updated for the new mrs_modules_msgs

ctu-mrs · Sep 30, 2023 · be032c1 · be032c1
1 parent cdc47b2
commit be032c1
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Showing 13 changed files with 94 additions and 92 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -10,6 +10,7 @@ set(CATKIN_DEPENDENCIES
   nodelet
   sensor_msgs
   mrs_msgs
+  mrs_modules_msgs
   std_msgs
   mrs_lib
   dynamic_reconfigure

diff --git a/include/gimbal.hpp b/include/gimbal.hpp
@@ -17,7 +17,8 @@
 #include <mutex>
 #include <string>
 
-#include <mrs_msgs/GimbalPRY.h>
+#include <mrs_modules_msgs/GimbalPRY.h>
+
 #include <dynamic_reconfigure/server.h>
 #include "SBGC_lib/SBGC.h"
 #include "serial_port.h"
@@ -86,7 +87,7 @@ namespace gimbal {
 
         void cmd_orientation_cbk(const geometry_msgs::QuaternionStamped::ConstPtr &cmd_orientation);
 
-        void cmd_pry_cbk(const mrs_msgs::GimbalPRY::ConstPtr &cmd_pry);
+        void cmd_pry_cbk(const mrs_modules_msgs::GimbalPRY::ConstPtr &cmd_pry);
 
         bool rotate_gimbal_PRY(double pitch, double roll, double yaw);
 

diff --git a/package.xml b/package.xml
@@ -19,6 +19,7 @@
   <depend>std_msgs</depend>
   <depend>sensor_msgs</depend>
   <depend>mrs_msgs</depend>
+  <depend>mrs_modules_msgs</depend>
   <depend>mrs_lib</depend>
   <depend>dynamic_reconfigure</depend>
 

diff --git a/src/baca_protocol.cpp b/src/baca_protocol.cpp
@@ -10,8 +10,8 @@
 #include <mutex>
 
 #include <string>
-#include <mrs_msgs/BacaProtocol.h>
-#include <mrs_msgs/SerialRaw.h>
+#include <mrs_modules_msgs/BacaProtocol.h>
+#include <mrs_modules_msgs/SerialRaw.h>
 #include <mrs_msgs/SetInt.h>
 
 #include <serial_port.h>
@@ -62,8 +62,8 @@ class BacaProtocol : public nodelet::Nodelet {
   bool callbackNetgunSafe(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res);
   bool callbackNetgunArm(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res);
   bool callbackNetgunFire(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res);
-  void callbackSendMessage(const mrs_msgs::BacaProtocolConstPtr &msg);
-  void callbackSendRawMessage(const mrs_msgs::SerialRawConstPtr &msg);
+  void callbackSendMessage(const mrs_modules_msgs::BacaProtocolConstPtr &msg);
+  void callbackSendRawMessage(const mrs_modules_msgs::SerialRawConstPtr &msg);
   void callbackMagnet(const std_msgs::EmptyConstPtr &msg);
 
   bool callbackSendInt([[maybe_unused]] mrs_msgs::SetInt::Request &req, mrs_msgs::SetInt::Response &res);
@@ -146,7 +146,7 @@ void BacaProtocol::onInit() {
   garmin_A_frame_       = uav_name_ + "/garmin" + postfix_A;
   garmin_B_frame_       = uav_name_ + "/garmin" + postfix_B;
 
-  baca_protocol_publisher_ = nh_.advertise<mrs_msgs::BacaProtocol>("baca_protocol_out", 1);
+  baca_protocol_publisher_ = nh_.advertise<mrs_modules_msgs::BacaProtocol>("baca_protocol_out", 1);
 
   baca_protocol_subscriber = nh_.subscribe("baca_protocol_in", 10, &BacaProtocol::callbackSendMessage, this, ros::TransportHints().tcpNoDelay());
 
@@ -251,7 +251,7 @@ void BacaProtocol::callbackMaintainerTimer(const ros::TimerEvent &event) {
 
 /* callbackSendMessage() //{ */
 
-void BacaProtocol::callbackSendMessage(const mrs_msgs::BacaProtocolConstPtr &msg) {
+void BacaProtocol::callbackSendMessage(const mrs_modules_msgs::BacaProtocolConstPtr &msg) {
 
   if (!is_initialized_) {
     return;
@@ -284,7 +284,7 @@ void BacaProtocol::callbackSendMessage(const mrs_msgs::BacaProtocolConstPtr &msg
 
 /* callbackSendRawMessage() //{ */
 
-void BacaProtocol::callbackSendRawMessage(const mrs_msgs::SerialRawConstPtr &msg) {
+void BacaProtocol::callbackSendRawMessage(const mrs_modules_msgs::SerialRawConstPtr &msg) {
 
   if (!is_initialized_) {
     return;
@@ -484,7 +484,7 @@ void BacaProtocol::processMessage(uint8_t payload_size, uint8_t *input_buffer, u
     if (checksum_correct) {
       received_msg_ok++;
     }
-    mrs_msgs::BacaProtocol msg;
+    mrs_modules_msgs::BacaProtocol msg;
     msg.stamp = ros::Time::now();
     for (uint8_t i = 0; i < payload_size; i++) {
       msg.payload.push_back(input_buffer[i]);

diff --git a/src/eagle.cpp b/src/eagle.cpp
@@ -10,8 +10,8 @@
 #include <mutex>
 
 #include <string>
-#include <mrs_msgs/BacaProtocol.h>
-#include <mrs_msgs/SerialRaw.h>
+#include <mrs_modules_msgs/BacaProtocol.h>
+#include <mrs_modules_msgs/SerialRaw.h>
 #include <mrs_msgs/SetInt.h>
 
 #include <serial_port.h>
@@ -67,8 +67,8 @@ class Eagle : public nodelet::Nodelet {
   bool callbackNetgunSafe(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res);
   bool callbackNetgunArm(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res);
   bool callbackNetgunFire(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res);
-  void callbackSendMessage(const mrs_msgs::BacaProtocolConstPtr &msg);
-  void callbackSendRawMessage(const mrs_msgs::SerialRawConstPtr &msg);
+  void callbackSendMessage(const mrs_modules_msgs::BacaProtocolConstPtr &msg);
+  void callbackSendRawMessage(const mrs_modules_msgs::SerialRawConstPtr &msg);
   void callbackMagnet(const std_msgs::EmptyConstPtr &msg);
 
   bool callbackSendInt([[maybe_unused]] mrs_msgs::SetInt::Request &req, mrs_msgs::SetInt::Response &res);
@@ -160,7 +160,7 @@ void Eagle::onInit() {
   garmin_A_frame_       = uav_name_ + "/garmin" + postfix_A;
   garmin_B_frame_       = uav_name_ + "/garmin" + postfix_B;
 
-  eagle_publisher_ = nh_.advertise<mrs_msgs::BacaProtocol>("eagle_out", 1);
+  eagle_publisher_ = nh_.advertise<mrs_modules_msgs::BacaProtocol>("eagle_out", 1);
 
   eagle_subscriber = nh_.subscribe("eagle_in", 10, &Eagle::callbackSendMessage, this, ros::TransportHints().tcpNoDelay());
 
@@ -265,7 +265,7 @@ void Eagle::callbackMaintainerTimer(const ros::TimerEvent &event) {
 
 /* callbackSendMessage() //{ */
 
-void Eagle::callbackSendMessage(const mrs_msgs::BacaProtocolConstPtr &msg) {
+void Eagle::callbackSendMessage(const mrs_modules_msgs::BacaProtocolConstPtr &msg) {
 
   if (!is_initialized_) {
     return;
@@ -298,7 +298,7 @@ void Eagle::callbackSendMessage(const mrs_msgs::BacaProtocolConstPtr &msg) {
 
 /* callbackSendRawMessage() //{ */
 
-void Eagle::callbackSendRawMessage(const mrs_msgs::SerialRawConstPtr &msg) {
+void Eagle::callbackSendRawMessage(const mrs_modules_msgs::SerialRawConstPtr &msg) {
 
   if (!is_initialized_) {
     return;
@@ -606,7 +606,7 @@ void Eagle::processMessage(uint8_t payload_size, uint8_t *input_buffer, uint8_t
     if (checksum_correct) {
       received_msg_ok++;
     }
-    mrs_msgs::BacaProtocol msg;
+    mrs_modules_msgs::BacaProtocol msg;
     msg.stamp = ros::Time::now();
     for (uint8_t i = 0; i < payload_size; i++) {
       msg.payload.push_back(input_buffer[i]);

diff --git a/src/estop.cpp b/src/estop.cpp
@@ -1,20 +1,20 @@
-#include "mrs_msgs/SetIntRequest.h"
-#include "mrs_msgs/SetIntResponse.h"
 #include <ros/package.h>
 #include <stdlib.h>
 #include <ros/ros.h>
 #include <sensor_msgs/Range.h>
 #include <std_msgs/Char.h>
 #include <std_srvs/SetBool.h>
 #include <std_srvs/Trigger.h>
-#include <mrs_msgs/SetInt.h>
 #include <std_msgs/Empty.h>
 #include <mutex>
 
 #include <string>
-#include <mrs_msgs/BacaProtocol.h>
+
+#include <mrs_modules_msgs/BacaProtocol.h>
+#include <mrs_modules_msgs/SerialRaw.h>
+
+#include <mrs_msgs/SetInt.h>
 #include <mrs_msgs/ControlManagerDiagnostics.h>
-#include <mrs_msgs/SerialRaw.h>
 
 #include <mrs_lib/param_loader.h>
 #include <mrs_lib/service_client_handler.h>
@@ -67,7 +67,7 @@ class Estop : public nodelet::Nodelet {
   void callbackEstopTimer(const ros::TimerEvent &event);
   void callbackMaintainerTimer(const ros::TimerEvent &event);
 
-  void callbackSendRawMessage(const mrs_msgs::SerialRawConstPtr &msg);
+  void callbackSendRawMessage(const mrs_modules_msgs::SerialRawConstPtr &msg);
   void controlManagerCallback(const mrs_msgs::ControlManagerDiagnosticsConstPtr &msg);
 
   uint8_t connectToSensor(void);
@@ -311,7 +311,7 @@ void Estop::callbackMaintainerTimer(const ros::TimerEvent &event) {
 
 /* callbackSendRawMessage() //{ */
 
-void Estop::callbackSendRawMessage(const mrs_msgs::SerialRawConstPtr &msg) {
+void Estop::callbackSendRawMessage(const mrs_modules_msgs::SerialRawConstPtr &msg) {
 
   if (!is_initialized_) {
     return;
@@ -426,7 +426,7 @@ void Estop::processMessage(uint8_t payload_size, uint8_t *input_buffer, uint8_t
   if (checksum_correct) {
     received_msg_ok++;
   }
-  mrs_msgs::BacaProtocol msg;
+  mrs_modules_msgs::BacaProtocol msg;
   msg.stamp = ros::Time::now();
   for (uint8_t i = 0; i < payload_size; i++) {
     msg.payload.push_back(input_buffer[i]);

diff --git a/src/gimbal.cpp b/src/gimbal.cpp
@@ -45,7 +45,7 @@ namespace gimbal
         m_pub_attitude = m_nh.advertise<nav_msgs::Odometry>("attitude_out", 10);
         m_pub_speed = m_nh.advertise<geometry_msgs::Vector3>("speed_out", 10);
         m_pub_command = m_nh.advertise<nav_msgs::Odometry>("current_setpoint", 10);
-        m_pub_orientation_pry = m_nh.advertise<mrs_msgs::GimbalPRY>("attitude_out_pry", 10);
+        m_pub_orientation_pry = m_nh.advertise<mrs_modules_msgs::GimbalPRY>("attitude_out_pry", 10);
 
         m_sub_attitude = m_nh.subscribe("attitude_in", 10, &Gimbal::attitude_cbk, this);
         m_sub_command = m_nh.subscribe("cmd_orientation", 10, &Gimbal::cmd_orientation_cbk, this);
@@ -234,7 +234,7 @@ namespace gimbal
     //}
 
     /* cmd_pry_cbk() method //{ */
-    void Gimbal::cmd_pry_cbk(const mrs_msgs::GimbalPRY::ConstPtr &cmd_pry) {
+    void Gimbal::cmd_pry_cbk(const mrs_modules_msgs::GimbalPRY::ConstPtr &cmd_pry) {
         rotate_gimbal_PRY_between_frames(cmd_pry->pitch, cmd_pry->roll, cmd_pry->yaw,
                                          m_base_frame_id, m_stabilization_frame_id);
     }
@@ -276,7 +276,7 @@ namespace gimbal
 
         /* Process the gimbal orientation frame //{ */
         if (m_request_data_flags & cmd_realtime_data_custom_flags_stator_rotor_angle) {
-            auto msg_pry = boost::make_shared<mrs_msgs::GimbalPRY>();
+            auto msg_pry = boost::make_shared<mrs_modules_msgs::GimbalPRY>();
 
             msg_pry->pitch = data.stator_rotor_angle[1];
             msg_pry->roll = data.stator_rotor_angle[0];

diff --git a/src/led.cpp b/src/led.cpp
@@ -1,19 +1,18 @@
-#include "mrs_msgs/SetIntRequest.h"
-#include "mrs_msgs/SetIntResponse.h"
 #include <ros/package.h>
 #include <stdlib.h>
 #include <ros/ros.h>
 #include <sensor_msgs/Range.h>
 #include <std_msgs/Char.h>
 #include <std_srvs/SetBool.h>
 #include <std_srvs/SetBool.h>
-#include <mrs_msgs/SetInt.h>
 #include <std_msgs/Empty.h>
 #include <mutex>
 
+#include <mrs_msgs/SetInt.h>
+
 #include <string>
-#include <mrs_msgs/BacaProtocol.h>
-#include <mrs_msgs/SerialRaw.h>
+#include <mrs_modules_msgs/BacaProtocol.h>
+#include <mrs_modules_msgs/SerialRaw.h>
 
 #include <serial_port.h>
 
@@ -59,7 +58,7 @@ class Led : public nodelet::Nodelet {
   bool callbackLed(std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res);
   bool callbackOuster(std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res);
 
-  void callbackSendRawMessage(const mrs_msgs::SerialRawConstPtr &msg);
+  void callbackSendRawMessage(const mrs_modules_msgs::SerialRawConstPtr &msg);
 
   uint8_t connectToSensor(void);
   void    processMessage(uint8_t payload_size, uint8_t *input_buffer, uint8_t checksum, uint8_t checksum_rec, bool checksum_correct);
@@ -119,8 +118,8 @@ void Led::onInit() {
   nh_.param("serial_buffer_size", serial_buffer_size_, 1024);
 
   // Publishers
-  baca_protocol_publisher_       = nh_.advertise<mrs_msgs::BacaProtocol>("baca_protocol_out", 1);
-  /* baca_protocol_debug_publisher_ = nh_.advertise<mrs_msgs::BacaProtocol>("baca_protocol_out_debug", 1); */
+  baca_protocol_publisher_       = nh_.advertise<mrs_modules_msgs::BacaProtocol>("baca_protocol_out", 1);
+  /* baca_protocol_debug_publisher_ = nh_.advertise<mrs_modules_msgs::BacaProtocol>("baca_protocol_out_debug", 1); */
 
   raw_message_subscriber = nh_.subscribe("raw_in", 10, &Led::callbackSendRawMessage, this, ros::TransportHints().tcpNoDelay());
 
@@ -206,7 +205,7 @@ void Led::callbackMaintainerTimer(const ros::TimerEvent &event) {
 
 /* callbackSendRawMessage() //{ */
 
-void Led::callbackSendRawMessage(const mrs_msgs::SerialRawConstPtr &msg) {
+void Led::callbackSendRawMessage(const mrs_modules_msgs::SerialRawConstPtr &msg) {
 
   if (!is_initialized_) {
     return;
@@ -265,7 +264,7 @@ bool Led::callbackAll(std_srvs::SetBool::Request &req, std_srvs::SetBool::Respon
 
   serial_port_.sendCharArray(out_buffer, payload_size + 3);
 
-  /* mrs_msgs::BacaProtocol msg; */
+  /* mrs_modules_msgs::BacaProtocol msg; */
   /* msg.stamp = ros::Time::now(); */
   /* for (uint8_t i = 0; i < payload_size + 3; i++) { */
   /*   msg.payload.push_back(out_buffer[i]); */
@@ -490,7 +489,7 @@ void Led::processMessage(uint8_t payload_size, uint8_t *input_buffer, uint8_t ch
   if (checksum_correct) {
     received_msg_ok++;
   }
-  mrs_msgs::BacaProtocol msg;
+  mrs_modules_msgs::BacaProtocol msg;
   msg.stamp = ros::Time::now();
   for (uint8_t i = 0; i < payload_size; i++) {
     msg.payload.push_back(input_buffer[i]);

diff --git a/src/nmea_parser.cpp b/src/nmea_parser.cpp
@@ -3,15 +3,15 @@
 #include <ros/ros.h>
 #include <mutex>
 
-#include <mrs_msgs/Gpgga.h>
-#include <mrs_msgs/Gpgsa.h>
-#include <mrs_msgs/Gpgst.h>
-#include <mrs_msgs/Gpvtg.h>
+#include <mrs_modules_msgs/Gpgga.h>
+#include <mrs_modules_msgs/Gpgsa.h>
+#include <mrs_modules_msgs/Gpgst.h>
+#include <mrs_modules_msgs/Gpvtg.h>
 
 #include <mrs_msgs/StringStamped.h>
 
-#include <mrs_msgs/Bestpos.h>
-#include <mrs_msgs/GpsStatus.h>
+#include <mrs_modules_msgs/Bestpos.h>
+#include <mrs_modules_msgs/GpsStatus.h>
 
 #include <std_msgs/String.h>
 
@@ -86,7 +86,7 @@ class NmeaParser : public nodelet::Nodelet {
   ros::Timer serial_timer_;
   ros::Timer maintainer_timer_;
 
-  mrs_msgs::Bestpos bestpos_msg_;
+  mrs_modules_msgs::Bestpos bestpos_msg_;
 
   serial_port::SerialPort serial_port_;
 
@@ -139,11 +139,11 @@ void NmeaParser::onInit() {
   nh_.param("serial_rate", serial_rate_, 500);
   nh_.param("serial_buffer_size", serial_buffer_size_, 1024);
 
-  gpgga_pub_               = nh_.advertise<mrs_msgs::Gpgga>("gpgga_out", 1);
-  gpgsa_pub_               = nh_.advertise<mrs_msgs::Gpgsa>("gpgsa_out", 1);
-  gpgst_pub_               = nh_.advertise<mrs_msgs::Gpgst>("gpgst_out", 1);
-  gpvtg_pub_               = nh_.advertise<mrs_msgs::Gpvtg>("gpvtg_out", 1);
-  bestpos_pub_             = nh_.advertise<mrs_msgs::Bestpos>("bestpos_out", 1);
+  gpgga_pub_               = nh_.advertise<mrs_modules_msgs::Gpgga>("gpgga_out", 1);
+  gpgsa_pub_               = nh_.advertise<mrs_modules_msgs::Gpgsa>("gpgsa_out", 1);
+  gpgst_pub_               = nh_.advertise<mrs_modules_msgs::Gpgst>("gpgst_out", 1);
+  gpvtg_pub_               = nh_.advertise<mrs_modules_msgs::Gpvtg>("gpvtg_out", 1);
+  bestpos_pub_             = nh_.advertise<mrs_modules_msgs::Bestpos>("bestpos_out", 1);
   string_pub_              = nh_.advertise<std_msgs::String>("status_out", 1);
   string_raw_pub_          = nh_.advertise<mrs_msgs::StringStamped>("raw_out", 1);
 
@@ -304,8 +304,8 @@ void NmeaParser::processMessage() {
 
 void NmeaParser::processGPGGA(std::vector<std::string>& results) {
 
-  mrs_msgs::Gpgga     gpgga_msg;
-  mrs_msgs::GpsStatus gps_status;
+  mrs_modules_msgs::Gpgga     gpgga_msg;
+  mrs_modules_msgs::GpsStatus gps_status;
 
   /* for (size_t i = 0; i < results.size(); i++) { */
   /*   ROS_INFO_STREAM("[NmeaParser]:  " << i << "  " << results[i]); */
@@ -440,7 +440,7 @@ void NmeaParser::processGPGGA(std::vector<std::string>& results) {
 
 void NmeaParser::processGPGSA(std::vector<std::string>& results) {
 
-  mrs_msgs::Gpgsa gpgsa_msg;
+  mrs_modules_msgs::Gpgsa gpgsa_msg;
   gpgsa_msg.header.stamp = ros::Time::now();
 
   gpgsa_msg.auto_manual_mode = results[2];
@@ -475,7 +475,7 @@ void NmeaParser::processGPGSA(std::vector<std::string>& results) {
 
 void NmeaParser::processGPGST(std::vector<std::string>& results) {
 
-  mrs_msgs::Gpgst gpgst_msg;
+  mrs_modules_msgs::Gpgst gpgst_msg;
   gpgst_msg.header.stamp = ros::Time::now();
 
   /* for (size_t i = 0; i < results.size(); i++) { */
@@ -510,7 +510,7 @@ void NmeaParser::processGPGST(std::vector<std::string>& results) {
 
 void NmeaParser::processGPVTG(std::vector<std::string>& results) {
 
-  mrs_msgs::Gpvtg gpvtg_msg;
+  mrs_modules_msgs::Gpvtg gpvtg_msg;
   gpvtg_msg.header.stamp = ros::Time::now();
 
   /* for (size_t i = 0; i < results.size(); i++) { */