From aabd51e029e6e278c96a2bd037afdcfa67808665 Mon Sep 17 00:00:00 2001 From: Damon Kohler Date: Wed, 3 Aug 2016 12:57:56 +0200 Subject: [PATCH] Renames google_cartographer* to cartographer_ros*. --- .../CMakeLists.txt | 4 ++-- .../configuration_files/3d_mapping.lua | 0 .../configuration_files/backpack_3d.lua | 0 .../configuration_files/turtlebot.lua | 0 .../launch/3d_mapping.launch | 6 ++--- .../launch/state.launch | 6 ++--- .../launch/turtlebot.launch | 6 ++--- .../materials/glsl120/glsl120.program | 8 +++---- .../materials/glsl120/screen_blit.frag | 0 .../materials/glsl120/screen_blit.vert | 0 .../ogre_media/materials/glsl120/submap.frag | 0 .../ogre_media/materials/glsl120/submap.vert | 0 .../materials/scripts/screen_blit.material | 6 ++--- .../materials/scripts/submap.material | 6 ++--- .../package.xml | 8 +++---- .../rviz_plugin_description.xml | 0 .../src/cartographer_node_main.cc | 24 +++++++++---------- .../src/drawable_submap.cc | 10 ++++---- .../src/drawable_submap.h | 8 +++---- .../src/msg_conversion.cc | 0 .../src/msg_conversion.h | 0 .../src/node_constants.h | 0 .../src/submaps_display.cc | 20 ++++++++-------- .../src/submaps_display.h | 6 ++--- .../src/time_conversion.cc | 0 .../src/time_conversion.h | 0 .../src/time_conversion_test.cc | 0 .../src/trajectory.cc | 0 .../src/trajectory.h | 0 .../urdf/backpack_2d.urdf | 2 +- .../urdf/backpack_3d.urdf | 2 +- .../urdf/turtlebot.urdf | 2 +- .../CMakeLists.txt | 2 +- .../msg/SubmapEntry.msg | 0 .../msg/SubmapList.msg | 0 .../msg/TrajectorySubmapList.msg | 0 .../package.xml | 4 ++-- .../srv/SubmapQuery.srv | 0 38 files changed, 65 insertions(+), 65 deletions(-) rename {google_cartographer => cartographer_ros}/CMakeLists.txt (98%) rename {google_cartographer => cartographer_ros}/configuration_files/3d_mapping.lua (100%) rename {google_cartographer => cartographer_ros}/configuration_files/backpack_3d.lua (100%) rename {google_cartographer => cartographer_ros}/configuration_files/turtlebot.lua (100%) rename {google_cartographer => cartographer_ros}/launch/3d_mapping.launch (95%) rename {google_cartographer => cartographer_ros}/launch/state.launch (93%) rename {google_cartographer => cartographer_ros}/launch/turtlebot.launch (87%) rename {google_cartographer => cartographer_ros}/ogre_media/materials/glsl120/glsl120.program (74%) rename {google_cartographer => cartographer_ros}/ogre_media/materials/glsl120/screen_blit.frag (100%) rename {google_cartographer => cartographer_ros}/ogre_media/materials/glsl120/screen_blit.vert (100%) rename {google_cartographer => cartographer_ros}/ogre_media/materials/glsl120/submap.frag (100%) rename {google_cartographer => cartographer_ros}/ogre_media/materials/glsl120/submap.vert (100%) rename {google_cartographer => cartographer_ros}/ogre_media/materials/scripts/screen_blit.material (79%) rename {google_cartographer => cartographer_ros}/ogre_media/materials/scripts/submap.material (81%) rename {google_cartographer => cartographer_ros}/package.xml (91%) rename {google_cartographer => cartographer_ros}/rviz_plugin_description.xml (100%) rename {google_cartographer => cartographer_ros}/src/cartographer_node_main.cc (97%) rename {google_cartographer => cartographer_ros}/src/drawable_submap.cc (96%) rename {google_cartographer => cartographer_ros}/src/drawable_submap.h (93%) rename {google_cartographer => cartographer_ros}/src/msg_conversion.cc (100%) rename {google_cartographer => cartographer_ros}/src/msg_conversion.h (100%) rename {google_cartographer => cartographer_ros}/src/node_constants.h (100%) rename {google_cartographer => cartographer_ros}/src/submaps_display.cc (94%) rename {google_cartographer => cartographer_ros}/src/submaps_display.h (95%) rename {google_cartographer => cartographer_ros}/src/time_conversion.cc (100%) rename {google_cartographer => cartographer_ros}/src/time_conversion.h (100%) rename {google_cartographer => cartographer_ros}/src/time_conversion_test.cc (100%) rename {google_cartographer => cartographer_ros}/src/trajectory.cc (100%) rename {google_cartographer => cartographer_ros}/src/trajectory.h (100%) rename {google_cartographer => cartographer_ros}/urdf/backpack_2d.urdf (98%) rename {google_cartographer => cartographer_ros}/urdf/backpack_3d.urdf (98%) rename {google_cartographer => cartographer_ros}/urdf/turtlebot.urdf (97%) rename {google_cartographer_msgs => cartographer_ros_msgs}/CMakeLists.txt (96%) rename {google_cartographer_msgs => cartographer_ros_msgs}/msg/SubmapEntry.msg (100%) rename {google_cartographer_msgs => cartographer_ros_msgs}/msg/SubmapList.msg (100%) rename {google_cartographer_msgs => cartographer_ros_msgs}/msg/TrajectorySubmapList.msg (100%) rename {google_cartographer_msgs => cartographer_ros_msgs}/package.xml (91%) rename {google_cartographer_msgs => cartographer_ros_msgs}/srv/SubmapQuery.srv (100%) diff --git a/google_cartographer/CMakeLists.txt b/cartographer_ros/CMakeLists.txt similarity index 98% rename from google_cartographer/CMakeLists.txt rename to cartographer_ros/CMakeLists.txt index 77d8088..89dde17 100644 --- a/google_cartographer/CMakeLists.txt +++ b/cartographer_ros/CMakeLists.txt @@ -14,12 +14,12 @@ cmake_minimum_required(VERSION 2.8) -project(google_cartographer) +project(cartographer_ros) set(PACKAGE_DEPENDENCIES eigen_conversions geometry_msgs - google_cartographer_msgs + cartographer_ros_msgs roscpp rviz sensor_msgs diff --git a/google_cartographer/configuration_files/3d_mapping.lua b/cartographer_ros/configuration_files/3d_mapping.lua similarity index 100% rename from google_cartographer/configuration_files/3d_mapping.lua rename to cartographer_ros/configuration_files/3d_mapping.lua diff --git a/google_cartographer/configuration_files/backpack_3d.lua b/cartographer_ros/configuration_files/backpack_3d.lua similarity index 100% rename from google_cartographer/configuration_files/backpack_3d.lua rename to cartographer_ros/configuration_files/backpack_3d.lua diff --git a/google_cartographer/configuration_files/turtlebot.lua b/cartographer_ros/configuration_files/turtlebot.lua similarity index 100% rename from google_cartographer/configuration_files/turtlebot.lua rename to cartographer_ros/configuration_files/turtlebot.lua diff --git a/google_cartographer/launch/3d_mapping.launch b/cartographer_ros/launch/3d_mapping.launch similarity index 95% rename from google_cartographer/launch/3d_mapping.launch rename to cartographer_ros/launch/3d_mapping.launch index 2671e2b..45517ba 100644 --- a/google_cartographer/launch/3d_mapping.launch +++ b/cartographer_ros/launch/3d_mapping.launch @@ -75,18 +75,18 @@ + textfile="$(find cartographer_ros)/urdf/backpack_3d.urdf" /> - map_frame: "map" tracking_frame: "base_link" configuration_files_directories: [ - "$(find google_cartographer)/configuration_files" + "$(find cartographer_ros)/configuration_files" ] mapping_configuration_basename: "3d_mapping.lua" imu_topic: "/imu" diff --git a/google_cartographer/launch/state.launch b/cartographer_ros/launch/state.launch similarity index 93% rename from google_cartographer/launch/state.launch rename to cartographer_ros/launch/state.launch index c07f760..4a931e2 100644 --- a/google_cartographer/launch/state.launch +++ b/cartographer_ros/launch/state.launch @@ -16,12 +16,12 @@ + textfile="$(find cartographer_ros)/urdf/backpack_3d.urdf" /> - # This node publishes the transformation between the tracking and map @@ -35,7 +35,7 @@ # want to add your own configuration overwrites in your own node # directories - you should add the path here as first entry then. configuration_files_directories: [ - "$(find google_cartographer)/configuration_files" + "$(find cartographer_ros)/configuration_files" ] # Configuration file for SLAM. The settings in here are tweaked to the diff --git a/google_cartographer/launch/turtlebot.launch b/cartographer_ros/launch/turtlebot.launch similarity index 87% rename from google_cartographer/launch/turtlebot.launch rename to cartographer_ros/launch/turtlebot.launch index 75c9576..cfd0c54 100644 --- a/google_cartographer/launch/turtlebot.launch +++ b/cartographer_ros/launch/turtlebot.launch @@ -16,18 +16,18 @@ + textfile="$(find cartographer_ros)/urdf/turtlebot.urdf" /> - map_frame: "map" tracking_frame: "base_link" configuration_files_directories: [ - "$(find google_cartographer)/configuration_files" + "$(find cartographer_ros)/configuration_files" ] mapping_configuration_basename: "turtlebot.lua" imu_topic: "/imu" diff --git a/google_cartographer/ogre_media/materials/glsl120/glsl120.program b/cartographer_ros/ogre_media/materials/glsl120/glsl120.program similarity index 74% rename from google_cartographer/ogre_media/materials/glsl120/glsl120.program rename to cartographer_ros/ogre_media/materials/glsl120/glsl120.program index 045f381..d8d6e6e 100644 --- a/google_cartographer/ogre_media/materials/glsl120/glsl120.program +++ b/cartographer_ros/ogre_media/materials/glsl120/glsl120.program @@ -14,22 +14,22 @@ * limitations under the License. */ -fragment_program google_cartographer/glsl120/submap.frag glsl +fragment_program cartographer_ros/glsl120/submap.frag glsl { source submap.frag } -vertex_program google_cartographer/glsl120/submap.vert glsl +vertex_program cartographer_ros/glsl120/submap.vert glsl { source submap.vert } -fragment_program google_cartographer/glsl120/screen_blit.frag glsl +fragment_program cartographer_ros/glsl120/screen_blit.frag glsl { source screen_blit.frag } -vertex_program google_cartographer/glsl120/screen_blit.vert glsl +vertex_program cartographer_ros/glsl120/screen_blit.vert glsl { source screen_blit.vert } diff --git a/google_cartographer/ogre_media/materials/glsl120/screen_blit.frag b/cartographer_ros/ogre_media/materials/glsl120/screen_blit.frag similarity index 100% rename from google_cartographer/ogre_media/materials/glsl120/screen_blit.frag rename to cartographer_ros/ogre_media/materials/glsl120/screen_blit.frag diff --git a/google_cartographer/ogre_media/materials/glsl120/screen_blit.vert b/cartographer_ros/ogre_media/materials/glsl120/screen_blit.vert similarity index 100% rename from google_cartographer/ogre_media/materials/glsl120/screen_blit.vert rename to cartographer_ros/ogre_media/materials/glsl120/screen_blit.vert diff --git a/google_cartographer/ogre_media/materials/glsl120/submap.frag b/cartographer_ros/ogre_media/materials/glsl120/submap.frag similarity index 100% rename from google_cartographer/ogre_media/materials/glsl120/submap.frag rename to cartographer_ros/ogre_media/materials/glsl120/submap.frag diff --git a/google_cartographer/ogre_media/materials/glsl120/submap.vert b/cartographer_ros/ogre_media/materials/glsl120/submap.vert similarity index 100% rename from google_cartographer/ogre_media/materials/glsl120/submap.vert rename to cartographer_ros/ogre_media/materials/glsl120/submap.vert diff --git a/google_cartographer/ogre_media/materials/scripts/screen_blit.material b/cartographer_ros/ogre_media/materials/scripts/screen_blit.material similarity index 79% rename from google_cartographer/ogre_media/materials/scripts/screen_blit.material rename to cartographer_ros/ogre_media/materials/scripts/screen_blit.material index cd850fd..2853689 100644 --- a/google_cartographer/ogre_media/materials/scripts/screen_blit.material +++ b/cartographer_ros/ogre_media/materials/scripts/screen_blit.material @@ -14,15 +14,15 @@ * limitations under the License. */ -material google_cartographer/ScreenBlit +material cartographer_ros/ScreenBlit { technique { pass { - vertex_program_ref google_cartographer/glsl120/screen_blit.vert {} + vertex_program_ref cartographer_ros/glsl120/screen_blit.vert {} - fragment_program_ref google_cartographer/glsl120/screen_blit.frag + fragment_program_ref cartographer_ros/glsl120/screen_blit.frag { param_named u_texture int 0 } diff --git a/google_cartographer/ogre_media/materials/scripts/submap.material b/cartographer_ros/ogre_media/materials/scripts/submap.material similarity index 81% rename from google_cartographer/ogre_media/materials/scripts/submap.material rename to cartographer_ros/ogre_media/materials/scripts/submap.material index 1304156..1ee71e3 100644 --- a/google_cartographer/ogre_media/materials/scripts/submap.material +++ b/cartographer_ros/ogre_media/materials/scripts/submap.material @@ -14,15 +14,15 @@ * limitations under the License. */ -material google_cartographer/Submap +material cartographer_ros/Submap { technique { pass { - vertex_program_ref google_cartographer/glsl120/submap.vert {} + vertex_program_ref cartographer_ros/glsl120/submap.vert {} - fragment_program_ref google_cartographer/glsl120/submap.frag + fragment_program_ref cartographer_ros/glsl120/submap.frag { param_named u_submap int 0 param_named u_alpha float 1.0 diff --git a/google_cartographer/package.xml b/cartographer_ros/package.xml similarity index 91% rename from google_cartographer/package.xml rename to cartographer_ros/package.xml index bf3d0b9..b7fce9c 100644 --- a/google_cartographer/package.xml +++ b/cartographer_ros/package.xml @@ -16,9 +16,9 @@ --> - google_cartographer + cartographer_ros 1.0.0 - The google_cartographer package. + The cartographer_ros package. Google Apache 2.0 @@ -26,7 +26,7 @@ eigen_conversions geometry_msgs - google_cartographer_msgs + cartographer_ros_msgs libpcl-all-dev message_generation nav_msgs @@ -44,7 +44,7 @@ eigen_conversions geometry_msgs - google_cartographer_msgs + cartographer_ros_msgs libpcl-all libqt5-core libqt5-gui diff --git a/google_cartographer/rviz_plugin_description.xml b/cartographer_ros/rviz_plugin_description.xml similarity index 100% rename from google_cartographer/rviz_plugin_description.xml rename to cartographer_ros/rviz_plugin_description.xml diff --git a/google_cartographer/src/cartographer_node_main.cc b/cartographer_ros/src/cartographer_node_main.cc similarity index 97% rename from google_cartographer/src/cartographer_node_main.cc rename to cartographer_ros/src/cartographer_node_main.cc index 5dc619a..7612edb 100644 --- a/google_cartographer/src/cartographer_node_main.cc +++ b/cartographer_ros/src/cartographer_node_main.cc @@ -46,10 +46,10 @@ #include "geometry_msgs/TransformStamped.h" #include "glog/log_severity.h" #include "glog/logging.h" -#include "google_cartographer_msgs/SubmapEntry.h" -#include "google_cartographer_msgs/SubmapList.h" -#include "google_cartographer_msgs/SubmapQuery.h" -#include "google_cartographer_msgs/TrajectorySubmapList.h" +#include "cartographer_ros_msgs/SubmapEntry.h" +#include "cartographer_ros_msgs/SubmapList.h" +#include "cartographer_ros_msgs/SubmapQuery.h" +#include "cartographer_ros_msgs/TrajectorySubmapList.h" #include "pcl/point_cloud.h" #include "pcl/point_types.h" #include "pcl_conversions/pcl_conversions.h" @@ -173,8 +173,8 @@ class Node { const string& frame_id); bool HandleSubmapQuery( - ::google_cartographer_msgs::SubmapQuery::Request& request, - ::google_cartographer_msgs::SubmapQuery::Response& response); + ::cartographer_ros_msgs::SubmapQuery::Request& request, + ::cartographer_ros_msgs::SubmapQuery::Response& response); void PublishSubmapList(int64 timestamp); void PublishPose(int64 timestamp); @@ -441,15 +441,15 @@ void Node::Initialize() { }); submap_list_publisher_ = - node_handle_.advertise<::google_cartographer_msgs::SubmapList>( + node_handle_.advertise<::cartographer_ros_msgs::SubmapList>( kSubmapListTopic, 10); submap_query_server_ = node_handle_.advertiseService( kSubmapQueryServiceName, &Node::HandleSubmapQuery, this); } bool Node::HandleSubmapQuery( - ::google_cartographer_msgs::SubmapQuery::Request& request, - ::google_cartographer_msgs::SubmapQuery::Response& response) { + ::cartographer_ros_msgs::SubmapQuery::Request& request, + ::cartographer_ros_msgs::SubmapQuery::Response& response) { if (request.trajectory_id != 0) { return false; } @@ -506,15 +506,15 @@ void Node::PublishSubmapList(int64 timestamp) { sparse_pose_graph_->GetSubmapTransforms(*submaps); CHECK_EQ(submap_transforms.size(), submaps->size()); - ::google_cartographer_msgs::TrajectorySubmapList ros_trajectory; + ::cartographer_ros_msgs::TrajectorySubmapList ros_trajectory; for (int i = 0; i != submaps->size(); ++i) { - ::google_cartographer_msgs::SubmapEntry ros_submap; + ::cartographer_ros_msgs::SubmapEntry ros_submap; ros_submap.submap_version = submaps->Get(i)->end_laser_fan_index; ros_submap.pose = ToGeometryMsgPose(submap_transforms[i]); ros_trajectory.submap.push_back(ros_submap); } - ::google_cartographer_msgs::SubmapList ros_submap_list; + ::cartographer_ros_msgs::SubmapList ros_submap_list; ros_submap_list.trajectory.push_back(ros_trajectory); submap_list_publisher_.publish(ros_submap_list); last_submap_list_publish_timestamp_ = timestamp; diff --git a/google_cartographer/src/drawable_submap.cc b/cartographer_ros/src/drawable_submap.cc similarity index 96% rename from google_cartographer/src/drawable_submap.cc rename to cartographer_ros/src/drawable_submap.cc index 5e2a035..c76f63a 100644 --- a/google_cartographer/src/drawable_submap.cc +++ b/cartographer_ros/src/drawable_submap.cc @@ -20,7 +20,7 @@ #include #include #include -#include +#include #include #include #include @@ -42,7 +42,7 @@ constexpr char kMapFrame[] = "/map"; constexpr char kSubmapTexturePrefix[] = "SubmapTexture"; constexpr char kManualObjectPrefix[] = "ManualObjectSubmap"; constexpr char kSubmapMaterialPrefix[] = "SubmapMaterial"; -constexpr char kSubmapSourceMaterialName[] = "google_cartographer/Submap"; +constexpr char kSubmapSourceMaterialName[] = "cartographer_ros/Submap"; // Distance before which the submap will be shown at full opacity, and distance // over which the submap will then fade out. @@ -89,7 +89,7 @@ DrawableSubmap::~DrawableSubmap() { } bool DrawableSubmap::Update( - const ::google_cartographer_msgs::SubmapEntry& metadata, + const ::cartographer_ros_msgs::SubmapEntry& metadata, ros::ServiceClient* const client) { ::cartographer::common::MutexLocker locker(&mutex_); tf::poseMsgToEigen(metadata.pose, submap_pose_); @@ -113,11 +113,11 @@ void DrawableSubmap::QuerySubmap(const int submap_id, const int trajectory_id, ros::ServiceClient* const client) { rpc_request_future_ = std::async( std::launch::async, [this, submap_id, trajectory_id, client]() { - ::google_cartographer_msgs::SubmapQuery srv; + ::cartographer_ros_msgs::SubmapQuery srv; srv.request.submap_id = submap_id; srv.request.trajectory_id = trajectory_id; if (client->call(srv)) { - response_.reset(new ::google_cartographer_msgs::SubmapQuery::Response( + response_.reset(new ::cartographer_ros_msgs::SubmapQuery::Response( srv.response)); Q_EMIT RequestSucceeded(); } else { diff --git a/google_cartographer/src/drawable_submap.h b/cartographer_ros/src/drawable_submap.h similarity index 93% rename from google_cartographer/src/drawable_submap.h rename to cartographer_ros/src/drawable_submap.h index cbdd53f..8332a70 100644 --- a/google_cartographer/src/drawable_submap.h +++ b/cartographer_ros/src/drawable_submap.h @@ -23,8 +23,8 @@ #include #include #include -#include -#include +#include +#include #include #include #include @@ -55,7 +55,7 @@ class DrawableSubmap : public QObject { // 'submap_entry' contains metadata which is used to find out whether this // 'DrawableSubmap' should update itself. If an update is needed, it will send // an RPC using 'client' to request the new data for the submap. - bool Update(const ::google_cartographer_msgs::SubmapEntry& submap_entry, + bool Update(const ::cartographer_ros_msgs::SubmapEntry& submap_entry, ros::ServiceClient* client); // Returns whether an RPC is in progress. @@ -105,7 +105,7 @@ class DrawableSubmap : public QObject { double last_query_slice_height_ GUARDED_BY(mutex_); std::future rpc_request_future_; std::string cells_ GUARDED_BY(mutex_); - std::unique_ptr<::google_cartographer_msgs::SubmapQuery::Response> response_ + std::unique_ptr<::cartographer_ros_msgs::SubmapQuery::Response> response_ GUARDED_BY(mutex_); int texture_count_; float current_alpha_; diff --git a/google_cartographer/src/msg_conversion.cc b/cartographer_ros/src/msg_conversion.cc similarity index 100% rename from google_cartographer/src/msg_conversion.cc rename to cartographer_ros/src/msg_conversion.cc diff --git a/google_cartographer/src/msg_conversion.h b/cartographer_ros/src/msg_conversion.h similarity index 100% rename from google_cartographer/src/msg_conversion.h rename to cartographer_ros/src/msg_conversion.h diff --git a/google_cartographer/src/node_constants.h b/cartographer_ros/src/node_constants.h similarity index 100% rename from google_cartographer/src/node_constants.h rename to cartographer_ros/src/node_constants.h diff --git a/google_cartographer/src/submaps_display.cc b/cartographer_ros/src/submaps_display.cc similarity index 94% rename from google_cartographer/src/submaps_display.cc rename to cartographer_ros/src/submaps_display.cc index 10e24f4..5b14dca 100644 --- a/google_cartographer/src/submaps_display.cc +++ b/cartographer_ros/src/submaps_display.cc @@ -35,8 +35,8 @@ #include #include #include -#include -#include +#include +#include #include #include #include @@ -56,7 +56,7 @@ constexpr char kGlsl120Directory[] = "/glsl120"; constexpr char kScriptsDirectory[] = "/scripts"; constexpr char kScreenBlitMaterialName[] = "ScreenBlitMaterial"; constexpr char kScreenBlitSourceMaterialName[] = - "google_cartographer/ScreenBlit"; + "cartographer_ros/ScreenBlit"; constexpr char kSubmapsRttPrefix[] = "SubmapsRtt"; constexpr char kMapTextureName[] = "MapTexture"; constexpr char kMapOverlayName[] = "MapOverlay"; @@ -76,8 +76,8 @@ SubmapsDisplay::SubmapsDisplay() topic_property_ = new ::rviz::RosTopicProperty( "Topic", "", QString::fromStdString(ros::message_traits::datatype< - ::google_cartographer_msgs::SubmapList>()), - "google_cartographer_msgs::SubmapList topic to subscribe to.", this, + ::cartographer_ros_msgs::SubmapList>()), + "cartographer_ros_msgs::SubmapList topic to subscribe to.", this, SLOT(UpdateTopic())); submap_query_service_property_ = new ::rviz::StringProperty( "Submap query service", "", "Submap query service to connect to.", this, @@ -89,7 +89,7 @@ SubmapsDisplay::SubmapsDisplay() "Tracking frame", kDefaultTrackingFrame, "Tracking frame, used for fading out submaps.", this); client_ = - update_nh_.serviceClient<::google_cartographer_msgs::SubmapQuery>(""); + update_nh_.serviceClient<::cartographer_ros_msgs::SubmapQuery>(""); const std::string package_path = ::ros::package::getPath(ROS_PACKAGE_NAME); Ogre::ResourceGroupManager::getSingleton().addResourceLocation( package_path + kMaterialsDirectory, "FileSystem", ROS_PACKAGE_NAME); @@ -149,7 +149,7 @@ void SubmapsDisplay::UpdateSubmapQueryServiceName() { Unsubscribe(); Clear(); client_.shutdown(); - client_ = update_nh_.serviceClient<::google_cartographer_msgs::SubmapQuery>( + client_ = update_nh_.serviceClient<::cartographer_ros_msgs::SubmapQuery>( submap_query_service_property_->getStdString()); Subscribe(); } @@ -190,7 +190,7 @@ void SubmapsDisplay::Subscribe() { void SubmapsDisplay::Unsubscribe() { submap_list_subscriber_.shutdown(); } void SubmapsDisplay::IncomingSubmapList( - const ::google_cartographer_msgs::SubmapList::ConstPtr& msg) { + const ::cartographer_ros_msgs::SubmapList::ConstPtr& msg) { submap_list_ = *msg; Q_EMIT SubmapListUpdated(); } @@ -215,7 +215,7 @@ void SubmapsDisplay::RequestNewSubmaps() { if (trajectory_id >= trajectories_.size()) { trajectories_.emplace_back(new Trajectory); } - const std::vector<::google_cartographer_msgs::SubmapEntry>& submap_entries = + const std::vector<::cartographer_ros_msgs::SubmapEntry>& submap_entries = submap_list_.trajectory[trajectory_id].submap; if (submap_entries.empty()) { return; @@ -240,7 +240,7 @@ void SubmapsDisplay::RequestNewSubmaps() { } for (int trajectory_id = 0; trajectory_id < submap_list_.trajectory.size(); ++trajectory_id) { - const std::vector<::google_cartographer_msgs::SubmapEntry>& submap_entries = + const std::vector<::cartographer_ros_msgs::SubmapEntry>& submap_entries = submap_list_.trajectory[trajectory_id].submap; for (int submap_id = submap_entries.size() - 1; submap_id >= 0; --submap_id) { diff --git a/google_cartographer/src/submaps_display.h b/cartographer_ros/src/submaps_display.h similarity index 95% rename from google_cartographer/src/submaps_display.h rename to cartographer_ros/src/submaps_display.h index f3e85e6..41a9f18 100644 --- a/google_cartographer/src/submaps_display.h +++ b/cartographer_ros/src/submaps_display.h @@ -26,7 +26,7 @@ #include #include #include -#include +#include #include #include #include @@ -94,14 +94,14 @@ class SubmapsDisplay : public ::rviz::Display { void Unsubscribe(); void UpdateMapTexture(); void IncomingSubmapList( - const ::google_cartographer_msgs::SubmapList::ConstPtr& msg); + const ::cartographer_ros_msgs::SubmapList::ConstPtr& msg); // Clears the current map. void Clear(); void UpdateCurrentTrackingZ(const tf::tfMessage::ConstPtr& msg); int rtt_count_; SceneManagerListener scene_manager_listener_; - ::google_cartographer_msgs::SubmapList submap_list_; + ::cartographer_ros_msgs::SubmapList submap_list_; ros::Subscriber submap_list_subscriber_; ::tf2_ros::Buffer tf_buffer_; ::tf2_ros::TransformListener tf_listener_; diff --git a/google_cartographer/src/time_conversion.cc b/cartographer_ros/src/time_conversion.cc similarity index 100% rename from google_cartographer/src/time_conversion.cc rename to cartographer_ros/src/time_conversion.cc diff --git a/google_cartographer/src/time_conversion.h b/cartographer_ros/src/time_conversion.h similarity index 100% rename from google_cartographer/src/time_conversion.h rename to cartographer_ros/src/time_conversion.h diff --git a/google_cartographer/src/time_conversion_test.cc b/cartographer_ros/src/time_conversion_test.cc similarity index 100% rename from google_cartographer/src/time_conversion_test.cc rename to cartographer_ros/src/time_conversion_test.cc diff --git a/google_cartographer/src/trajectory.cc b/cartographer_ros/src/trajectory.cc similarity index 100% rename from google_cartographer/src/trajectory.cc rename to cartographer_ros/src/trajectory.cc diff --git a/google_cartographer/src/trajectory.h b/cartographer_ros/src/trajectory.h similarity index 100% rename from google_cartographer/src/trajectory.h rename to cartographer_ros/src/trajectory.h diff --git a/google_cartographer/urdf/backpack_2d.urdf b/cartographer_ros/urdf/backpack_2d.urdf similarity index 98% rename from google_cartographer/urdf/backpack_2d.urdf rename to cartographer_ros/urdf/backpack_2d.urdf index e72be50..3bfdfd9 100644 --- a/google_cartographer/urdf/backpack_2d.urdf +++ b/cartographer_ros/urdf/backpack_2d.urdf @@ -14,7 +14,7 @@ limitations under the License. --> - + diff --git a/google_cartographer/urdf/backpack_3d.urdf b/cartographer_ros/urdf/backpack_3d.urdf similarity index 98% rename from google_cartographer/urdf/backpack_3d.urdf rename to cartographer_ros/urdf/backpack_3d.urdf index 89f32ef..1772dbb 100644 --- a/google_cartographer/urdf/backpack_3d.urdf +++ b/cartographer_ros/urdf/backpack_3d.urdf @@ -14,7 +14,7 @@ limitations under the License. --> - + diff --git a/google_cartographer/urdf/turtlebot.urdf b/cartographer_ros/urdf/turtlebot.urdf similarity index 97% rename from google_cartographer/urdf/turtlebot.urdf rename to cartographer_ros/urdf/turtlebot.urdf index f97dcb7..b40220e 100644 --- a/google_cartographer/urdf/turtlebot.urdf +++ b/cartographer_ros/urdf/turtlebot.urdf @@ -14,7 +14,7 @@ limitations under the License. --> - + diff --git a/google_cartographer_msgs/CMakeLists.txt b/cartographer_ros_msgs/CMakeLists.txt similarity index 96% rename from google_cartographer_msgs/CMakeLists.txt rename to cartographer_ros_msgs/CMakeLists.txt index 9551707..251228d 100644 --- a/google_cartographer_msgs/CMakeLists.txt +++ b/cartographer_ros_msgs/CMakeLists.txt @@ -13,7 +13,7 @@ # limitations under the License. cmake_minimum_required(VERSION 2.8.3) -project(google_cartographer_msgs) +project(cartographer_ros_msgs) set(CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}") find_package(catkin REQUIRED COMPONENTS geometry_msgs message_generation) diff --git a/google_cartographer_msgs/msg/SubmapEntry.msg b/cartographer_ros_msgs/msg/SubmapEntry.msg similarity index 100% rename from google_cartographer_msgs/msg/SubmapEntry.msg rename to cartographer_ros_msgs/msg/SubmapEntry.msg diff --git a/google_cartographer_msgs/msg/SubmapList.msg b/cartographer_ros_msgs/msg/SubmapList.msg similarity index 100% rename from google_cartographer_msgs/msg/SubmapList.msg rename to cartographer_ros_msgs/msg/SubmapList.msg diff --git a/google_cartographer_msgs/msg/TrajectorySubmapList.msg b/cartographer_ros_msgs/msg/TrajectorySubmapList.msg similarity index 100% rename from google_cartographer_msgs/msg/TrajectorySubmapList.msg rename to cartographer_ros_msgs/msg/TrajectorySubmapList.msg diff --git a/google_cartographer_msgs/package.xml b/cartographer_ros_msgs/package.xml similarity index 91% rename from google_cartographer_msgs/package.xml rename to cartographer_ros_msgs/package.xml index a6d2cad..3fbf3e5 100644 --- a/google_cartographer_msgs/package.xml +++ b/cartographer_ros_msgs/package.xml @@ -15,10 +15,10 @@ --> - google_cartographer_msgs + cartographer_ros_msgs 1.0.0 - The google_cartographer_msgs package. + The cartographer_ros_msgs package. Google Apache 2.0 diff --git a/google_cartographer_msgs/srv/SubmapQuery.srv b/cartographer_ros_msgs/srv/SubmapQuery.srv similarity index 100% rename from google_cartographer_msgs/srv/SubmapQuery.srv rename to cartographer_ros_msgs/srv/SubmapQuery.srv