From a5f8c0ab0e55ece2a5fb1f9463ced9b37f64522d Mon Sep 17 00:00:00 2001 From: Jennifer Buehler <jennifer.e.buehler@gmail.com> Date: Fri, 26 Feb 2016 13:18:40 +0100 Subject: [PATCH] update --- README.md | 3 +- object_msgs/CMakeLists.txt | 166 +++++++++++++++++ object_msgs/msg/Object.msg | 32 ++++ object_msgs/msg/ObjectPose.msg | 6 + object_msgs/package.xml | 66 +++++++ object_msgs/srv/ObjectInfo.srv | 16 ++ path_navigation_msgs/CMakeLists.txt | 168 ++++++++++++++++++ .../action/PathExecution.action | 12 ++ .../action/TransformPathExecution.action | 13 ++ path_navigation_msgs/package.xml | 56 ++++++ 10 files changed, 537 insertions(+), 1 deletion(-) create mode 100644 object_msgs/CMakeLists.txt create mode 100644 object_msgs/msg/Object.msg create mode 100644 object_msgs/msg/ObjectPose.msg create mode 100644 object_msgs/package.xml create mode 100644 object_msgs/srv/ObjectInfo.srv create mode 100644 path_navigation_msgs/CMakeLists.txt create mode 100644 path_navigation_msgs/action/PathExecution.action create mode 100644 path_navigation_msgs/action/TransformPathExecution.action create mode 100644 path_navigation_msgs/package.xml diff --git a/README.md b/README.md index b2828db..b571b4b 100644 --- a/README.md +++ b/README.md @@ -1,2 +1,3 @@ # general-message-pkgs -Collection of various message packages which can be useful to a broader range of other packages + +Collection of various message packages which can be useful to a broader range of other packages. diff --git a/object_msgs/CMakeLists.txt b/object_msgs/CMakeLists.txt new file mode 100644 index 0000000..2044542 --- /dev/null +++ b/object_msgs/CMakeLists.txt @@ -0,0 +1,166 @@ +cmake_minimum_required(VERSION 2.8.3) +project(object_msgs) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + geometry_msgs + shape_msgs + std_msgs + object_recognition_msgs + message_generation +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependencies might have been +## pulled in transitively but can be declared for certainty nonetheless: +## * add a build_depend tag for "message_generation" +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +add_message_files( + DIRECTORY msg + FILES + Object.msg + ObjectPose.msg +) + + +## Generate services in the 'srv' folder +add_service_files( + DIRECTORY srv + FILES ObjectInfo.srv +) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +generate_messages( + DEPENDENCIES + geometry_msgs shape_msgs std_msgs object_recognition_msgs +) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES object_msgs + CATKIN_DEPENDS object_recognition_msgs geometry_msgs shape_msgs std_msgs message_runtime +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) +include_directories( + ${catkin_INCLUDE_DIRS} +) + +## Declare a cpp library +# add_library(object_msgs +# src/${PROJECT_NAME}/object_msgs.cpp +# ) + +## Declare a cpp executable +# add_executable(object_msgs_node src/object_msgs_node.cpp) + +## Add cmake target dependencies of the executable/library +## as an example, message headers may need to be generated before nodes +# add_dependencies(object_msgs_node object_msgs_generate_messages_cpp) + +## Specify libraries to link a library or executable target against +# target_link_libraries(object_msgs_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS object_msgs object_msgs_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_object_msgs.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/object_msgs/msg/Object.msg b/object_msgs/msg/Object.msg new file mode 100644 index 0000000..2794848 --- /dev/null +++ b/object_msgs/msg/Object.msg @@ -0,0 +1,32 @@ +# a header, used for interpreting the poses +Header header + +# the name of the object +string name + +# If known: The object type in a database of known objects +object_recognition_msgs/ObjectType type + +# If the model is made up of primitives: +# Solid geometric primitives +shape_msgs/SolidPrimitive[] primitives +geometry_msgs/Pose[] primitive_poses + +# If the model is made up of meshes: +# The model meshes +shape_msgs/Mesh[] meshes +geometry_msgs/Pose[] mesh_poses + +# If known: bounding plane +shape_msgs/Plane[] planes +geometry_msgs/Pose[] plane_poses + +# Message contains the shape(s) of the object including poses +byte SHAPE=0 + +# Message contains only the pose of the primitives, +# i.e. only *_poses will be with values. +byte POSE=1 + +# Information in the message, either SHAPE or POSE +byte content diff --git a/object_msgs/msg/ObjectPose.msg b/object_msgs/msg/ObjectPose.msg new file mode 100644 index 0000000..cb20c21 --- /dev/null +++ b/object_msgs/msg/ObjectPose.msg @@ -0,0 +1,6 @@ +# the name of the object +string name + +# thep ose of the object +geometry_msgs/PoseStamped pose + diff --git a/object_msgs/package.xml b/object_msgs/package.xml new file mode 100644 index 0000000..30915da --- /dev/null +++ b/object_msgs/package.xml @@ -0,0 +1,66 @@ +<?xml version="1.0"?> +<package> + <name>object_msgs</name> + <version>0.0.0</version> + <description> + Provides a few basic messages about object geometry, pose and + other details. Strongly inspired by moveit_msgs/CollisionObject.msg, + so these message types are largely compatible. + This message package was creates to enable a MoveIt-compatible, but + not MoveIt!-dependable interface for other ROS packages dealing with + object information. + </description> + + <!-- One maintainer tag required, multiple allowed, one person per tag --> + <!-- Example: --> + <maintainer email="jennifer.e.buehler@gmail.com">Jennifer Buehler</maintainer> + + + <!-- One license tag required, multiple allowed, one license per tag --> + <!-- Commonly used license strings: --> + <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 --> + <license>LPGv3</license> + + + <!-- Url tags are optional, but mutiple are allowed, one per tag --> + <!-- Optional attribute type can be: website, bugtracker, or repository --> + <!-- Example: --> + <!-- <url type="website">http://wiki.ros.org/object_msgs</url> --> + + + <!-- Author tags are optional, mutiple are allowed, one per tag --> + <!-- Authors do not have to be maintianers, but could be --> + <!-- Example: --> + <!-- <author email="jane.doe@example.com">Jane Doe</author> --> + + + <!-- The *_depend tags are used to specify dependencies --> + <!-- Dependencies can be catkin packages or system dependencies --> + <!-- Examples: --> + <!-- Use build_depend for packages you need at compile time: --> + <build_depend>message_generation</build_depend> + <!-- Use buildtool_depend for build tool packages: --> + <!-- <buildtool_depend>catkin</buildtool_depend> --> + <!-- Use run_depend for packages you need at runtime: --> + <run_depend>message_runtime</run_depend> + <!-- Use test_depend for packages you need only for testing: --> + <!-- <test_depend>gtest</test_depend> --> + <buildtool_depend>catkin</buildtool_depend> + <build_depend>geometry_msgs</build_depend> + <build_depend>shape_msgs</build_depend> + <build_depend>std_msgs</build_depend> + <build_depend>object_recognition_msgs</build_depend> + <run_depend>geometry_msgs</run_depend> + <run_depend>shape_msgs</run_depend> + <run_depend>std_msgs</run_depend> + <run_depend>object_recognition_msgs</run_depend> + + + <!-- The export tag contains other, unspecified, tags --> + <export> + <!-- You can specify that this package is a metapackage here: --> + <!-- <metapackage/> --> + + <!-- Other tools can request additional information be placed here --> + </export> +</package> diff --git a/object_msgs/srv/ObjectInfo.srv b/object_msgs/srv/ObjectInfo.srv new file mode 100644 index 0000000..6eef2b8 --- /dev/null +++ b/object_msgs/srv/ObjectInfo.srv @@ -0,0 +1,16 @@ +# name of the object whose information is requested +string name + +# set to true if the Geometry should be returned +# with the Object as well. If false, then only +# the current object pose fields are returned +bool get_geometry + +--- + +# true if object exists and information is +# stored in field 'object' +bool success + +# information about the object +Object object diff --git a/path_navigation_msgs/CMakeLists.txt b/path_navigation_msgs/CMakeLists.txt new file mode 100644 index 0000000..7ec435f --- /dev/null +++ b/path_navigation_msgs/CMakeLists.txt @@ -0,0 +1,168 @@ +cmake_minimum_required(VERSION 2.8.3) +project(path_navigation_msgs) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + actionlib + actionlib_msgs + control_msgs + geometry_msgs + nav_msgs + message_generation +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependencies might have been +## pulled in transitively but can be declared for certainty nonetheless: +## * add a build_depend tag for "message_generation" +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + + +## Generate actions in the 'action' folder +add_action_files( + FILES + PathExecution.action + TransformPathExecution.action +) + +## Generate added messages and services with any dependencies listed here +generate_messages( + DEPENDENCIES + actionlib_msgs control_msgs geometry_msgs nav_msgs +) + + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES path_navigation_msgs + CATKIN_DEPENDS actionlib actionlib_msgs control_msgs geometry_msgs nav_msgs message_runtime +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) +include_directories( + ${catkin_INCLUDE_DIRS} +) + +## Declare a cpp library +# add_library(path_navigation_msgs +# src/${PROJECT_NAME}/path_navigation_msgs.cpp +# ) + +## Declare a cpp executable +# add_executable(path_navigation_msgs_node src/path_navigation_msgs_node.cpp) + +## Add cmake target dependencies of the executable/library +## as an example, message headers may need to be generated before nodes +# add_dependencies(path_navigation_msgs_node path_navigation_msgs_generate_messages_cpp) + +## Specify libraries to link a library or executable target against +# target_link_libraries(path_navigation_msgs_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS path_navigation_msgs path_navigation_msgs_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_path_navigation_msgs.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/path_navigation_msgs/action/PathExecution.action b/path_navigation_msgs/action/PathExecution.action new file mode 100644 index 0000000..ee014a9 --- /dev/null +++ b/path_navigation_msgs/action/PathExecution.action @@ -0,0 +1,12 @@ +# the path +nav_msgs/Path path + +# (optional) an identifier for this path. +int32 id + +--- + +# The actual end pose when robot has navigated. +geometry_msgs/PoseWithCovarianceStamped finalpose + +--- diff --git a/path_navigation_msgs/action/TransformPathExecution.action b/path_navigation_msgs/action/TransformPathExecution.action new file mode 100644 index 0000000..3b66868 --- /dev/null +++ b/path_navigation_msgs/action/TransformPathExecution.action @@ -0,0 +1,13 @@ +# Execute a series of geometry_msgs/Transform points instead of +# using a nav_msgs/Path. + +Header header + +geometry_msgs/Transform[] transforms + +--- + +# The actual end pose when the robot has finished navigating. +geometry_msgs/PoseWithCovarianceStamped finalpose + +--- diff --git a/path_navigation_msgs/package.xml b/path_navigation_msgs/package.xml new file mode 100644 index 0000000..e8fb162 --- /dev/null +++ b/path_navigation_msgs/package.xml @@ -0,0 +1,56 @@ +<?xml version="1.0"?> +<package> + <name>path_navigation_msgs</name> + <version>0.0.0</version> + <description>Actions to navigate a path</description> + + <maintainer email="jennifer.e.buehler@gmail.com">Jennifer Buehler</maintainer> + + <!-- One license tag required, multiple allowed, one license per tag --> + <!-- Commonly used license strings: --> + <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 --> + <license>GPLv3</license> + + <!-- Url tags are optional, but mutiple are allowed, one per tag --> + <!-- Optional attribute type can be: website, bugtracker, or repository --> + <!-- Example: --> + <!-- <url type="website">http://wiki.ros.org/path_navigation_msgs</url> --> + + + <!-- Author tags are optional, mutiple are allowed, one per tag --> + <!-- Authors do not have to be maintianers, but could be --> + <!-- Example: --> + <!-- <author email="jane.doe@example.com">Jane Doe</author> --> + + + <!-- The *_depend tags are used to specify dependencies --> + <!-- Dependencies can be catkin packages or system dependencies --> + <!-- Examples: --> + <!-- Use build_depend for packages you need at compile time: --> + <build_depend>message_generation</build_depend> + <!-- Use buildtool_depend for build tool packages: --> + <!-- <buildtool_depend>catkin</buildtool_depend> --> + <!-- Use run_depend for packages you need at runtime: --> + <run_depend>message_runtime</run_depend> + <!-- Use test_depend for packages you need only for testing: --> + <!-- <test_depend>gtest</test_depend> --> + <buildtool_depend>catkin</buildtool_depend> + <build_depend>actionlib</build_depend> + <build_depend>actionlib_msgs</build_depend> + <build_depend>control_msgs</build_depend> + <build_depend>geometry_msgs</build_depend> + <build_depend>nav_msgs</build_depend> + <run_depend>actionlib</run_depend> + <run_depend>actionlib_msgs</run_depend> + <run_depend>control_msgs</run_depend> + <run_depend>geometry_msgs</run_depend> + <run_depend>nav_msgs</run_depend> + + + <!-- The export tag contains other, unspecified, tags --> + <export> + <!-- You can specify that this package is a metapackage here: --> + <!-- <metapackage/> --> + <!-- Other tools can request additional information be placed here --> + </export> +</package> -- GitLab