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 (robot_nav_msgs/Odometry,
+# The filter accepts an arbitrary number of inputs from each input message type (nav_msgs/Odometry,
 # geometry_msgs/PoseWithCovarianceStamped, geometry_msgs/TwistWithCovarianceStamped,
-# robot_sensor_msgs/Imu). To add an input, simply append the next number in the sequence to its "base" name, e.g., odom0,
+# 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

doc/architecture_discussion.md

@@ -93,8 +93,8 @@ flowchart TB
     Loc["<b>🌍 Localization</b><br/>━━━━━━━━━━━━━━━━<br/>📍 Pnkx Loc<br/>🗺️ Global Pose<br/>🔄 Pose Updates"]
     TF["<b>🔄 Transform System</b><br/>━━━━━━━━━━━━━━━━<br/>📐 tf3::BufferCore<br/>🌐 Coordinate Frames<br/>⏱️ Time Synchronization"]
     Odom["<b>🚗 Odometry</b><br/>━━━━━━━━━━━━━━━━<br/>📍 robot_geometry_msgs::Odometry<br/>⚡ Robot Velocity<br/>📊 Position Tracking"]
-    Laser["<b>📡 Laser Sensors</b><br/>━━━━━━━━━━━━━━━━<br/>🔍 robot_sensor_msgs::LaserScan<br/>🚫 Obstacle Detection<br/>📏 Distance Measurement"]
+    Laser["<b>📡 Laser Sensors</b><br/>━━━━━━━━━━━━━━━━<br/>🔍 sensor_msgs::LaserScan<br/>🚫 Obstacle Detection<br/>📏 Distance Measurement"]
-    Map["<b>🗺️ Map Server</b><br/>━━━━━━━━━━━━━━━━<br/>📋 robot_nav_msgs::OccupancyGrid<br/>🏗️ Static Map<br/>📐 Map Metadata"]
+    Map["<b>🗺️ Map Server</b><br/>━━━━━━━━━━━━━━━━<br/>📋 nav_msgs::OccupancyGrid<br/>🏗️ Static Map<br/>📐 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

doc/folders.md

@@ -6,16 +6,16 @@ Mô tả cấu trúc:
 │   │   ├── include/
 │   │   └── test/
 │   ├── CMakeLists.txt
-│   ├── robot_nav_msgs/
+│   ├── nav_msgs/
 │   │   ├── include/
 │   │   └── test/
 │   ├── CMakeLists.txt
-│   ├── robot_sensor_msgs/
+│   ├── sensor_msgs/
 │   │   ├── cfg/
 │   │   ├── include/
 │   │   └── test/
 │   ├── CMakeLists.txt
-│   ├── robot_std_msgs/
+│   ├── std_msgs/
 │   │   ├── include/
 │   │   └── CMakeLists.txt
 │   └── CMakeLists.txt (root)

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 robot_nav_msgs::OccupancyGrid getMap() = 0;
+  virtual 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 robot_sensor_msgs::LaserScan getLatestScan() = 0;
+  virtual sensor_msgs::LaserScan getLatestScan() = 0;
   virtual bool hasNewData() = 0;
 };
 ```

src/Algorithms/Libraries/mkt_algorithm/CMakeLists.txt

@@ -30,8 +30,8 @@ set(PACKAGES_DIR
     angles
     nav_grid
     costmap_2d
-    robot_sensor_msgs
+    sensor_msgs
-    robot_std_msgs
+    std_msgs
 )
 
 # Tìm tất cả file source cho diff library

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 <robot_nav_msgs/Path.h>
+#include <nav_msgs/Path.h>
 #include <kalman/kalman.h>
 #include <vector>
 

src/Algorithms/Libraries/mkt_plugins/CMakeLists.txt

@@ -33,9 +33,9 @@ set(PACKAGES_DIR
     robot_nav_2d_utils
     nav_core2
     geometry_msgs
-    robot_nav_msgs
+    nav_msgs
-    robot_std_msgs
+    std_msgs
-    robot_sensor_msgs
+    sensor_msgs
     angles
 )
 

src/Algorithms/Packages/global_planners/custom_planner

@@ -1 +1 @@
-Subproject commit d6512018efc5ef63d64a6aeb97ecaf89d83cbd80
+Subproject commit 6d55c6c4beb86ae77c20cba3f26c6231a16912fa

src/Algorithms/Packages/global_planners/dock_planner

@@ -1 +1 @@
-Subproject commit 9c84e64253fe959931cd456cf2eb164af9ee1c92
+Subproject commit 92264eaffc3d2b0e75f0dd5b473f95a3de2d313b

src/Algorithms/Packages/global_planners/two_points_planner/CMakeLists.txt

@@ -30,8 +30,8 @@ set(PACKAGES_DIR
     costmap_2d
     nav_core
     geometry_msgs
-    robot_nav_msgs
+    nav_msgs
-    robot_std_msgs
+    std_msgs
     tf3
     tf3_geometry_msgs
 )

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 <robot_nav_msgs/Path.h>
+#include <nav_msgs/Path.h>
 #include <tf3/LinearMath/Quaternion.h>
 #include <tf3/utils.h>
 #include <tf3_geometry_msgs/tf3_geometry_msgs.h>

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
-    robot_nav_msgs
+    nav_msgs
-    robot_std_msgs
+    std_msgs
-    robot_sensor_msgs
+    sensor_msgs
-    robot_visualization_msgs
+    visualization_msgs
     robot_nav_2d_utils
     nav_core2
     mkt_msgs

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, robot_nav_msgs::Path &local_path);
+                        const robot_nav_2d_msgs::Pose2DStamped &local_goal, nav_msgs::Path &local_path);
 
       bool initialized_;
       bool is_detected_;

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 <robot_nav_msgs/Path.h>
+#include <nav_msgs/Path.h>
-#include <robot_std_msgs/Bool.h>
+#include <std_msgs/Bool.h>
-#include <robot_std_msgs/UInt16.h>
+#include <std_msgs/UInt16.h>
-#include <robot_visualization_msgs/MarkerArray.h>
+#include <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;
-                robot_nav_msgs::Path path;
+                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, robot_nav_msgs::Path &local_path)
+    const robot_nav_2d_msgs::Pose2DStamped &local_pose, const robot_nav_2d_msgs::Pose2DStamped &local_goal, 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);

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 <robot_nav_msgs/Path.h>
+#include <nav_msgs/Path.h>
 #include "pnkx_local_planner/pnkx_go_straight_local_planner.h"
 #include <boost/dll/import.hpp>
 #include <boost/dll/alias.hpp>

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

src/Libraries/common_msgs

@@ -1 +1 @@
-Subproject commit 41d47c9c9e7116d837c16930151eb58165039a5b
+Subproject commit 56ef1a8fc0ed7fcf6a612c1060bbc04e09f04669

src/Libraries/costmap_2d

@@ -1 +1 @@
-Subproject commit 4246453ae6598b75be664acef3e9fc276129a131
+Subproject commit 2c3d7d586d1a664573b99f45d8521950d46db30a

src/Libraries/geometry2

@@ -1 +1 @@
-Subproject commit e4db1da907b8d77ac8b838d4a03e4e57a8c0eb6f
+Subproject commit 2987c1a481390e4d0bf08cf97aee3bc758d23ad1

src/Libraries/laser_geometry

@@ -1 +1 @@
-Subproject commit 1fefb2a389d397a467986f604c7747665f6cd289
+Subproject commit a183d4bb7bdd1e6eb44be08911cc1a4e4590c4e4

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
-        robot_std_msgs
+        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 robot_std_msgs và geometry_msgs đã được export
+# Bây giờ có thể export dependencies vì 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: robot_std_msgs, geometry_msgs")
+message(STATUS "Dependencies: std_msgs, geometry_msgs")
 message(STATUS "=================================")
 

src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Path2D.h

@@ -10,7 +10,7 @@
 #include <vector>
 #include <memory>
 
-#include <robot_std_msgs/Header.h>
+#include <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  ::robot_std_msgs::Header  _header_type;
+   typedef  ::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;

src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Polygon2DCollection.h

@@ -10,9 +10,9 @@
 #include <vector>
 #include <memory>
 
-#include <robot_std_msgs/Header.h>
+#include <std_msgs/Header.h>
 #include <robot_nav_2d_msgs/ComplexPolygon2D.h>
-#include <robot_std_msgs/ColorRGBA.h>
+#include <std_msgs/ColorRGBA.h>
 
 namespace robot_nav_2d_msgs
 {
@@ -35,13 +35,13 @@ struct Polygon2DCollection_
 
 
 
-   typedef  ::robot_std_msgs::Header  _header_type;
+   typedef  ::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< ::robot_std_msgs::ColorRGBA , typename std::allocator_traits<ContainerAllocator>::template rebind_alloc< ::robot_std_msgs::ColorRGBA >> _colors_type;
+   typedef std::vector< ::std_msgs::ColorRGBA , typename std::allocator_traits<ContainerAllocator>::template rebind_alloc< ::std_msgs::ColorRGBA >> _colors_type;
   _colors_type colors;
 
 

src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Polygon2DStamped.h

@@ -10,7 +10,7 @@
 #include <vector>
 #include <memory>
 
-#include <robot_std_msgs/Header.h>
+#include <std_msgs/Header.h>
 #include <robot_nav_2d_msgs/Polygon2D.h>
 
 namespace robot_nav_2d_msgs
@@ -32,7 +32,7 @@ struct Polygon2DStamped_
 
 
 
-   typedef  ::robot_std_msgs::Header  _header_type;
+   typedef  ::std_msgs::Header  _header_type;
   _header_type header;
 
    typedef  ::robot_nav_2d_msgs::Polygon2D_<ContainerAllocator>  _polygon_type;

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

@@ -10,7 +10,7 @@
 #include <vector>
 #include <memory>
 
-#include <robot_std_msgs/Header.h>
+#include <std_msgs/Header.h>
 #include <robot_geometry_msgs/Pose2D.h>
 
 namespace robot_nav_2d_msgs
@@ -32,7 +32,7 @@ struct Pose2DStamped_
 
 
 
-   typedef  ::robot_std_msgs::Header  _header_type;
+   typedef  ::std_msgs::Header  _header_type;
   _header_type header;
 
    typedef  ::robot_geometry_msgs::Pose2D  _pose_type;

src/Libraries/robot_nav_2d_msgs/include/robot_nav_2d_msgs/Twist2DStamped.h

@@ -10,7 +10,7 @@
 #include <vector>
 #include <memory>
 
-#include <robot_std_msgs/Header.h>
+#include <std_msgs/Header.h>
 #include <robot_nav_2d_msgs/Twist2D.h>
 
 namespace robot_nav_2d_msgs
@@ -32,7 +32,7 @@ struct Twist2DStamped_
 
 
 
-   typedef  ::robot_std_msgs::Header  _header_type;
+   typedef  ::std_msgs::Header  _header_type;
   _header_type header;
 
    typedef  ::robot_nav_2d_msgs::Twist2D_<ContainerAllocator>  _velocity_type;

src/Libraries/robot_nav_2d_utils/CMakeLists.txt

@@ -29,7 +29,7 @@ target_link_libraries(conversions
     PUBLIC
         robot_nav_2d_msgs
         robot_geometry_msgs
-        robot_nav_msgs
+        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, robot_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/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 `robot_nav_msgs::Odometry` message and provides access to the velocity component as a `robot_nav_2d_msgs::Twist`
+ * OdomSubscriber - subscribes to the standard `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

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(robot_nav_msgs::Path)` |`robot_nav_msgs::Path pathToPath(Path2D)`
+| `Path2D pathToPath(nav_msgs::Path)` |`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)`
+| `Path2D posesToPath2D(std::vector<robot_geometry_msgs::PoseStamped>)` | `nav_msgs::Path poses2DToPath(std::vector<robot_geometry_msgs::Pose2D>, std::string, robot::Time)`
 
-Also, `robot_nav_msgs::Path posesToPath(std::vector<robot_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` |
@@ -42,7 +42,7 @@ Also, `robot_nav_msgs::Path posesToPath(std::vector<robot_geometry_msgs::PoseSta
 
 | to `nav_grid` info | from `nav_grid` info |
 | -- | -- |
-|`nav_grid::NavGridInfo infoToInfo(robot_nav_msgs::MapMetaData, std::string)` | `robot_nav_msgs::MapMetaData infoToInfo(nav_grid::NavGridInfo)`
+|`nav_grid::NavGridInfo infoToInfo(nav_msgs::MapMetaData, std::string)` | `nav_msgs::MapMetaData infoToInfo(nav_grid::NavGridInfo)`
 
 | to two dimensional pose | to three dimensional pose |
 | -- | -- |

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 <robot_nav_msgs/MapMetaData.h>
+#include <nav_msgs/MapMetaData.h>
-#include <robot_nav_msgs/Path.h>
+#include <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 robot_nav_msgs::Path &path);
+  ::robot_nav_2d_msgs::Path2D pathToPath(const nav_msgs::Path &path);
-  robot_nav_msgs::Path posesToPath(const ::std::vector<::robot_geometry_msgs::PoseStamped> &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);
-  robot_nav_msgs::Path poses2DToPath(const ::std::vector<::robot_geometry_msgs::Pose2D> &poses,
+  nav_msgs::Path poses2DToPath(const ::std::vector<::robot_geometry_msgs::Pose2D> &poses,
                                const ::std::string &frame, const robot::Time &stamp);
-  robot_nav_msgs::Path pathToPath(const ::robot_nav_2d_msgs::Path2D &path2d);
+  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 robot_nav_msgs::MapMetaData &metadata, const ::std::string &frame);
+  nav_grid::NavGridInfo infoToInfo(const nav_msgs::MapMetaData &metadata, const ::std::string &frame);
-  robot_nav_msgs::MapMetaData infoToInfo(const nav_grid::NavGridInfo &info);
+  nav_msgs::MapMetaData infoToInfo(const nav_grid::NavGridInfo &info);
 
   // Bounds Transformations
   robot_nav_2d_msgs::UIntBounds toMsg(const nav_core2::UIntBounds &bounds);

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 <robot_nav_msgs/Odometry.h>
+#include <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<robot_nav_msgs::Odometry>(odom_topic, 1, boost::bind(&OdomSubscriber::odomCallback, this, _1));
+      // odom_sub_ = nh.subscribe<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 robot_nav_msgs::Odometry::ConstPtr &msg)
+    void odomCallback(const nav_msgs::Odometry::ConstPtr &msg)
     {
       std::cout << "odom received!" << std::endl;
       boost::mutex::scoped_lock lock(odom_mutex_);

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 <robot_std_msgs/String.h>
+#include <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
-      robot_std_msgs::String str_msg;
+      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<robot_std_msgs::String>(ros_name_, 1, true);
+    current_plugin_pub_ = private_nh_.advertise<std_msgs::String>(ros_name_, 1, true);
 
     // Load Plugins
     std::string plugin_class_name;

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 robot_nav_msgs::Path &path)
+  robot_nav_2d_msgs::Path2D pathToPath(const 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;
   }
 
-  robot_nav_msgs::Path posesToPath(const std::vector<robot_geometry_msgs::PoseStamped> &poses)
+  nav_msgs::Path posesToPath(const std::vector<robot_geometry_msgs::PoseStamped> &poses)
   {
-    robot_nav_msgs::Path path;
+    nav_msgs::Path path;
     if (poses.empty())
       return path;
 
@@ -186,10 +186,10 @@ namespace robot_nav_2d_utils
     return path;
   }
 
-  // robot_nav_msgs::Path poses2DToPath(const std::vector<robot_geometry_msgs::Pose2D>& poses,
+  // nav_msgs::Path poses2DToPath(const std::vector<robot_geometry_msgs::Pose2D>& poses,
   //                              const std::string& frame, const robot::Time& stamp)
   // {
-  //   robot_nav_msgs::Path path;
+  //   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;
   // }
 
-  robot_nav_msgs::Path pathToPath(const robot_nav_2d_msgs::Path2D &path2d)
+  nav_msgs::Path pathToPath(const robot_nav_2d_msgs::Path2D &path2d)
   {
-    robot_nav_msgs::Path path;
+    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 robot_nav_msgs::MapMetaData &metadata, const std::string &frame)
+  nav_grid::NavGridInfo infoToInfo(const 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;
   }
 
-  robot_nav_msgs::MapMetaData infoToInfo(const nav_grid::NavGridInfo &info)
+  nav_msgs::MapMetaData infoToInfo(const nav_grid::NavGridInfo &info)
   {
-    robot_nav_msgs::MapMetaData metadata;
+    nav_msgs::MapMetaData metadata;
     metadata.resolution = info.resolution;
     metadata.width = info.width;
     metadata.height = info.height;

src/Libraries/tf3/mainpage.dox

@@ -29,7 +29,7 @@ Some packages that implement this interface:
 - tf2_eigen
 - tf2_geometry_msgs
 - tf2_kdl
-- tf2_robot_sensor_msgs
+- tf2_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>.
 

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 robot_std_msgs nav_core nav_core2 robot_nav_2d_utils pthread)
+set(PACKAGES_DIR geometry_msgs std_msgs nav_core nav_core2 robot_nav_2d_utils pthread)
 
 find_package(Boost REQUIRED COMPONENTS filesystem system)
 

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 [`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.
+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.
 
 The default values are `width=0, height=0, resolution=1.0, frame_id="map", origin_x=0.0, origin_y=0.0`.
 

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 robot_nav_msgs/MapMetaData (aka the info field of robot_nav_msgs/OccupancyGrid)
+ * It contains similar information to the ROS msg nav_msgs/MapMetaData (aka the info field of 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.
  */

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
-- robot_std_msgs, geometry_msgs, robot_nav_msgs
+- std_msgs, geometry_msgs, nav_msgs
 - tf2, tf2_ros
 - actionlib, dynamic_reconfigure
 

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 
-  robot_std_msgs 
+  std_msgs 
   move_base_core 
   nav_core 
   costmap_2d 

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 <robot_nav_msgs/GetPlan.h>
+#include <nav_msgs/GetPlan.h>
 #include <robot_protocol_msgs/Order.h>
 
 #include <robot/node_handle.h>

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 <robot_nav_msgs/OccupancyGrid.h>
+#include <nav_msgs/OccupancyGrid.h>
-#include <robot_sensor_msgs/LaserScan.h>
+#include <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;
-        robot_nav_msgs::OccupancyGrid *occupancy_grid = new robot_nav_msgs::OccupancyGrid();
+        nav_msgs::OccupancyGrid *occupancy_grid = new 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<robot_nav_msgs::OccupancyGrid>(*occupancy_grid, "map");
+          static_layer->dataCallBack<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;
-        robot_sensor_msgs::LaserScan *laser_scan = new robot_sensor_msgs::LaserScan();
+        sensor_msgs::LaserScan *laser_scan = new 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<robot_sensor_msgs::LaserScan>(*laser_scan, "laser");
+          obstacle_layer->dataCallBack<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(robot_nav_msgs::GetPlan::Request &req, robot_nav_msgs::GetPlan::Response &resp)
+// bool planService(nav_msgs::GetPlan::Request &req, nav_msgs::GetPlan::Response &resp)
 // {
 
 // }