Renamed msgs

Signed-off-by: Juancams <jc.manzanares.serrano@gmail.com>

go2_driver/include/go2_driver/go2_driver.hpp

@@ -39,9 +39,9 @@
 #include <geometry_msgs/msg/transform_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <sensor_msgs/msg/joy.hpp>
-#include "go2_interfaces/msg/go2_state.hpp"
-#include "go2_interfaces/msg/low_state.hpp"
-#include "go2_interfaces/msg/imu_state.hpp"
+#include "unitree_go/msg/go2_state.hpp"
+#include "unitree_go/msg/low_state.hpp"
+#include "unitree_go/msg/imu_state.hpp"
 #include "tf2_ros/transform_broadcaster.h"
 
 namespace go2_driver
@@ -56,21 +56,21 @@ class Go2Driver : public rclcpp::Node
   void publish_lidar_cyclonedds(const sensor_msgs::msg::PointCloud2::SharedPtr msg);
   void publish_body_poss_cyclonedds(const geometry_msgs::msg::PoseStamped::SharedPtr msg);
   void joy_callback(const sensor_msgs::msg::Joy::SharedPtr msg);
-  void publish_joint_state_cyclonedds(const go2_interfaces::msg::LowState::SharedPtr msg);
+  void publish_joint_state_cyclonedds(const unitree_go::msg::LowState::SharedPtr msg);
   void cmd_vel_callback(const geometry_msgs::msg::Twist::SharedPtr msg);
 
 
   rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr pointcloud_sub_;
   rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr robot_pose_sub_;
   rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr joy_sub_;
-  rclcpp::Subscription<go2_interfaces::msg::LowState>::SharedPtr low_state_sub_;
+  rclcpp::Subscription<unitree_go::msg::LowState>::SharedPtr low_state_sub_;
   rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_sub_;
 
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pointcloud_pub_;
   rclcpp::Publisher<sensor_msgs::msg::JointState>::SharedPtr joint_state_pub_;
-  rclcpp::Publisher<go2_interfaces::msg::Go2State>::SharedPtr go2_state_pub_;
+  rclcpp::Publisher<unitree_go::msg::Go2State>::SharedPtr go2_state_pub_;
   rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odom_pub_;
-  rclcpp::Publisher<go2_interfaces::msg::IMUState>::SharedPtr imu_pub_;
+  rclcpp::Publisher<unitree_go::msg::IMUState>::SharedPtr imu_pub_;
 
   std::string robot_ip_;
   std::string token_;

go2_driver/src/go2_driver/go2_driver.cpp

@@ -51,9 +51,9 @@ Go2Driver::Go2Driver(
 
   pointcloud_pub_ = create_publisher<sensor_msgs::msg::PointCloud2>("pointcloud", 10);
   joint_state_pub_ = create_publisher<sensor_msgs::msg::JointState>("joint_states", 10);
-  go2_state_pub_ = create_publisher<go2_interfaces::msg::Go2State>("go2_states", 10);
+  go2_state_pub_ = create_publisher<unitree_go::msg::Go2State>("go2_states", 10);
   odom_pub_ = create_publisher<nav_msgs::msg::Odometry>("odom", 10);
-  imu_pub_ = create_publisher<go2_interfaces::msg::IMUState>("imu", 10);
+  imu_pub_ = create_publisher<unitree_go::msg::IMUState>("imu", 10);
 
   pointcloud_sub_ = create_subscription<sensor_msgs::msg::PointCloud2>(
     "/utlidar/cloud", 10,
@@ -66,7 +66,7 @@ Go2Driver::Go2Driver(
   joy_sub_ = create_subscription<sensor_msgs::msg::Joy>(
     "joy", 10, std::bind(&Go2Driver::joy_callback, this, std::placeholders::_1));
 
-  low_state_sub_ = create_subscription<go2_interfaces::msg::LowState>(
+  low_state_sub_ = create_subscription<unitree_go::msg::LowState>(
     "lowstate", 10,
     std::bind(&Go2Driver::publish_joint_state_cyclonedds, this, std::placeholders::_1));
 
@@ -102,7 +102,7 @@ void Go2Driver::joy_callback(const sensor_msgs::msg::Joy::SharedPtr msg)
   joy_state_ = *msg;
 }
 
-void Go2Driver::publish_joint_state_cyclonedds(const go2_interfaces::msg::LowState::SharedPtr msg)
+void Go2Driver::publish_joint_state_cyclonedds(const unitree_go::msg::LowState::SharedPtr msg)
 {
   RCLCPP_INFO(get_logger(), "Received lowstate message");
   sensor_msgs::msg::JointState joint_state;