Merge pull request #1 from jginesclavero/eloquent-dev

ROS eloquent migration of all existing message definitions
spencer-project · Oct 19, 2020 · 0365463 · 0365463
2 parents 68c3a76 + 2aa3946
commit 0365463
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Showing 23 changed files with 218 additions and 250 deletions.
diff --git a/spencer_control_msgs/CATKIN_IGNORE → spencer_control_msgs/COLCON_IGNORE b/spencer_control_msgs/CATKIN_IGNORE → spencer_control_msgs/COLCON_IGNORE
diff --git a/spencer_human_attribute_msgs/CMakeLists.txt b/spencer_human_attribute_msgs/CMakeLists.txt
@@ -1,39 +1,27 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(spencer_human_attribute_msgs)
 
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  roslib
-  std_msgs
-  message_generation
-)
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 
-# Generate messages in the 'msg' folder
-add_message_files(
-   FILES
-   CategoricalAttribute.msg
-   ScalarAttribute.msg
-   HumanAttributes.msg
-)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
-# Generate services in the 'srv' folder
-#add_service_files(
-#  FILES
-#)
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
 
-## Generate added messages and services with any dependencies listed here
-generate_messages(
-   DEPENDENCIES
-   std_msgs
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/CategoricalAttribute.msg"
+  "msg/ScalarAttribute.msg"
+  "msg/HumanAttributes.msg"
+  DEPENDENCIES builtin_interfaces std_msgs
 )
 
-###################################
-## catkin specific configuration ##
-###################################
-catkin_package(
-  CATKIN_DEPENDS roscpp std_msgs message_runtime 
-)
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
diff --git a/spencer_human_attribute_msgs/msg/HumanAttributes.msg b/spencer_human_attribute_msgs/msg/HumanAttributes.msg
@@ -1,5 +1,5 @@
 std_msgs/Header header
 
 # One entry per attribute type per person
-CategoricalAttribute[]   categoricalAttributes
-ScalarAttribute[]       scalarAttributes
+CategoricalAttribute[]   categorical_attributes
+ScalarAttribute[]       scalar_attributes
diff --git a/spencer_human_attribute_msgs/package.xml b/spencer_human_attribute_msgs/package.xml
@@ -1,22 +1,29 @@
 <?xml version="1.0"?>
-<package>
-
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>spencer_human_attribute_msgs</name>
   <version>1.0.8</version>
   <description>Messages used for Human Attribute Recognition</description>
 
+  <maintainer email="[email protected]">Jonatan Gines</maintainer>
   <maintainer email="[email protected]">Timm Linder</maintainer>
   <author email="[email protected]">Timm Linder</author>
-
-  <license>BSD</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>message_generation</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>std_msgs</build_depend>
+  <license>BSD</license>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
-  <run_depend>message_runtime</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>std_msgs</run_depend>
+  <depend>std_msgs</depend>
+
+  <build_depend>builtin_interfaces</build_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 
-<build_depend>roslib</build_depend><run_depend>roslib</run_depend></package>
+</package>
diff --git a/spencer_social_relation_msgs/CMakeLists.txt b/spencer_social_relation_msgs/CMakeLists.txt
@@ -1,46 +1,31 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(spencer_social_relation_msgs)
 
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  roslib
-  std_msgs
-  sensor_msgs
-  nav_msgs
-  geometry_msgs
-  message_generation
-)
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 
-# Generate messages in the 'msg' folder
-add_message_files(
-   FILES
-   SocialRelation.msg
-   SocialRelations.msg
-   SocialActivity.msg
-   SocialActivities.msg
-)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
-# Generate services in the 'srv' folder
-#add_service_files(
-#  FILES
-#)
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
 
-## Generate added messages and services with any dependencies listed here
-generate_messages(
-   DEPENDENCIES
-   geometry_msgs
-   sensor_msgs
-   nav_msgs
-   std_msgs
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/SocialRelation.msg"
+  "msg/SocialRelations.msg"
+  "msg/SocialActivity.msg"
+  "msg/SocialActivities.msg"
+  DEPENDENCIES builtin_interfaces geometry_msgs std_msgs nav_msgs sensor_msgs
 )
 
-###################################
-## catkin specific configuration ##
-###################################
-catkin_package(
-  CATKIN_DEPENDS roscpp std_msgs sensor_msgs nav_msgs geometry_msgs message_runtime 
-)
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
diff --git a/spencer_social_relation_msgs/package.xml b/spencer_social_relation_msgs/package.xml
@@ -1,28 +1,31 @@
 <?xml version="1.0"?>
-<package>
-
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>spencer_social_relation_msgs</name>
   <version>1.0.8</version>
-  <description>Messages used for Social Activity Detection and Social Relation Analysis</description>
+  <description>TMessages used for Social Activity Detection and Social Relation Analysis</description>
 
+  <maintainer email="[email protected]">Jonatan Gines</maintainer>
   <maintainer email="[email protected]">Timm Linder</maintainer>
+  <author email="[email protected]">Timm Linder</author>
   <license>BSD</license>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
-  <author email="[email protected]">Timm Linder</author>
+  <depend>geometry_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>sensor_msgs</depend>
 
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>message_generation</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>nav_msgs</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-
-  <run_depend>message_runtime</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>nav_msgs</run_depend>
-  <run_depend>geometry_msgs</run_depend>
+  <build_depend>builtin_interfaces</build_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 
-<build_depend>roslib</build_depend><run_depend>roslib</run_depend></package>
+</package>
diff --git a/spencer_tracking_msgs/CMakeLists.txt b/spencer_tracking_msgs/CMakeLists.txt
@@ -1,52 +1,41 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(spencer_tracking_msgs)
 
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  roslib
-  std_msgs
-  geometry_msgs
-  message_generation
-)
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
 
-################################################
-## Declare ROS messages, services and actions ##
-################################################
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
-# Generate messages in the 'msg' folder
-add_message_files(
-   FILES
-   DetectedPerson.msg
-   DetectedPersons.msg
-   CompositeDetectedPerson.msg
-   CompositeDetectedPersons.msg
-   TrackedPerson.msg
-   TrackedPersons.msg
-   TrackedPerson2d.msg
-   TrackedPersons2d.msg
-   TrackedGroup.msg
-   TrackedGroups.msg
-   ImmDebugInfo.msg
-   ImmDebugInfos.msg
-   TrackingTimingMetrics.msg
-)
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
 
-# Generate services in the 'srv' folder
-add_service_files(
-  FILES
-  GetPersonTrajectories.srv
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/DetectedPerson.msg"
+  "msg/DetectedPersons.msg"
+  "msg/CompositeDetectedPerson.msg"
+  "msg/CompositeDetectedPersons.msg"
+  "msg/PersonTrajectory.msg"
+  "msg/PersonTrajectoryEntry.msg"
+  "msg/TrackedPerson.msg"
+  "msg/TrackedPersons.msg"
+  "msg/TrackedPerson2d.msg"
+  "msg/TrackedPersons2d.msg"
+  "msg/TrackedGroup.msg"
+  "msg/TrackedGroups.msg"
+  "msg/ImmDebugInfo.msg"
+  "msg/ImmDebugInfos.msg"
+  "msg/TrackingTimingMetrics.msg"
+  "srv/GetPersonTrajectories.srv"
+  DEPENDENCIES builtin_interfaces geometry_msgs std_msgs
 )
 
-## Generate added messages and services with any dependencies listed here
-generate_messages(
-   DEPENDENCIES
-   geometry_msgs
-   std_msgs
-)
+ament_export_dependencies(rosidl_default_runtime)
 
-###################################
-## catkin specific configuration ##
-###################################
-catkin_package(
-  CATKIN_DEPENDS roscpp std_msgs geometry_msgs message_runtime 
-)
+ament_package()
diff --git a/spencer_tracking_msgs/msg/CompositeDetectedPersons.msg b/spencer_tracking_msgs/msg/CompositeDetectedPersons.msg
@@ -3,6 +3,6 @@
 # This information is processed by the spencer_detected_person_association module, such that other perception components can associate their results (e.g. person age, gender)
 # with a particular spencer_tracking_msgs/TrackedPerson (which contains a reference to a composite person detection ID).
 
-Header                      header          # Header timestamp is set to the *latest* timestamp of all fused DetectedPerson messages.
+std_msgs/Header                      header          # Header timestamp is set to the *latest* timestamp of all fused DetectedPerson messages.
                                             # Before fusion, all detections are transformed into a common coordinate frame (usually base_footprint).
 CompositeDetectedPerson[]   elements        # Fused (merged) detected persons
diff --git a/spencer_tracking_msgs/msg/DetectedPersons.msg b/spencer_tracking_msgs/msg/DetectedPersons.msg
@@ -1,5 +1,5 @@
 # Message with all currently detected persons
 #
 
-Header                  header          # Header containing timestamp etc. of this message
+std_msgs/Header                  header          # Header containing timestamp etc. of this message
 DetectedPerson[]        detections      # All persons that are currently being detected
diff --git a/spencer_tracking_msgs/msg/ImmDebugInfo.msg b/spencer_tracking_msgs/msg/ImmDebugInfo.msg
@@ -1,10 +1,10 @@
 # Message for passing debug information of filter performance
 #
 
-uint64      track_id        # unique identifier of the target, consistent over time
-float64      innovation      # innovation of prediction and associated observation
-float64      CpXX            # variance of prediction acc. to x
-float64      CpYY            # variance of prediction acc. to y
-float64      CXX             # variance of state acc. to x
-float64      CYY             # variance of state acc. to y
-float64[]    modeProbabilities# array containing mode probabilities
+uint64       track_id            # unique identifier of the target, consistent over time
+float64      innovation          # innovation of prediction and associated observation
+float64      cp_xx               # variance of prediction acc. to x
+float64      cp_yy               # variance of prediction acc. to y
+float64      c_xx                # variance of state acc. to x
+float64      c_yy                # variance of state acc. to y
+float64[]    mode_probabilities  # array containing mode probabilities
diff --git a/spencer_tracking_msgs/msg/ImmDebugInfos.msg b/spencer_tracking_msgs/msg/ImmDebugInfos.msg
@@ -1,5 +1,5 @@
 # Message with all debug infos per frame
 #
 
-Header              header      # Header containing timestamp etc. of this message
+std_msgs/Header              header      # Header containing timestamp etc. of this message
 ImmDebugInfo[]      infos      # All persons that are currently being tracked
diff --git a/spencer_tracking_msgs/msg/PersonTrajectoryEntry.msg b/spencer_tracking_msgs/msg/PersonTrajectoryEntry.msg
@@ -1,7 +1,7 @@
 # Message defining an entry of a person trajectory.
 #
 
-time     stamp           # age of the track
+builtin_interfaces/Time     stamp           # age of the track
 bool     is_occluded     # if the track is currently not matched by a detection
 uint64   detection_id    # id of the corresponding detection in the current cycle (undefined if occluded)
 

diff --git a/spencer_tracking_msgs/msg/TrackedGroup.msg b/spencer_tracking_msgs/msg/TrackedGroup.msg
@@ -1,10 +1,7 @@
 # Message defining a tracked group
 #
 
-uint64      group_id        # unique identifier of the target, consistent over time
-
-duration    age             # age of the group
-
-geometry_msgs/PoseWithCovariance    centerOfGravity   # mean and covariance of the group (calculated from its person tracks)
-
-uint64[]    track_ids       # IDs of the tracked persons in this group. See srl_tracking_msgs/TrackedPersons
+uint64                              group_id          # unique identifier of the target, consistent over time
+builtin_interfaces/Duration         age               # age of the group
+geometry_msgs/PoseWithCovariance    center_of_gravity # mean and covariance of the group (calculated from its person tracks)
+uint64[]                            track_ids         # IDs of the tracked persons in this group. See srl_tracking_msgs/TrackedPersons