture_discussion.md +++ b/doc/architecture_discussion.md @@ -93,8 +93,8 @@ flowchart TB Loc["🌍 Localization
━━━━━━━━━━━━━━━━
πŸ“ Pnkx Loc
πŸ—ΊοΈ Global Pose
πŸ”„ Pose Updates"] TF["πŸ”„ Transform System
━━━━━━━━━━━━━━━━
πŸ“ tf3::BufferCore
🌐 Coordinate Frames
⏱️ Time Synchronization"] Odom["πŸš— Odometry
━━━━━━━━━━━━━━━━
πŸ“ robot_geometry_msgs::Odometry
⚑ Robot Velocity
πŸ“Š Position Tracking"] - Laser["πŸ“‘ Laser Sensors
━━━━━━━━━━━━━━━━
πŸ” sensor_msgs::LaserScan
🚫 Obstacle Detection
πŸ“ Distance Measurement"] - Map["πŸ—ΊοΈ Map Server
━━━━━━━━━━━━━━━━
πŸ“‹ nav_msgs::OccupancyGrid
πŸ—οΈ Static Map
πŸ“ Map Metadata"] + Laser["πŸ“‘ Laser Sensors
━━━━━━━━━━━━━━━━
πŸ” robot_sensor_msgs::LaserScan
🚫 Obstacle Detection
πŸ“ Distance Measurement"] + Map["πŸ—ΊοΈ Map Server
━━━━━━━━━━━━━━━━
πŸ“‹ robot_nav_msgs::OccupancyGrid
πŸ—οΈ Static Map
πŸ“ Map Metadata"] style DataSources fill:#FFF9C4,stroke:#F57F17,stroke-width:4px,color:#000 style Goal fill:#FFF59D,stroke:#F57F17,stroke-width:3px,font-size:12px style Loc fill:#FFF59D,stroke:#F57F17,stroke-width:3px,font-size:12px diff --git a/doc/folders.md b/doc/folders.md index c46d5ea..66df46b 100644 --- a/doc/folders.md +++ b/doc/folders.md @@ -6,16 +6,16 @@ MΓ΄ tαΊ£ cαΊ₯u trΓΊc: β”‚ β”‚ β”œβ”€β”€ include/ β”‚ β”‚ └── test/ β”‚ β”œβ”€β”€ CMakeLists.txt -β”‚ β”œβ”€β”€ nav_msgs/ +β”‚ β”œβ”€β”€ robot_nav_msgs/ β”‚ β”‚ β”œβ”€β”€ include/ β”‚ β”‚ └── test/ β”‚ β”œβ”€β”€ CMakeLists.txt -β”‚ β”œβ”€β”€ sensor_msgs/ +β”‚ β”œβ”€β”€ robot_sensor_msgs/ β”‚ β”‚ β”œβ”€β”€ cfg/ β”‚ β”‚ β”œβ”€β”€ include/ β”‚ β”‚ └── test/ β”‚ β”œβ”€β”€ CMakeLists.txt -β”‚ β”œβ”€β”€ std_msgs/ +β”‚ β”œβ”€β”€ robot_std_msgs/ β”‚ β”‚ β”œβ”€β”€ include/ β”‚ β”‚ └── CMakeLists.txt β”‚ └── CMakeLists.txt (root) diff --git a/doc/implementation_plan.md b/doc/implementation_plan.md index bcde82e..4fa5fd0 100644 --- a/doc/implementation_plan.md +++ b/doc/implementation_plan.md @@ -76,7 +76,7 @@ class ILocalizationSource { **File:** `src/Navigations/Cores/move_base_core/include/move_base_core/map_provider.h` ```cpp class IMapProvider { - virtual nav_msgs::OccupancyGrid getMap() = 0; + virtual robot_nav_msgs::OccupancyGrid getMap() = 0; virtual bool isMapAvailable() = 0; }; ``` @@ -85,7 +85,7 @@ class IMapProvider { **File:** `src/Navigations/Cores/move_base_core/include/move_base_core/sensor_source.h` ```cpp class ISensorSource { - virtual sensor_msgs::LaserScan getLatestScan() = 0; + virtual robot_sensor_msgs::LaserScan getLatestScan() = 0; virtual bool hasNewData() = 0; }; ``` diff --git a/src/Algorithms/Libraries/mkt_algorithm/CMakeLists.txt b/src/Algorithms/Libraries/mkt_algorithm/CMakeLists.txt index 92ebfa0..04d7b04 100644 --- a/src/Algorithms/Libraries/mkt_algorithm/CMakeLists.txt +++ b/src/Algorithms/Libraries/mkt_algorithm/CMakeLists.txt @@ -30,8 +30,8 @@ set(PACKAGES_DIR angles nav_grid costmap_2d - sensor_msgs - std_msgs + robot_sensor_msgs + robot_std_msgs ) # TΓ¬m tαΊ₯t cαΊ£ file source cho diff library diff --git a/src/Algorithms/Libraries/mkt_algorithm/include/mkt_algorithm/diff/diff_predictive_trajectory.h b/src/Algorithms/Libraries/mkt_algorithm/include/mkt_algorithm/diff/diff_predictive_trajectory.h index c5ca300..cd916b6 100644 --- a/src/Algorithms/Libraries/mkt_algorithm/include/mkt_algorithm/diff/diff_predictive_trajectory.h +++ b/src/Algorithms/Libraries/mkt_algorithm/include/mkt_algorithm/diff/diff_predictive_trajectory.h @@ -14,7 +14,7 @@ #include #include #include -#include +#include #include #include diff --git a/src/Algorithms/Libraries/mkt_plugins/CMakeLists.txt b/src/Algorithms/Libraries/mkt_plugins/CMakeLists.txt index f54b834..acfe029 100644 --- a/src/Algorithms/Libraries/mkt_plugins/CMakeLists.txt +++ b/src/Algorithms/Libraries/mkt_plugins/CMakeLists.txt @@ -33,9 +33,9 @@ set(PACKAGES_DIR robot_nav_2d_utils nav_core2 geometry_msgs - nav_msgs - std_msgs - sensor_msgs + robot_nav_msgs + robot_std_msgs + robot_sensor_msgs angles ) diff --git a/src/Algorithms/Packages/global_planners/custom_planner b/src/Algorithms/Packages/global_planners/custom_planner index 6d55c6c..d651201 160000 --- a/src/Algorithms/Packages/global_planners/custom_planner +++ b/src/Algorithms/Packages/global_planners/custom_planner @@ -1 +1 @@ -Subproject commit 6d55c6c4beb86ae77c20cba3f26c6231a16912fa +Subproject commit d6512018efc5ef63d64a6aeb97ecaf89d83cbd80 diff --git a/src/Algorithms/Packages/global_planners/two_points_planner/CMakeLists.txt b/src/Algorithms/Packages/global_planners/two_points_planner/CMakeLists.txt index fc4011f..6aa8282 100755 --- a/src/Algorithms/Packages/global_planners/two_points_planner/CMakeLists.txt +++ b/src/Algorithms/Packages/global_planners/two_points_planner/CMakeLists.txt @@ -30,8 +30,8 @@ set(PACKAGES_DIR costmap_2d nav_core geometry_msgs - nav_msgs - std_msgs + robot_nav_msgs + robot_std_msgs tf3 tf3_geometry_msgs ) diff --git a/src/Algorithms/Packages/global_planners/two_points_planner/src/two_points_planner.cpp b/src/Algorithms/Packages/global_planners/two_points_planner/src/two_points_planner.cpp index a1a9ae3..38bcd94 100755 --- a/src/Algorithms/Packages/global_planners/two_points_planner/src/two_points_planner.cpp +++ b/src/Algorithms/Packages/global_planners/two_points_planner/src/two_points_planner.cpp @@ -2,7 +2,7 @@ #include #include #include -#include +#include #include #include #include diff --git a/src/Algorithms/Packages/local_planners/pnkx_local_planner/CMakeLists.txt b/src/Algorithms/Packages/local_planners/pnkx_local_planner/CMakeLists.txt index 91cbe0b..7f8d0f5 100644 --- a/src/Algorithms/Packages/local_planners/pnkx_local_planner/CMakeLists.txt +++ b/src/Algorithms/Packages/local_planners/pnkx_local_planner/CMakeLists.txt @@ -29,10 +29,10 @@ include_directories( # Dependencies packages (internal libraries) set(PACKAGES_DIR geometry_msgs - nav_msgs - std_msgs - sensor_msgs - visualization_msgs + robot_nav_msgs + robot_std_msgs + robot_sensor_msgs + robot_visualization_msgs robot_nav_2d_utils nav_core2 mkt_msgs diff --git a/src/Algorithms/Packages/local_planners/pnkx_local_planner/include/pnkx_local_planner/pnkx_docking_local_planner.h b/src/Algorithms/Packages/local_planners/pnkx_local_planner/include/pnkx_local_planner/pnkx_docking_local_planner.h index 8210570..036650c 100644 --- a/src/Algorithms/Packages/local_planners/pnkx_local_planner/include/pnkx_local_planner/pnkx_docking_local_planner.h +++ b/src/Algorithms/Packages/local_planners/pnkx_local_planner/include/pnkx_local_planner/pnkx_docking_local_planner.h @@ -118,7 +118,7 @@ namespace pnkx_local_planner bool geLocalGoal(robot_nav_2d_msgs::Pose2DStamped &local_goal); bool getLocalPath(const robot_nav_2d_msgs::Pose2DStamped &local_pose, - const robot_nav_2d_msgs::Pose2DStamped &local_goal, nav_msgs::Path &local_path); + const robot_nav_2d_msgs::Pose2DStamped &local_goal, robot_nav_msgs::Path &local_path); bool initialized_; bool is_detected_; diff --git a/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_docking_local_planner.cpp b/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_docking_local_planner.cpp index 7fe882f..8fc3d63 100644 --- a/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_docking_local_planner.cpp +++ b/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_docking_local_planner.cpp @@ -6,10 +6,10 @@ #include #include #include -#include -#include -#include -#include +#include +#include +#include +#include #include #include @@ -490,7 +490,7 @@ bool pnkx_local_planner::PNKXDockingLocalPlanner::dockingHanlde(const robot_nav_ { dkpl_.front()->is_detected_ = true; start_docking_ = true; - nav_msgs::Path path; + robot_nav_msgs::Path path; robot_nav_2d_msgs::Pose2DStamped local_pose = this->transformPoseToLocal(pose); dkpl_.front()->getLocalPath(local_pose, local_goal, path); this->setPlan(robot_nav_2d_utils::pathToPath(path)); @@ -731,7 +731,7 @@ bool pnkx_local_planner::PNKXDockingLocalPlanner::DockingPlanner::geLocalGoal(ro } bool pnkx_local_planner::PNKXDockingLocalPlanner::DockingPlanner::getLocalPath( - const robot_nav_2d_msgs::Pose2DStamped &local_pose, const robot_nav_2d_msgs::Pose2DStamped &local_goal, nav_msgs::Path &local_path) + const robot_nav_2d_msgs::Pose2DStamped &local_pose, const robot_nav_2d_msgs::Pose2DStamped &local_goal, robot_nav_msgs::Path &local_path) { robot_geometry_msgs::PoseStamped start = robot_nav_2d_utils::pose2DToPoseStamped(local_pose); robot_geometry_msgs::PoseStamped goal = robot_nav_2d_utils::pose2DToPoseStamped(local_goal); diff --git a/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_go_straight_local_planner.cpp b/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_go_straight_local_planner.cpp index 0f188bb..835bd83 100644 --- a/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_go_straight_local_planner.cpp +++ b/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_go_straight_local_planner.cpp @@ -9,7 +9,7 @@ // #include // #include #include -#include +#include #include "pnkx_local_planner/pnkx_go_straight_local_planner.h" #include #include diff --git a/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_rotate_local_planner.cpp b/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_rotate_local_planner.cpp index 942d1c2..cd4e86f 100644 --- a/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_rotate_local_planner.cpp +++ b/src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_rotate_local_planner.cpp @@ -9,7 +9,7 @@ #include #include -#include +#include #include #include diff --git a/src/Libraries/common_msgs b/src/Libraries/common_msgs index 56ef1a8..41d47c9 160000 --- a/src/Libraries/common_msgs +++ b/src/Libraries/common_msgs @@ -1 +1 @@ -Subproject commit 56ef1a8fc0ed7fcf6a612c1060bbc04e09f04669 +Subproject commit 41d47c9c9e7116d837c16930151eb58165039a5b diff --git a/src/Libraries/costmap_2d b/src/Libraries/costmap_2d index 2c3d7d5..4246453 160000 --- a/src/Libraries/costmap_2d +++ b/src/Libraries/costmap_2d @@ -1 +1 @@ -Subproject commit 2c3d7d586d1a664573b99f45d8521950d46db30a +Subproject commit 4246453ae6598b75be664acef3e9fc276129a131 diff --git a/src/Libraries/geometry2 b/src/Libraries/geometry2 index 2987c1a..e4db1da 160000 --- a/src/Libraries/geometry2 +++ b/src/Libraries/geometry2 @@ -1 +1 @@ -Subproject commit 2987c1a481390e4d0bf08cf97aee3bc758d23ad1 +Subproject commit e4db1da907b8d77ac8b838d4a03e4e57a8c0eb6f diff --git a/src/Libraries/laser_geometry b/src/Libraries/laser_geometry index a183d4b..1fefb2a 160000 --- a/src/Libraries/laser_geometry +++ b/src/Libraries/laser_geometry @@ -1 +1 @@ -Subproject commit a183d4bb7bdd1e6eb44be08911cc1a4e4590c4e4 +Subproject commit 1fefb2a389d397a467986f604c7747665f6cd289 diff --git a/src/Libraries/robot_nav_2d_msgs/CMakeLists.txt b/src/Libraries/robot_nav_2d_msgs/CMakeLists.txt index 165063b..ccc6454 100755 --- a/src/Libraries/robot_nav_2d_msgs/CMakeLists.txt +++ b/src/Libraries/robot_nav_2d_msgs/CMakeLists.txt @@ -24,7 +24,7 @@ target_include_directories(robot_nav_2d_msgs # CΓ‘c dependencies nΓ y cΕ©ng lΓ  header-only tα»« common_msgs target_link_libraries(robot_nav_2d_msgs INTERFACE - std_msgs + robot_std_msgs geometry_msgs ) @@ -41,7 +41,7 @@ install(TARGETS robot_nav_2d_msgs RUNTIME DESTINATION bin) # Export targets -# BΓ’y giờ cΓ³ thể export dependencies vΓ¬ std_msgs vΓ  geometry_msgs Δ‘Γ£ được export +# BΓ’y giờ cΓ³ thể export dependencies vΓ¬ robot_std_msgs vΓ  geometry_msgs Δ‘Γ£ được export install(EXPORT robot_nav_2d_msgs-targets FILE robot_nav_2d_msgs-targets.cmake NAMESPACE robot_nav_2d_msgs:: @@ -56,6 +56,6 @@ message(STATUS "Headers found:") foreach(hdr ${HEADERS}) message(STATUS " - ${hdr}") endforeach() -message(STATUS "Dependencies: std_msgs, geometry_msgs") +message(STATUS "Dependencies: robot_std_msgs, geometry_msgs") message(STATUS "=================================") diff --git a/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Path2D.h b/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Path2D.h index 08684a4..e964e23 100644 --- a/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Path2D.h +++ b/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Path2D.h @@ -10,7 +10,7 @@ #include #include -#include +#include #include namespace robot_nav_2d_msgs @@ -30,7 +30,7 @@ struct Path2D_ (void)_alloc; } - typedef ::std_msgs::Header _header_type; + typedef ::robot_std_msgs::Header _header_type; _header_type header; typedef std::vector< ::robot_nav_2d_msgs::Pose2DStamped_ , typename std::allocator_traits::template rebind_alloc< ::robot_nav_2d_msgs::Pose2DStamped_ >> _poses_type; diff --git a/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Polygon2DCollection.h b/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Polygon2DCollection.h index 3c631eb..0b1239a 100644 --- a/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Polygon2DCollection.h +++ b/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Polygon2DCollection.h @@ -10,9 +10,9 @@ #include #include -#include +#include #include -#include +#include namespace robot_nav_2d_msgs { @@ -35,13 +35,13 @@ struct Polygon2DCollection_ - typedef ::std_msgs::Header _header_type; + typedef ::robot_std_msgs::Header _header_type; _header_type header; typedef std::vector< ::robot_nav_2d_msgs::ComplexPolygon2D_ , typename std::allocator_traits::template rebind_alloc< ::robot_nav_2d_msgs::ComplexPolygon2D_ >> _polygons_type; _polygons_type polygons; - typedef std::vector< ::std_msgs::ColorRGBA , typename std::allocator_traits::template rebind_alloc< ::std_msgs::ColorRGBA >> _colors_type; + typedef std::vector< ::robot_std_msgs::ColorRGBA , typename std::allocator_traits::template rebind_alloc< ::robot_std_msgs::ColorRGBA >> _colors_type; _colors_type colors; diff --git a/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Polygon2DStamped.h b/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Polygon2DStamped.h index 998759a..aaa9e71 100644 --- a/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Polygon2DStamped.h +++ b/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Polygon2DStamped.h @@ -10,7 +10,7 @@ #include #include -#include +#include #include namespace robot_nav_2d_msgs @@ -32,7 +32,7 @@ struct Polygon2DStamped_ - typedef ::std_msgs::Header _header_type; + typedef ::robot_std_msgs::Header _header_type; _header_type header; typedef ::robot_nav_2d_msgs::Polygon2D_ _polygon_type; diff --git a/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Pose2DStamped.h b/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Pose2DStamped.h index 9fd69cd..5d53334 100644 --- a/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Pose2DStamped.h +++ b/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Pose2DStamped.h @@ -10,7 +10,7 @@ #include #include -#include +#include #include namespace robot_nav_2d_msgs @@ -32,7 +32,7 @@ struct Pose2DStamped_ - typedef ::std_msgs::Header _header_type; + typedef ::robot_std_msgs::Header _header_type; _header_type header; typedef ::robot_geometry_msgs::Pose2D _pose_type; diff --git a/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Twist2DStamped.h b/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Twist2DStamped.h index 6e4d48e..1372dfc 100644 --- a/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Twist2DStamped.h +++ b/src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Twist2DStamped.h @@ -10,7 +10,7 @@ #include #include -#include +#include #include namespace robot_nav_2d_msgs @@ -32,7 +32,7 @@ struct Twist2DStamped_ - typedef ::std_msgs::Header _header_type; + typedef ::robot_std_msgs::Header _header_type; _header_type header; typedef ::robot_nav_2d_msgs::Twist2D_ _velocity_type; diff --git a/src/Libraries/robot_nav_2d_utils/CMakeLists.txt b/src/Libraries/robot_nav_2d_utils/CMakeLists.txt index a2bff7a..61def94 100755 --- a/src/Libraries/robot_nav_2d_utils/CMakeLists.txt +++ b/src/Libraries/robot_nav_2d_utils/CMakeLists.txt @@ -29,7 +29,7 @@ target_link_libraries(conversions PUBLIC robot_nav_2d_msgs robot_geometry_msgs - nav_msgs + robot_nav_msgs nav_grid nav_core2 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, robot_geometry_msgs, nav_msgs, nav_grid, nav_core2, tf3, console_bridge, Boost") +message(STATUS "Dependencies: robot_nav_2d_msgs, robot_geometry_msgs, robot_nav_msgs, nav_grid, nav_core2, tf3, console_bridge, Boost") message(STATUS "=================================") diff --git a/src/Libraries/robot_nav_2d_utils/README.md b/src/Libraries/robot_nav_2d_utils/README.md index bdf9f21..d46106f 100755 --- a/src/Libraries/robot_nav_2d_utils/README.md +++ b/src/Libraries/robot_nav_2d_utils/README.md @@ -2,7 +2,7 @@ A handful of useful utility functions for nav_core2 packages. * Bounds - Utilities for `nav_core2::Bounds` objects interacting with other messages/types and for dividing a `UIntBounds` into multiple smaller bounds. * [Conversions](doc/Conversions.md) - Tools for converting between `robot_nav_2d_msgs` and other types. - * OdomSubscriber - subscribes to the standard `nav_msgs::Odometry` message and provides access to the velocity component as a `robot_nav_2d_msgs::Twist` + * OdomSubscriber - subscribes to the standard `robot_nav_msgs::Odometry` message and provides access to the velocity component as a `robot_nav_2d_msgs::Twist` * Parameters - a couple ROS parameter patterns * PathOps - functions for working with `robot_nav_2d_msgs::Path2D` objects (beyond strict conversion) * [Plugin Mux](doc/PluginMux.md) - tool for switching between multiple `pluginlib` plugins diff --git a/src/Libraries/robot_nav_2d_utils/doc/Conversions.md b/src/Libraries/robot_nav_2d_utils/doc/Conversions.md index c8e08d2..88a9807 100755 --- a/src/Libraries/robot_nav_2d_utils/doc/Conversions.md +++ b/src/Libraries/robot_nav_2d_utils/doc/Conversions.md @@ -24,10 +24,10 @@ ## 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)` | `nav_msgs::Path poses2DToPath(std::vector, std::string, robot::Time)` +| `Path2D pathToPath(robot_nav_msgs::Path)` |`robot_nav_msgs::Path pathToPath(Path2D)` +| `Path2D posesToPath2D(std::vector)` | `robot_nav_msgs::Path poses2DToPath(std::vector, std::string, robot::Time)` -Also, `nav_msgs::Path posesToPath(std::vector)` +Also, `robot_nav_msgs::Path posesToPath(std::vector)` ## Polygon Transformations | to `robot_nav_2d_msgs` | from `robot_nav_2d_msgs` | @@ -42,7 +42,7 @@ Also, `nav_msgs::Path posesToPath(std::vector) | to `nav_grid` info | from `nav_grid` info | | -- | -- | -|`nav_grid::NavGridInfo infoToInfo(nav_msgs::MapMetaData, std::string)` | `nav_msgs::MapMetaData infoToInfo(nav_grid::NavGridInfo)` +|`nav_grid::NavGridInfo infoToInfo(robot_nav_msgs::MapMetaData, std::string)` | `robot_nav_msgs::MapMetaData infoToInfo(nav_grid::NavGridInfo)` | to two dimensional pose | to three dimensional pose | | -- | -- | diff --git a/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/conversions.h b/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/conversions.h index e3932fb..1e2c862 100755 --- a/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/conversions.h +++ b/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/conversions.h @@ -47,8 +47,8 @@ #include #include #include -#include -#include +#include +#include #include #include // #include @@ -76,12 +76,12 @@ namespace robot_nav_2d_utils 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<::robot_geometry_msgs::PoseStamped> &poses); + ::robot_nav_2d_msgs::Path2D pathToPath(const robot_nav_msgs::Path &path); + robot_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, + robot_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); + robot_nav_msgs::Path pathToPath(const ::robot_nav_2d_msgs::Path2D &path2d); // Polygon Transformations ::robot_geometry_msgs::Polygon polygon2Dto3D(const ::robot_nav_2d_msgs::Polygon2D &polygon_2d); @@ -94,8 +94,8 @@ namespace robot_nav_2d_utils nav_grid::NavGridInfo fromMsg(const ::robot_nav_2d_msgs::NavGridInfo &msg); ::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); + nav_grid::NavGridInfo infoToInfo(const robot_nav_msgs::MapMetaData &metadata, const ::std::string &frame); + robot_nav_msgs::MapMetaData infoToInfo(const nav_grid::NavGridInfo &info); // Bounds Transformations robot_nav_2d_msgs::UIntBounds toMsg(const nav_core2::UIntBounds &bounds); diff --git a/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/odom_subscriber.h b/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/odom_subscriber.h index f472d58..dc32376 100755 --- a/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/odom_subscriber.h +++ b/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/odom_subscriber.h @@ -36,7 +36,7 @@ #define ROBOT_NAV_2D_UTILS_ODOM_SUBSCRIBER_H #include -#include +#include #include #include #include @@ -63,14 +63,14 @@ namespace robot_nav_2d_utils { std::string odom_topic; // nh.param("odom_topic", odom_topic, default_topic); - // odom_sub_ = nh.subscribe(odom_topic, 1, boost::bind(&OdomSubscriber::odomCallback, this, _1)); + // odom_sub_ = nh.subscribe(odom_topic, 1, boost::bind(&OdomSubscriber::odomCallback, this, _1)); } inline robot_nav_2d_msgs::Twist2D getTwist() { return odom_vel_.velocity; } inline robot_nav_2d_msgs::Twist2DStamped getTwistStamped() { return odom_vel_; } protected: - void odomCallback(const nav_msgs::Odometry::ConstPtr &msg) + void odomCallback(const robot_nav_msgs::Odometry::ConstPtr &msg) { std::cout << "odom received!" << std::endl; boost::mutex::scoped_lock lock(odom_mutex_); diff --git a/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/plugin_mux.h b/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/plugin_mux.h index b1a4938..c713dad 100755 --- a/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/plugin_mux.h +++ b/src/Libraries/robot_nav_2d_utils/include/robot_nav_2d_utils/plugin_mux.h @@ -37,7 +37,7 @@ #include #include -#include +#include #include #include #include @@ -101,7 +101,7 @@ namespace robot_nav_2d_utils current_plugin_ = name; // Update ROS info - std_msgs::String str_msg; + robot_std_msgs::String str_msg; str_msg.data = current_plugin_; current_plugin_pub_.publish(str_msg); private_nh_.setParam(ros_name_, current_plugin_); @@ -225,7 +225,7 @@ namespace robot_nav_2d_utils : plugin_loader_(plugin_package, plugin_class), private_nh_("~"), ros_name_(ros_name), switch_callback_(nullptr) { // Create the latched publisher - current_plugin_pub_ = private_nh_.advertise(ros_name_, 1, true); + current_plugin_pub_ = private_nh_.advertise(ros_name_, 1, true); // Load Plugins std::string plugin_class_name; diff --git a/src/Libraries/robot_nav_2d_utils/src/conversions.cpp b/src/Libraries/robot_nav_2d_utils/src/conversions.cpp index 52c7d86..455c836 100755 --- a/src/Libraries/robot_nav_2d_utils/src/conversions.cpp +++ b/src/Libraries/robot_nav_2d_utils/src/conversions.cpp @@ -138,7 +138,7 @@ namespace robot_nav_2d_utils // return pose; // } - robot_nav_2d_msgs::Path2D pathToPath(const nav_msgs::Path &path) + robot_nav_2d_msgs::Path2D pathToPath(const robot_nav_msgs::Path &path) { robot_nav_2d_msgs::Path2D path2d; path2d.header = path.header; @@ -152,9 +152,9 @@ namespace robot_nav_2d_utils return path2d; } - nav_msgs::Path posesToPath(const std::vector &poses) + robot_nav_msgs::Path posesToPath(const std::vector &poses) { - nav_msgs::Path path; + robot_nav_msgs::Path path; if (poses.empty()) return path; @@ -186,10 +186,10 @@ namespace robot_nav_2d_utils return path; } - // nav_msgs::Path poses2DToPath(const std::vector& poses, + // robot_nav_msgs::Path poses2DToPath(const std::vector& poses, // const std::string& frame, const robot::Time& stamp) // { - // nav_msgs::Path path; + // robot_nav_msgs::Path path; // path.poses.resize(poses.size()); // path.header.frame_id = frame; // path.header.stamp = stamp; @@ -200,9 +200,9 @@ namespace robot_nav_2d_utils // return path; // } - nav_msgs::Path pathToPath(const robot_nav_2d_msgs::Path2D &path2d) + robot_nav_msgs::Path pathToPath(const robot_nav_2d_msgs::Path2D &path2d) { - nav_msgs::Path path; + robot_nav_msgs::Path path; path.header = path2d.header; path.poses.resize(path2d.poses.size()); for (unsigned int i = 0; i < path.poses.size(); i++) @@ -275,7 +275,7 @@ namespace robot_nav_2d_utils return info; } - nav_grid::NavGridInfo infoToInfo(const nav_msgs::MapMetaData &metadata, const std::string &frame) + nav_grid::NavGridInfo infoToInfo(const robot_nav_msgs::MapMetaData &metadata, const std::string &frame) { nav_grid::NavGridInfo info; info.frame_id = frame; @@ -308,9 +308,9 @@ namespace robot_nav_2d_utils return origin; } - nav_msgs::MapMetaData infoToInfo(const nav_grid::NavGridInfo &info) + robot_nav_msgs::MapMetaData infoToInfo(const nav_grid::NavGridInfo &info) { - nav_msgs::MapMetaData metadata; + robot_nav_msgs::MapMetaData metadata; metadata.resolution = info.resolution; metadata.width = info.width; metadata.height = info.height; diff --git a/src/Libraries/tf3/mainpage.dox b/src/Libraries/tf3/mainpage.dox index 2cba60c..f253a9b 100644 --- a/src/Libraries/tf3/mainpage.dox +++ b/src/Libraries/tf3/mainpage.dox @@ -29,7 +29,7 @@ Some packages that implement this interface: - tf2_eigen - tf2_geometry_msgs - tf2_kdl -- tf2_sensor_msgs +- tf2_robot_sensor_msgs More documentation for the conversion interface is available on the ROS Wiki. diff --git a/src/Navigations/Cores/nav_core_adapter/CMakeLists.txt b/src/Navigations/Cores/nav_core_adapter/CMakeLists.txt index ea5aa66..1328529 100755 --- a/src/Navigations/Cores/nav_core_adapter/CMakeLists.txt +++ b/src/Navigations/Cores/nav_core_adapter/CMakeLists.txt @@ -11,7 +11,7 @@ if(NOT CMAKE_BUILD_TYPE) set(CMAKE_BUILD_TYPE Release) endif() -set(PACKAGES_DIR geometry_msgs std_msgs nav_core nav_core2 robot_nav_2d_utils pthread) +set(PACKAGES_DIR geometry_msgs robot_std_msgs nav_core nav_core2 robot_nav_2d_utils pthread) find_package(Boost REQUIRED COMPONENTS filesystem system) diff --git a/src/Navigations/Libraries/nav_grid/README.md b/src/Navigations/Libraries/nav_grid/README.md index 44ed97c..26967ba 100755 --- a/src/Navigations/Libraries/nav_grid/README.md +++ b/src/Navigations/Libraries/nav_grid/README.md @@ -12,7 +12,7 @@ Where the grid exists in the world is defined by six parameters. * `frame_id` which is the TF frame the grid is defined relative to. * `origin_x` and `origin_y` which define the offset in meters from the root of the TF frame to the minimum corner of the (0, 0) cell. -Together, these components make a [`nav_grid::NavGridInfo`](include/nav_grid/nav_grid_info.h) struct. It evolved from the [`nav_msgs::MapMetaData` message](http://docs.ros.org/melodic/api/nav_msgs/html/msg/MapMetaData.html) but without `map_load_time`, simplified origin geometry and the `frame_id` added. Note: for general efficiency of computation (particularly moving the grid while retaining some of the values) there is no rotation component to the origin. Each grid is locked to the orientation of its TF frame. +Together, these components make a [`nav_grid::NavGridInfo`](include/nav_grid/nav_grid_info.h) struct. It evolved from the [`robot_nav_msgs::MapMetaData` message](http://docs.ros.org/melodic/api/robot_nav_msgs/html/msg/MapMetaData.html) but without `map_load_time`, simplified origin geometry and the `frame_id` added. Note: for general efficiency of computation (particularly moving the grid while retaining some of the values) there is no rotation component to the origin. Each grid is locked to the orientation of its TF frame. The default values are `width=0, height=0, resolution=1.0, frame_id="map", origin_x=0.0, origin_y=0.0`. diff --git a/src/Navigations/Libraries/nav_grid/include/nav_grid/nav_grid_info.h b/src/Navigations/Libraries/nav_grid/include/nav_grid/nav_grid_info.h index 8addf08..b8c3e99 100755 --- a/src/Navigations/Libraries/nav_grid/include/nav_grid/nav_grid_info.h +++ b/src/Navigations/Libraries/nav_grid/include/nav_grid/nav_grid_info.h @@ -42,7 +42,7 @@ namespace nav_grid /** * @struct NavGridInfo * This class defines a way to discretize a finite section of the world into a grid. - * It contains similar information to the ROS msg nav_msgs/MapMetaData (aka the info field of nav_msgs/OccupancyGrid) + * It contains similar information to the ROS msg robot_nav_msgs/MapMetaData (aka the info field of robot_nav_msgs/OccupancyGrid) * except the map_load_time is removed, the geometry is simplified from a Pose to xy coordinates, and the frame_id * is added. */ diff --git a/src/Navigations/Packages/move_base/BUILD_INSTRUCTIONS.md b/src/Navigations/Packages/move_base/BUILD_INSTRUCTIONS.md index cc2b262..0242e8c 100644 --- a/src/Navigations/Packages/move_base/BUILD_INSTRUCTIONS.md +++ b/src/Navigations/Packages/move_base/BUILD_INSTRUCTIONS.md @@ -79,7 +79,7 @@ Ngược lαΊ‘i, sαΊ½ build ở **Standalone CMake mode**. ### ROS Packages (khi build vα»›i Catkin): - roscpp, rospy -- std_msgs, geometry_msgs, nav_msgs +- robot_std_msgs, geometry_msgs, robot_nav_msgs - tf2, tf2_ros - actionlib, dynamic_reconfigure diff --git a/src/Navigations/Packages/move_base/CMakeLists.txt b/src/Navigations/Packages/move_base/CMakeLists.txt index 109da5b..4793bfc 100644 --- a/src/Navigations/Packages/move_base/CMakeLists.txt +++ b/src/Navigations/Packages/move_base/CMakeLists.txt @@ -65,7 +65,7 @@ add_library(move_base SHARED ${SOURCES} ${HEADERS}) # Standalone CMake mode: link all dependencies manually set(PACKAGES_DIR geometry_msgs - std_msgs + robot_std_msgs move_base_core nav_core costmap_2d diff --git a/src/Navigations/Packages/move_base/include/move_base/move_base.h b/src/Navigations/Packages/move_base/include/move_base/move_base.h index 19e7b67..e42ed6f 100644 --- a/src/Navigations/Packages/move_base/include/move_base/move_base.h +++ b/src/Navigations/Packages/move_base/include/move_base/move_base.h @@ -26,7 +26,7 @@ #include #include -#include +#include #include #include diff --git a/src/Navigations/Packages/move_base/src/move_base.cpp b/src/Navigations/Packages/move_base/src/move_base.cpp index 2ea3a21..1ff3863 100644 --- a/src/Navigations/Packages/move_base/src/move_base.cpp +++ b/src/Navigations/Packages/move_base/src/move_base.cpp @@ -18,8 +18,8 @@ #include #include -#include -#include +#include +#include move_base::MoveBase::MoveBase() : initialized_(false), @@ -187,7 +187,7 @@ void move_base::MoveBase::initialize(robot::TFListenerPtr tf) boost::shared_ptr static_layer = boost::dynamic_pointer_cast(*layer); if (!static_layer) continue; - nav_msgs::OccupancyGrid *occupancy_grid = new nav_msgs::OccupancyGrid(); + robot_nav_msgs::OccupancyGrid *occupancy_grid = new robot_nav_msgs::OccupancyGrid(); occupancy_grid->header.frame_id = "map"; occupancy_grid->header.stamp = robot::Time::now(); occupancy_grid->info.resolution = 0.05; @@ -206,7 +206,7 @@ void move_base::MoveBase::initialize(robot::TFListenerPtr tf) occupancy_grid->data[i] = costmap_2d::NO_INFORMATION; } if (occupancy_grid) - static_layer->dataCallBack(*occupancy_grid, "map"); + static_layer->dataCallBack(*occupancy_grid, "map"); } } catch (const std::exception &ex) @@ -251,7 +251,7 @@ void move_base::MoveBase::initialize(robot::TFListenerPtr tf) boost::shared_ptr obstacle_layer = boost::dynamic_pointer_cast(*layer); if (!obstacle_layer) continue; - sensor_msgs::LaserScan *laser_scan = new sensor_msgs::LaserScan(); + robot_sensor_msgs::LaserScan *laser_scan = new robot_sensor_msgs::LaserScan(); laser_scan->header.frame_id = "laser"; laser_scan->header.stamp = robot::Time::now(); laser_scan->angle_min = -M_PI; @@ -267,7 +267,7 @@ void move_base::MoveBase::initialize(robot::TFListenerPtr tf) laser_scan->ranges[i] = 10.0; } if (laser_scan) - obstacle_layer->dataCallBack(*laser_scan, "laser"); + obstacle_layer->dataCallBack(*laser_scan, "laser"); } } catch (const std::exception &ex) @@ -794,7 +794,7 @@ void move_base::MoveBase::setXyGoalTolerance(double xy_goal_tolerance) // { // } -// bool planService(nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &resp) +// bool planService(robot_nav_msgs::GetPlan::Request &req, robot_nav_msgs::GetPlan::Response &resp) // { // }