diff --git a/spencer_control_msgs/CATKIN_IGNORE b/spencer_control_msgs/COLCON_IGNORE similarity index 100% rename from spencer_control_msgs/CATKIN_IGNORE rename to spencer_control_msgs/COLCON_IGNORE diff --git a/spencer_human_attribute_msgs/CMakeLists.txt b/spencer_human_attribute_msgs/CMakeLists.txt index 2a9830c..a4f701a 100644 --- 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() \ No newline at end of file diff --git a/spencer_human_attribute_msgs/msg/HumanAttributes.msg b/spencer_human_attribute_msgs/msg/HumanAttributes.msg index c60bc27..c6cb625 100644 --- 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 \ No newline at end of file +CategoricalAttribute[] categorical_attributes +ScalarAttribute[] scalar_attributes \ No newline at end of file diff --git a/spencer_human_attribute_msgs/package.xml b/spencer_human_attribute_msgs/package.xml index 98c6f40..f33369e 100644 --- a/spencer_human_attribute_msgs/package.xml +++ b/spencer_human_attribute_msgs/package.xml @@ -1,22 +1,29 @@ - - + + spencer_human_attribute_msgs 1.0.8 Messages used for Human Attribute Recognition + Jonatan Gines Timm Linder Timm Linder - - BSD - catkin - message_generation - roscpp - std_msgs + BSD + ament_cmake + rosidl_default_generators - message_runtime - roscpp - std_msgs + std_msgs + + builtin_interfaces + rosidl_default_generators + builtin_interfaces + rosidl_default_runtime + + rosidl_interface_packages + + + ament_cmake + -roslibroslib + diff --git a/spencer_social_relation_msgs/CMakeLists.txt b/spencer_social_relation_msgs/CMakeLists.txt index 7949160..28d8cd6 100644 --- 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() \ No newline at end of file diff --git a/spencer_social_relation_msgs/package.xml b/spencer_social_relation_msgs/package.xml index 3b653d2..b1c144d 100644 --- a/spencer_social_relation_msgs/package.xml +++ b/spencer_social_relation_msgs/package.xml @@ -1,28 +1,31 @@ - - + + spencer_social_relation_msgs 1.0.8 - Messages used for Social Activity Detection and Social Relation Analysis + TMessages used for Social Activity Detection and Social Relation Analysis + Jonatan Gines Timm Linder + Timm Linder BSD + ament_cmake + rosidl_default_generators - Timm Linder + geometry_msgs + std_msgs + nav_msgs + sensor_msgs - catkin - message_generation - roscpp - std_msgs - sensor_msgs - nav_msgs - geometry_msgs - - message_runtime - roscpp - std_msgs - sensor_msgs - nav_msgs - geometry_msgs + builtin_interfaces + rosidl_default_generators + builtin_interfaces + rosidl_default_runtime + + rosidl_interface_packages + + + ament_cmake + -roslibroslib + diff --git a/spencer_tracking_msgs/CMakeLists.txt b/spencer_tracking_msgs/CMakeLists.txt index 91a25bf..44c64f1 100644 --- 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() \ No newline at end of file diff --git a/spencer_tracking_msgs/msg/CompositeDetectedPersons.msg b/spencer_tracking_msgs/msg/CompositeDetectedPersons.msg index cb7cfe0..c4494dd 100644 --- 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 \ No newline at end of file diff --git a/spencer_tracking_msgs/msg/DetectedPersons.msg b/spencer_tracking_msgs/msg/DetectedPersons.msg index e8ec21c..a0ed168 100644 --- 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 \ No newline at end of file diff --git a/spencer_tracking_msgs/msg/ImmDebugInfo.msg b/spencer_tracking_msgs/msg/ImmDebugInfo.msg index 57fbbb6..e68c279 100644 --- 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 \ No newline at end of file +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 \ No newline at end of file diff --git a/spencer_tracking_msgs/msg/ImmDebugInfos.msg b/spencer_tracking_msgs/msg/ImmDebugInfos.msg index 10792ea..99c5c57 100644 --- 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 \ No newline at end of file diff --git a/spencer_tracking_msgs/msg/PersonTrajectoryEntry.msg b/spencer_tracking_msgs/msg/PersonTrajectoryEntry.msg index 93a7da3..e258c9b 100644 --- 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 index 29cd536..5321372 100644 --- 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 \ No newline at end of file +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 \ No newline at end of file diff --git a/spencer_tracking_msgs/msg/TrackedGroups.msg b/spencer_tracking_msgs/msg/TrackedGroups.msg index 4117c12..fbee822 100644 --- a/spencer_tracking_msgs/msg/TrackedGroups.msg +++ b/spencer_tracking_msgs/msg/TrackedGroups.msg @@ -1,5 +1,5 @@ # Message with all currently tracked groups # -Header header # Header containing timestamp etc. of this message +std_msgs/Header header # Header containing timestamp etc. of this message TrackedGroup[] groups # All groups that are currently being tracked \ No newline at end of file diff --git a/spencer_tracking_msgs/msg/TrackedPerson.msg b/spencer_tracking_msgs/msg/TrackedPerson.msg index 996c6c3..0f3d099 100644 --- a/spencer_tracking_msgs/msg/TrackedPerson.msg +++ b/spencer_tracking_msgs/msg/TrackedPerson.msg @@ -1,14 +1,13 @@ # Message defining a tracked person # -uint64 track_id # unique identifier of the target, consistent over time -bool is_occluded # if the track is currently not observable in a physical way -bool is_matched # if the track is currently matched by a detection -uint64 detection_id # id of the corresponding detection in the current cycle (undefined if occluded) -duration age # age of the track +uint64 track_id # unique identifier of the target, consistent over time +bool is_occluded # if the track is currently not observable in a physical way +bool is_matched # if the track is currently matched by a detection +uint64 detection_id # id of the corresponding detection in the current cycle (undefined if occluded) +builtin_interfaces/Duration age # age of the track # The following fields are extracted from the Kalman state x and its covariance C -geometry_msgs/PoseWithCovariance pose # pose of the track (z value and orientation might not be set, check if corresponding variance on diagonal is > 99999) - -geometry_msgs/TwistWithCovariance twist # velocity of the track (z value and rotational velocities might not be set, check if corresponding variance on diagonal is > 99999) +geometry_msgs/PoseWithCovariance pose # pose of the track (z value and orientation might not be set, check if corresponding variance on diagonal is > 99999) +geometry_msgs/TwistWithCovariance twist # velocity of the track (z value and rotational velocities might not be set, check if corresponding variance on diagonal is > 99999) diff --git a/spencer_tracking_msgs/msg/TrackedPersons.msg b/spencer_tracking_msgs/msg/TrackedPersons.msg index 5c5a361..cc7044f 100644 --- a/spencer_tracking_msgs/msg/TrackedPersons.msg +++ b/spencer_tracking_msgs/msg/TrackedPersons.msg @@ -1,5 +1,5 @@ # Message with all currently tracked persons # -Header header # Header containing timestamp etc. of this message +std_msgs/Header header # Header containing timestamp etc. of this message TrackedPerson[] tracks # All persons that are currently being tracked \ No newline at end of file diff --git a/spencer_tracking_msgs/msg/TrackedPersons2d.msg b/spencer_tracking_msgs/msg/TrackedPersons2d.msg index b800c0e..b1ea8c1 100644 --- a/spencer_tracking_msgs/msg/TrackedPersons2d.msg +++ b/spencer_tracking_msgs/msg/TrackedPersons2d.msg @@ -1,5 +1,5 @@ # Message with all 2d bbox in image of currently tracked persons # -Header header # Header containing timestamp etc. of this message +std_msgs/Header header # Header containing timestamp etc. of this message TrackedPerson2d[] boxes # All persons that are currently being tracked (2d image bbox) diff --git a/spencer_tracking_msgs/msg/TrackingTimingMetrics.msg b/spencer_tracking_msgs/msg/TrackingTimingMetrics.msg index ced3bbc..aa9e054 100644 --- a/spencer_tracking_msgs/msg/TrackingTimingMetrics.msg +++ b/spencer_tracking_msgs/msg/TrackingTimingMetrics.msg @@ -1,7 +1,7 @@ # Message with timing values for analyzing the efficency # -Header header # Header containing timestamp etc. of this message +std_msgs/Header header # Header containing timestamp etc. of this message uint64 track_count # number of person currentl tracked uint64 cycle_no # incremented number of cycles float32 average_cycle_time # average time for one cycle of tracker diff --git a/spencer_tracking_msgs/package.xml b/spencer_tracking_msgs/package.xml index 1f43de5..0b8b34b 100644 --- a/spencer_tracking_msgs/package.xml +++ b/spencer_tracking_msgs/package.xml @@ -1,29 +1,36 @@ - - + + spencer_tracking_msgs 1.0.8 Messages used for Person Detection and Tracking + Jonatan Gines Timm Linder Stefan Breuers Lucas Beyer - - BSD - + Timm Linder Stefan Breuers Lucas Beyer + + BSD + + ament_cmake + rosidl_default_generators - catkin - message_generation - roscpp - std_msgs - geometry_msgs - - message_runtime - roscpp - std_msgs - geometry_msgs - -roslibroslib + geometry_msgs + std_msgs + + builtin_interfaces + rosidl_default_generators + builtin_interfaces + rosidl_default_runtime + + rosidl_interface_packages + + + ament_cmake + + + diff --git a/spencer_tracking_msgs/srv/GetPersonTrajectories.srv b/spencer_tracking_msgs/srv/GetPersonTrajectories.srv index fb3e767..bb53103 100644 --- a/spencer_tracking_msgs/srv/GetPersonTrajectories.srv +++ b/spencer_tracking_msgs/srv/GetPersonTrajectories.srv @@ -1,4 +1,4 @@ uint64[] requested_ids # The IDs of the tracks you are interested in getting the trajectories of. An empty array means all available tracks. -duration max_age # The maximum age of a trajectory you want to get. A duration of 0 means "since the beginning of times." +builtin_interfaces/Duration max_age # The maximum age of a trajectory you want to get. A duration of 0 means "since the beginning of times." --- PersonTrajectory[] trajectories # The trajectories of the tracks that have been asked for in requested_ids, in the same order. diff --git a/spencer_vision_msgs/CMakeLists.txt b/spencer_vision_msgs/CMakeLists.txt index 79a25a8..dc9721c 100644 --- a/spencer_vision_msgs/CMakeLists.txt +++ b/spencer_vision_msgs/CMakeLists.txt @@ -1,44 +1,30 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.5) project(spencer_vision_msgs) -find_package(catkin REQUIRED COMPONENTS - roscpp - roslib - std_msgs - sensor_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 - PersonImage.msg - PersonImages.msg - PersonROI.msg - PersonROIs.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(rosidl_default_generators REQUIRED) -## Generate added messages and services with any dependencies listed here -generate_messages( - DEPENDENCIES - geometry_msgs - sensor_msgs - std_msgs +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/PersonImage.msg" + "msg/PersonImages.msg" + "msg/PersonROI.msg" + "msg/PersonROIs.msg" + DEPENDENCIES builtin_interfaces geometry_msgs std_msgs sensor_msgs ) -################################### -## catkin specific configuration ## -################################### -catkin_package( - CATKIN_DEPENDS roscpp std_msgs sensor_msgs geometry_msgs message_runtime -) +ament_export_dependencies(rosidl_default_runtime) + +ament_package() \ No newline at end of file diff --git a/spencer_vision_msgs/msg/PersonROI.msg b/spencer_vision_msgs/msg/PersonROI.msg index 2aab830..e46f0e4 100644 --- a/spencer_vision_msgs/msg/PersonROI.msg +++ b/spencer_vision_msgs/msg/PersonROI.msg @@ -1,5 +1,6 @@ # Message describing a rectangular region of interest in a depth or RGB image containing a part of a person (e.g. head, face, full body...), which is usually encoded in the topic title # +# uint64 detection_id float64 confidence diff --git a/spencer_vision_msgs/package.xml b/spencer_vision_msgs/package.xml index fb01455..d5ccd9c 100644 --- a/spencer_vision_msgs/package.xml +++ b/spencer_vision_msgs/package.xml @@ -1,31 +1,37 @@ - - + + spencer_vision_msgs 1.0.8 Messages used for Vision-related tasks in SPENCER + Jonatan Gines Lucas Beyer Stefan Breuers Timm Linder - - BSD - + Timm Linder Stefan Breuers Lucas Beyer - catkin - message_generation - roscpp - std_msgs - geometry_msgs - sensor_msgs + BSD + + ament_cmake + rosidl_default_generators - message_runtime - roscpp - std_msgs - geometry_msgs - sensor_msgs + geometry_msgs + std_msgs + sensor_msgs + + builtin_interfaces + rosidl_default_generators + builtin_interfaces + rosidl_default_runtime + + rosidl_interface_packages + + + ament_cmake + -roslibroslib + \ No newline at end of file