sua ten file

2025-12-30 09:58:57 +07:00
parent 92fedb1ee8
commit e12033556b
40 changed files with 96 additions and 96 deletions
--- 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
 )

 # Tìm tất cả file source cho diff library
--- 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 <angles/angles.h>
 #include <tf3/exceptions.h>
 #include <tf3/utils.h>
-#include <nav_msgs/Path.h>
+#include <robot_nav_msgs/Path.h>
 #include <kalman/kalman.h>
 #include <vector>

--- 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
 )

--- a/src/Algorithms/Packages/global_planners/custom_planner
+++ b/src/Algorithms/Packages/global_planners/custom_planner
--- 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
 )
--- 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 <two_points_planner/two_points_planner.h>
 #include <costmap_2d/inflation_layer.h>
 #include <boost/dll/alias.hpp>
-#include <nav_msgs/Path.h>
+#include <robot_nav_msgs/Path.h>
 #include <tf3/LinearMath/Quaternion.h>
 #include <tf3/utils.h>
 #include <tf3_geometry_msgs/tf3_geometry_msgs.h>
--- 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
--- 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_;
--- 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 <robot_nav_2d_utils/parameters.h>
 #include <robot_nav_2d_utils/footprint.h>
 #include <angles/angles.h>
-#include <nav_msgs/Path.h>
-#include <std_msgs/Bool.h>
-#include <std_msgs/UInt16.h>
-#include <visualization_msgs/MarkerArray.h>
+#include <robot_nav_msgs/Path.h>
+#include <robot_std_msgs/Bool.h>
+#include <robot_std_msgs/UInt16.h>
+#include <robot_visualization_msgs/MarkerArray.h>
 #include <boost/dll/import.hpp>
 #include <boost/dll/alias.hpp>

@@ -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);
--- 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 <g2o/core/base_unary_edge.h>
 // #include <g2o/core/base_multi_edge.h>
 #include <angles/angles.h>
-#include <nav_msgs/Path.h>
+#include <robot_nav_msgs/Path.h>
 #include "pnkx_local_planner/pnkx_go_straight_local_planner.h"
 #include <boost/dll/import.hpp>
 #include <boost/dll/alias.hpp>
--- 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 <mkt_msgs/Trajectory2D.h>

 #include <angles/angles.h>
-#include <nav_msgs/Path.h>
+#include <robot_nav_msgs/Path.h>
 #include <boost/dll/import.hpp>
 #include <boost/dll/alias.hpp>

--- a/src/Libraries/common_msgs
+++ b/src/Libraries/common_msgs
--- a/src/Libraries/costmap_2d
+++ b/src/Libraries/costmap_2d
--- a/src/Libraries/geometry2
+++ b/src/Libraries/geometry2
--- a/src/Libraries/laser_geometry
+++ b/src/Libraries/laser_geometry
--- 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
 # Các dependencies này cũng là header-only từ 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
-# Bây giờ có thể export dependencies vì std_msgs và geometry_msgs đã được export
+# Bây giờ có thể export dependencies vì robot_std_msgs và geometry_msgs đã 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 "=================================")

--- 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 <vector>
 #include <memory>

-#include <std_msgs/Header.h>
+#include <robot_std_msgs/Header.h>
 #include <robot_nav_2d_msgs/Pose2DStamped.h>

 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_<ContainerAllocator> , typename std::allocator_traits<ContainerAllocator>::template rebind_alloc< ::robot_nav_2d_msgs::Pose2DStamped_<ContainerAllocator> >> _poses_type;
--- 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 <vector>
 #include <memory>

-#include <std_msgs/Header.h>
+#include <robot_std_msgs/Header.h>
 #include <robot_nav_2d_msgs/ComplexPolygon2D.h>
-#include <std_msgs/ColorRGBA.h>
+#include <robot_std_msgs/ColorRGBA.h>

 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_<ContainerAllocator> , typename std::allocator_traits<ContainerAllocator>::template rebind_alloc< ::robot_nav_2d_msgs::ComplexPolygon2D_<ContainerAllocator> >> _polygons_type;
  _polygons_type polygons;

-   typedef std::vector< ::std_msgs::ColorRGBA , typename std::allocator_traits<ContainerAllocator>::template rebind_alloc< ::std_msgs::ColorRGBA >> _colors_type;
+   typedef std::vector< ::robot_std_msgs::ColorRGBA , typename std::allocator_traits<ContainerAllocator>::template rebind_alloc< ::robot_std_msgs::ColorRGBA >> _colors_type;
  _colors_type colors;


--- 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 <vector>
 #include <memory>

-#include <std_msgs/Header.h>
+#include <robot_std_msgs/Header.h>
 #include <robot_nav_2d_msgs/Polygon2D.h>

 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_<ContainerAllocator>  _polygon_type;
--- 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 <vector>
 #include <memory>

-#include <std_msgs/Header.h>
+#include <robot_std_msgs/Header.h>
 #include <robot_geometry_msgs/Pose2D.h>

 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;
--- 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 <vector>
 #include <memory>

-#include <std_msgs/Header.h>
+#include <robot_std_msgs/Header.h>
 #include <robot_nav_2d_msgs/Twist2D.h>

 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_<ContainerAllocator>  _velocity_type;
--- 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 "=================================")
--- 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
--- 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<robot_geometry_msgs::PoseStamped>)` | `nav_msgs::Path poses2DToPath(std::vector<robot_geometry_msgs::Pose2D>, std::string, robot::Time)`
+| `Path2D pathToPath(robot_nav_msgs::Path)` |`robot_nav_msgs::Path pathToPath(Path2D)`
+| `Path2D posesToPath2D(std::vector<robot_geometry_msgs::PoseStamped>)` | `robot_nav_msgs::Path poses2DToPath(std::vector<robot_geometry_msgs::Pose2D>, std::string, robot::Time)`

-Also, `nav_msgs::Path posesToPath(std::vector<robot_geometry_msgs::PoseStamped>)`
+Also, `robot_nav_msgs::Path posesToPath(std::vector<robot_geometry_msgs::PoseStamped>)`

 ## Polygon Transformations
 | to `robot_nav_2d_msgs` | from `robot_nav_2d_msgs` |
@@ -42,7 +42,7 @@ Also, `nav_msgs::Path posesToPath(std::vector<robot_geometry_msgs::PoseStamped>)

 | 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 |
 | -- | -- |
--- 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 <robot_nav_2d_msgs/Pose2DStamped.h>
 #include <robot_nav_2d_msgs/NavGridInfo.h>
 #include <robot_nav_2d_msgs/UIntBounds.h>
-#include <nav_msgs/MapMetaData.h>
-#include <nav_msgs/Path.h>
+#include <robot_nav_msgs/MapMetaData.h>
+#include <robot_nav_msgs/Path.h>
 #include <nav_grid/nav_grid.h>
 #include <nav_core2/bounds.h>
 // #include <tf/tf.h>
@@ -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);
--- 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 <robot_nav_2d_utils/conversions.h>
-#include <nav_msgs/Odometry.h>
+#include <robot_nav_msgs/Odometry.h>
 #include <robot_nav_2d_msgs/Twist2DStamped.h>
 #include <boost/thread/mutex.hpp>
 #include <string>
@@ -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<nav_msgs::Odometry>(odom_topic, 1, boost::bind(&OdomSubscriber::odomCallback, this, _1));
+      // odom_sub_ = nh.subscribe<robot_nav_msgs::Odometry>(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_);
--- 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 <ros/ros.h>
 #include <pluginlib/class_loader.h>
-#include <std_msgs/String.h>
+#include <robot_std_msgs/String.h>
 #include <robot_nav_2d_msgs/SwitchPlugin.h>
 #include <map>
 #include <string>
@@ -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<std_msgs::String>(ros_name_, 1, true);
+    current_plugin_pub_ = private_nh_.advertise<robot_std_msgs::String>(ros_name_, 1, true);

    // Load Plugins
    std::string plugin_class_name;
--- 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<robot_geometry_msgs::PoseStamped> &poses)
+  robot_nav_msgs::Path posesToPath(const std::vector<robot_geometry_msgs::PoseStamped> &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<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 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;
--- 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 <A HREF="http://wiki.ros.org/tf2/Tutorials/Migration/DataConversions">ROS Wiki</A>.

--- 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)

--- 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`.

--- 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.
 */
--- a/src/Navigations/Packages/move_base/BUILD_INSTRUCTIONS.md
+++ b/src/Navigations/Packages/move_base/BUILD_INSTRUCTIONS.md
@@ -79,7 +79,7 @@ Ngược lại, sẽ build ở **Standalone CMake mode**.

 ### ROS Packages (khi build với Catkin):
 - roscpp, rospy
- std_msgs, geometry_msgs, nav_msgs
+- robot_std_msgs, geometry_msgs, robot_nav_msgs
 - tf2, tf2_ros
 - actionlib, dynamic_reconfigure

--- 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 
--- 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 <costmap_2d/costmap_2d_robot.h>
 #include <costmap_2d/costmap_2d.h>
-#include <nav_msgs/GetPlan.h>
+#include <robot_nav_msgs/GetPlan.h>
 #include <robot_protocol_msgs/Order.h>

 #include <robot/node_handle.h>
--- 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 <costmap_2d/static_layer.h>
 #include <costmap_2d/voxel_layer.h>
-#include <nav_msgs/OccupancyGrid.h>
-#include <sensor_msgs/LaserScan.h>
+#include <robot_nav_msgs/OccupancyGrid.h>
+#include <robot_sensor_msgs/LaserScan.h>

 move_base::MoveBase::MoveBase()
 : initialized_(false),
@@ -187,7 +187,7 @@ void move_base::MoveBase::initialize(robot::TFListenerPtr tf)
        boost::shared_ptr<costmap_2d::StaticLayer> static_layer = boost::dynamic_pointer_cast<costmap_2d::StaticLayer>(*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<nav_msgs::OccupancyGrid>(*occupancy_grid, "map");
+          static_layer->dataCallBack<robot_nav_msgs::OccupancyGrid>(*occupancy_grid, "map");
      }
    }
    catch (const std::exception &ex)
@@ -251,7 +251,7 @@ void move_base::MoveBase::initialize(robot::TFListenerPtr tf)
        boost::shared_ptr<costmap_2d::VoxelLayer> obstacle_layer = boost::dynamic_pointer_cast<costmap_2d::VoxelLayer>(*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<sensor_msgs::LaserScan>(*laser_scan, "laser");
+          obstacle_layer->dataCallBack<robot_sensor_msgs::LaserScan>(*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)
 // {

 // }