From 4bb31788b3b3e6a26d11e405b11ac9850ba239d7 Mon Sep 17 00:00:00 2001 From: Johannes Mey <johannes.mey@tu-dresden.de> Date: Thu, 17 Jun 2021 14:22:01 +0200 Subject: [PATCH] restructure and rename code --- CMakeLists.txt | 86 +++++++++++-------- include/{ => ccf/connection}/Connection.h | 0 include/{ => ccf/connection}/MqttConnection.h | 0 include/{ => ccf/connection}/NngConnection.h | 0 include/{ => ccf/controller}/Controller.h | 2 +- .../controller}/DummyRobotArmController.h | 0 .../controller}/MoveItRobotArmController.h | 0 .../{ => ccf/controller}/RobotArmController.h | 2 +- include/{ => ccf/util}/NodeUtil.h | 0 .../{ => ccf/util}/scene_collision_object.h | 0 .../{ => ccf/util}/scene_constructor_util.h | 0 src/{ => ccf/connection}/MqttConnection.cpp | 2 +- src/{ => ccf/connection}/NngConnection.cpp | 2 +- src/{ => ccf/controller}/Controller.cpp | 2 +- .../controller}/DummyRobotArmController.cpp | 4 +- .../controller}/MoveItRobotArmController.cpp | 4 +- .../controller}/RobotArmController.cpp | 2 +- src/{ => ccf/util}/scene_collision_object.cpp | 2 +- src/{ => ccf/util}/scene_constructor_util.cpp | 2 +- src/{ => ccf/util}/scene_controller_node.cpp | 4 +- src/{ => dummies}/dummy_cgv.cpp | 0 src/{ => dummies}/dummy_pick_place.cpp | 0 ...connector.cpp => dummy_cgv_controller.cpp} | 4 +- ...nnector.cpp => dummy_rag_controller_a.cpp} | 8 +- ...nnector.cpp => dummy_rag_controller_b.cpp} | 7 +- ...onnector.cpp => moveit_cgv_controller.cpp} | 4 +- 26 files changed, 77 insertions(+), 60 deletions(-) rename include/{ => ccf/connection}/Connection.h (100%) rename include/{ => ccf/connection}/MqttConnection.h (100%) rename include/{ => ccf/connection}/NngConnection.h (100%) rename include/{ => ccf/controller}/Controller.h (94%) rename include/{ => ccf/controller}/DummyRobotArmController.h (100%) rename include/{ => ccf/controller}/MoveItRobotArmController.h (100%) rename include/{ => ccf/controller}/RobotArmController.h (98%) rename include/{ => ccf/util}/NodeUtil.h (100%) rename include/{ => ccf/util}/scene_collision_object.h (100%) rename include/{ => ccf/util}/scene_constructor_util.h (100%) rename src/{ => ccf/connection}/MqttConnection.cpp (99%) rename src/{ => ccf/connection}/NngConnection.cpp (98%) rename src/{ => ccf/controller}/Controller.cpp (94%) rename src/{ => ccf/controller}/DummyRobotArmController.cpp (95%) rename src/{ => ccf/controller}/MoveItRobotArmController.cpp (98%) rename src/{ => ccf/controller}/RobotArmController.cpp (99%) rename src/{ => ccf/util}/scene_collision_object.cpp (93%) rename src/{ => ccf/util}/scene_constructor_util.cpp (99%) rename src/{ => ccf/util}/scene_controller_node.cpp (99%) rename src/{ => dummies}/dummy_cgv.cpp (100%) rename src/{ => dummies}/dummy_pick_place.cpp (100%) rename src/{dummy_cgv_connector.cpp => dummy_cgv_controller.cpp} (98%) rename src/{dummy_rag_connector.cpp => dummy_rag_controller_a.cpp} (96%) rename src/{dummy_rbg_connector.cpp => dummy_rag_controller_b.cpp} (97%) rename src/{moveit_cgv_connector.cpp => moveit_cgv_controller.cpp} (98%) diff --git a/CMakeLists.txt b/CMakeLists.txt index 6a92160..2fe33e6 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -163,11 +163,12 @@ add_subdirectory(lib/paho.mqtt.cpp) add_dependencies(paho-mqttpp3 paho-mqtt3a) ## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/cgv_connector.cpp -# ) -add_library(${PROJECT_NAME}_scene_constructor_util ${PROTO_SRCS} ${PROTO_HDRS} src/scene_constructor_util.cpp) -add_library(scene_collision_object src/scene_collision_object.cpp) +add_library(${PROJECT_NAME}_dummy_controller ${PROTO_SRCS} ${PROTO_HDRS} src/ccf/controller/DummyRobotArmController.cpp src/ccf/controller/RobotArmController.cpp src/ccf/controller/Controller.cpp) +add_library(${PROJECT_NAME}_moveit_controller ${PROTO_SRCS} ${PROTO_HDRS} src/ccf/controller/MoveItRobotArmController.cpp src/ccf/controller/RobotArmController.cpp src/ccf/controller/Controller.cpp) +add_library(${PROJECT_NAME}_nng_connection ${PROTO_SRCS} ${PROTO_HDRS} src/ccf/connection/NngConnection.cpp) +add_library(${PROJECT_NAME}_mqtt_connection ${PROTO_SRCS} ${PROTO_HDRS} src/ccf/connection/MqttConnection.cpp) +add_library(${PROJECT_NAME}_scene_constructor_util ${PROTO_SRCS} ${PROTO_HDRS} src/ccf/util/scene_constructor_util.cpp) +add_library(${PROJECT_NAME}_scene_collision_object src/ccf/util/scene_collision_object.cpp) ## Add cmake target dependencies of the library ## as an example, code may need to be generated before libraries @@ -177,13 +178,13 @@ add_library(scene_collision_object src/scene_collision_object.cpp) ## Declare a C++ executable ## With catkin_make all packages are built within a single CMake context ## The recommended prefix ensures that target names across packages don't collide -add_executable(${PROJECT_NAME}_dummy_cgv src/dummy_cgv.cpp ${PROTO_SRCS} ${PROTO_HDRS}) -add_executable(${PROJECT_NAME}_dummy_pick_place src/dummy_pick_place.cpp ${PROTO_SRCS} ${PROTO_HDRS}) -add_executable(${PROJECT_NAME}_dummy_cgv_connector src/dummy_cgv_connector.cpp ${PROTO_SRCS} ${PROTO_HDRS} src/DummyRobotArmController.cpp src/RobotArmController.cpp src/Controller.cpp src/NngConnection.cpp ) -add_executable(${PROJECT_NAME}_dummy_rag_connector src/dummy_rag_connector.cpp ${PROTO_SRCS} ${PROTO_HDRS} src/DummyRobotArmController.cpp src/RobotArmController.cpp src/Controller.cpp src/NngConnection.cpp src/MqttConnection.cpp) -add_executable(${PROJECT_NAME}_dummy_rbg_connector src/dummy_rbg_connector.cpp ${PROTO_SRCS} ${PROTO_HDRS} src/DummyRobotArmController.cpp src/RobotArmController.cpp src/Controller.cpp src/NngConnection.cpp src/MqttConnection.cpp) -add_executable(${PROJECT_NAME}_moveit_cgv_connector src/moveit_cgv_connector.cpp src/MoveItRobotArmController.cpp src/RobotArmController.cpp src/Controller.cpp ${PROTO_SRCS} ${PROTO_HDRS} src/NngConnection.cpp src/MqttConnection.cpp) -add_executable(scene_controller src/scene_controller_node.cpp ${PROTO_SRCS} ${PROTO_HDRS}) +add_executable(${PROJECT_NAME}_dummy_cgv src/dummies/dummy_cgv.cpp ${PROTO_SRCS} ${PROTO_HDRS}) +add_executable(${PROJECT_NAME}_dummy_pick_place src/dummies/dummy_pick_place.cpp ${PROTO_SRCS} ${PROTO_HDRS}) +add_executable(${PROJECT_NAME}_dummy_cgv_controller src/dummy_cgv_controller.cpp ${PROTO_SRCS} ${PROTO_HDRS} ) +add_executable(${PROJECT_NAME}_dummy_rag_controller_a src/dummy_rag_controller_a.cpp ${PROTO_SRCS} ${PROTO_HDRS} ) +add_executable(${PROJECT_NAME}_dummy_rag_controller_b src/dummy_rag_controller_b.cpp ${PROTO_SRCS} ${PROTO_HDRS} ) +add_executable(${PROJECT_NAME}_moveit_cgv_controller src/moveit_cgv_controller.cpp ${PROTO_SRCS} ${PROTO_HDRS}) +add_executable(${PROJECT_NAME}_scene_controller src/ccf/util/scene_controller_node.cpp ${PROTO_SRCS} ${PROTO_HDRS}) ## Rename C++ executable without prefix ## The above recommended prefix causes long target names, the following renames the @@ -191,16 +192,34 @@ add_executable(scene_controller src/scene_controller_node.cpp ${PROTO_SRCS} ${PR ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" set_target_properties(${PROJECT_NAME}_dummy_cgv PROPERTIES OUTPUT_NAME dummy_cgv PREFIX "") set_target_properties(${PROJECT_NAME}_dummy_pick_place PROPERTIES OUTPUT_NAME dummy_pick_place PREFIX "") -set_target_properties(${PROJECT_NAME}_dummy_cgv_connector PROPERTIES OUTPUT_NAME dummy_cgv_connector PREFIX "") -set_target_properties(${PROJECT_NAME}_dummy_rag_connector PROPERTIES OUTPUT_NAME dummy_rag_connector PREFIX "") -set_target_properties(${PROJECT_NAME}_dummy_rbg_connector PROPERTIES OUTPUT_NAME dummy_rbg_connector PREFIX "") -set_target_properties(${PROJECT_NAME}_moveit_cgv_connector PROPERTIES OUTPUT_NAME moveit_cgv_connector PREFIX "") +set_target_properties(${PROJECT_NAME}_dummy_cgv_controller PROPERTIES OUTPUT_NAME dummy_cgv_controller PREFIX "") +set_target_properties(${PROJECT_NAME}_dummy_rag_controller_a PROPERTIES OUTPUT_NAME dummy_rag_controller_a PREFIX "") +set_target_properties(${PROJECT_NAME}_dummy_rag_controller_b PROPERTIES OUTPUT_NAME dummy_rag_controller_b PREFIX "") +set_target_properties(${PROJECT_NAME}_moveit_cgv_controller PROPERTIES OUTPUT_NAME moveit_cgv_controller PREFIX "") +set_target_properties(${PROJECT_NAME}_scene_controller PROPERTIES OUTPUT_NAME scene_controller PREFIX "") ## Add cmake target dependencies of the executable ## same as for the library above # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) ## Specify libraries to link a library or executable target against + +target_link_libraries(${PROJECT_NAME}_nng_connection + ${catkin_LIBRARIES} + nng + ) +target_link_libraries(${PROJECT_NAME}_mqtt_connection + ${catkin_LIBRARIES} + paho-mqttpp3 + ) +target_link_libraries(${PROJECT_NAME}_dummy_controller + ${catkin_LIBRARIES} + ${Protobuf_LIBRARIES} + ) +target_link_libraries(${PROJECT_NAME}_moveit_controller + ${catkin_LIBRARIES} + ${Protobuf_LIBRARIES} + ) target_link_libraries(${PROJECT_NAME}_dummy_cgv ${catkin_LIBRARIES} nng @@ -211,45 +230,44 @@ target_link_libraries(${PROJECT_NAME}_dummy_pick_place nng ${Protobuf_LIBRARIES} ) -target_link_libraries(${PROJECT_NAME}_dummy_cgv_connector +target_link_libraries(${PROJECT_NAME}_dummy_cgv_controller ${catkin_LIBRARIES} - nng - paho-mqttpp3 ${Protobuf_LIBRARIES} + ${PROJECT_NAME}_dummy_controller + ${PROJECT_NAME}_nng_connection ) -target_link_libraries(${PROJECT_NAME}_dummy_rag_connector +target_link_libraries(${PROJECT_NAME}_dummy_rag_controller_a ${catkin_LIBRARIES} - nng - paho-mqttpp3 ${Protobuf_LIBRARIES} + ${PROJECT_NAME}_dummy_controller + ${PROJECT_NAME}_nng_connection + ${PROJECT_NAME}_mqtt_connection ) -target_link_libraries(${PROJECT_NAME}_dummy_rbg_connector +target_link_libraries(${PROJECT_NAME}_dummy_rag_controller_b ${catkin_LIBRARIES} - nng - paho-mqttpp3 ${Protobuf_LIBRARIES} + ${PROJECT_NAME}_dummy_controller + ${PROJECT_NAME}_mqtt_connection ) -target_link_libraries(${PROJECT_NAME}_moveit_cgv_connector +target_link_libraries(${PROJECT_NAME}_moveit_cgv_controller ${catkin_LIBRARIES} - nng - paho-mqttpp3 ${Protobuf_LIBRARIES} + ${PROJECT_NAME}_moveit_controller + ${PROJECT_NAME}_nng_connection ) -target_link_libraries(scene_collision_object +target_link_libraries(${PROJECT_NAME}_scene_collision_object ${catkin_LIBRARIES} ) target_link_libraries(${PROJECT_NAME}_scene_constructor_util ${catkin_LIBRARIES} ${Protobuf_LIBRARIES} - scene_collision_object + ${PROJECT_NAME}_scene_collision_object ) -target_link_libraries(scene_controller +target_link_libraries(${PROJECT_NAME}_scene_controller ${catkin_LIBRARIES} - nng - paho-mqttpp3 ${Protobuf_LIBRARIES} ${PROJECT_NAME}_scene_constructor_util - scene_collision_object + ${PROJECT_NAME}_scene_collision_object ) ############# diff --git a/include/Connection.h b/include/ccf/connection/Connection.h similarity index 100% rename from include/Connection.h rename to include/ccf/connection/Connection.h diff --git a/include/MqttConnection.h b/include/ccf/connection/MqttConnection.h similarity index 100% rename from include/MqttConnection.h rename to include/ccf/connection/MqttConnection.h diff --git a/include/NngConnection.h b/include/ccf/connection/NngConnection.h similarity index 100% rename from include/NngConnection.h rename to include/ccf/connection/NngConnection.h diff --git a/include/Controller.h b/include/ccf/controller/Controller.h similarity index 94% rename from include/Controller.h rename to include/ccf/controller/Controller.h index ddf483a..2e5ad4b 100644 --- a/include/Controller.h +++ b/include/ccf/controller/Controller.h @@ -10,7 +10,7 @@ #include <ros/ros.h> -#include "Connection.h" +#include "ccf/connection/Connection.h" #include <connector.pb.h> diff --git a/include/DummyRobotArmController.h b/include/ccf/controller/DummyRobotArmController.h similarity index 100% rename from include/DummyRobotArmController.h rename to include/ccf/controller/DummyRobotArmController.h diff --git a/include/MoveItRobotArmController.h b/include/ccf/controller/MoveItRobotArmController.h similarity index 100% rename from include/MoveItRobotArmController.h rename to include/ccf/controller/MoveItRobotArmController.h diff --git a/include/RobotArmController.h b/include/ccf/controller/RobotArmController.h similarity index 98% rename from include/RobotArmController.h rename to include/ccf/controller/RobotArmController.h index 1442946..1e2774b 100644 --- a/include/RobotArmController.h +++ b/include/ccf/controller/RobotArmController.h @@ -10,7 +10,7 @@ #include <ros/ros.h> -#include "Connection.h" +#include "ccf/connection/Connection.h" #include "Controller.h" #include <connector.pb.h> diff --git a/include/NodeUtil.h b/include/ccf/util/NodeUtil.h similarity index 100% rename from include/NodeUtil.h rename to include/ccf/util/NodeUtil.h diff --git a/include/scene_collision_object.h b/include/ccf/util/scene_collision_object.h similarity index 100% rename from include/scene_collision_object.h rename to include/ccf/util/scene_collision_object.h diff --git a/include/scene_constructor_util.h b/include/ccf/util/scene_constructor_util.h similarity index 100% rename from include/scene_constructor_util.h rename to include/ccf/util/scene_constructor_util.h diff --git a/src/MqttConnection.cpp b/src/ccf/connection/MqttConnection.cpp similarity index 99% rename from src/MqttConnection.cpp rename to src/ccf/connection/MqttConnection.cpp index 7c174e8..8d082aa 100644 --- a/src/MqttConnection.cpp +++ b/src/ccf/connection/MqttConnection.cpp @@ -2,7 +2,7 @@ // Created by sebastian on 04.05.21. // -#include "MqttConnection.h" +#include "ccf/connection/MqttConnection.h" #include <ros/ros.h> #include <memory> diff --git a/src/NngConnection.cpp b/src/ccf/connection/NngConnection.cpp similarity index 98% rename from src/NngConnection.cpp rename to src/ccf/connection/NngConnection.cpp index e4bc1d5..a1cab04 100644 --- a/src/NngConnection.cpp +++ b/src/ccf/connection/NngConnection.cpp @@ -8,7 +8,7 @@ #include <memory> #include <thread> -#include "NngConnection.h" +#include "ccf/connection/NngConnection.h" void NngConnection::receiveMessages() { diff --git a/src/Controller.cpp b/src/ccf/controller/Controller.cpp similarity index 94% rename from src/Controller.cpp rename to src/ccf/controller/Controller.cpp index bb2d7df..910ea46 100644 --- a/src/Controller.cpp +++ b/src/ccf/controller/Controller.cpp @@ -5,7 +5,7 @@ #include <fstream> #include <memory> -#include "Controller.h" +#include "ccf/controller/Controller.h" void Controller::addConnection(std::unique_ptr<Connection> &&connection) { connection->initializeConnection([this](auto &&channel, auto &&data) { diff --git a/src/DummyRobotArmController.cpp b/src/ccf/controller/DummyRobotArmController.cpp similarity index 95% rename from src/DummyRobotArmController.cpp rename to src/ccf/controller/DummyRobotArmController.cpp index 246dfd9..ea1fbfe 100644 --- a/src/DummyRobotArmController.cpp +++ b/src/ccf/controller/DummyRobotArmController.cpp @@ -5,8 +5,8 @@ #include <ros/ros.h> #include <cmath> -#include "DummyRobotArmController.h" -#include "Controller.h" +#include "ccf/controller/DummyRobotArmController.h" +#include "ccf/controller/Controller.h" bool DummyRobotArmController::pickAndDrop(Object &robot, Object &object, Object &bin, bool simulateOnly) { diff --git a/src/MoveItRobotArmController.cpp b/src/ccf/controller/MoveItRobotArmController.cpp similarity index 98% rename from src/MoveItRobotArmController.cpp rename to src/ccf/controller/MoveItRobotArmController.cpp index c3fda6a..0c6e4cc 100644 --- a/src/MoveItRobotArmController.cpp +++ b/src/ccf/controller/MoveItRobotArmController.cpp @@ -8,14 +8,14 @@ #include <ros/ros.h> -#include <scene_constructor_util.h> +#include <ccf/util/scene_constructor_util.h> #include <cgv_connector/SceneUpdate.h> #include <cgv_connector/PickDropService.h> #include <cgv_connector/PickPlaceService.h> #include <cgv_connector/BinCheck.h> -#include "MoveItRobotArmController.h" +#include "ccf/controller/MoveItRobotArmController.h" void MoveItRobotArmController::updateScene(cgv_connector::SceneUpdateRequest &req, ros::ServiceClient &bin_check_client) { diff --git a/src/RobotArmController.cpp b/src/ccf/controller/RobotArmController.cpp similarity index 99% rename from src/RobotArmController.cpp rename to src/ccf/controller/RobotArmController.cpp index 360a23d..75335ac 100644 --- a/src/RobotArmController.cpp +++ b/src/ccf/controller/RobotArmController.cpp @@ -9,7 +9,7 @@ #include <ros/package.h> #include <google/protobuf/util/json_util.h> -#include "RobotArmController.h" +#include "ccf/controller/RobotArmController.h" void RobotArmController::receive(const std::string &channel, const std::string &data) { ROS_WARN_STREAM("[ros2cgv] Received message on channel " << channel << "."); diff --git a/src/scene_collision_object.cpp b/src/ccf/util/scene_collision_object.cpp similarity index 93% rename from src/scene_collision_object.cpp rename to src/ccf/util/scene_collision_object.cpp index 0eb193c..b485eb2 100644 --- a/src/scene_collision_object.cpp +++ b/src/ccf/util/scene_collision_object.cpp @@ -2,7 +2,7 @@ // Created by sebastian on 14.01.21. // -#include "scene_collision_object.h" +#include "ccf/util/scene_collision_object.h" const moveit_msgs::CollisionObject &SceneCollisionObject::getCollisionObject() const { return SceneCollisionObject::collisionObject; diff --git a/src/scene_constructor_util.cpp b/src/ccf/util/scene_constructor_util.cpp similarity index 99% rename from src/scene_constructor_util.cpp rename to src/ccf/util/scene_constructor_util.cpp index 2576b32..b589ed3 100644 --- a/src/scene_constructor_util.cpp +++ b/src/ccf/util/scene_constructor_util.cpp @@ -2,7 +2,7 @@ // Created by Sebastian Ebert on 03.08.20. // #include <ros/ros.h> -#include "scene_constructor_util.h" +#include "ccf/util/scene_constructor_util.h" /** * Build a collision object from a part (originated by configuration message of table) diff --git a/src/scene_controller_node.cpp b/src/ccf/util/scene_controller_node.cpp similarity index 99% rename from src/scene_controller_node.cpp rename to src/ccf/util/scene_controller_node.cpp index d85769e..f43330e 100644 --- a/src/scene_controller_node.cpp +++ b/src/ccf/util/scene_controller_node.cpp @@ -18,7 +18,7 @@ #include <moveit/planning_scene_interface/planning_scene_interface.h> #include <moveit/move_group_interface/move_group_interface.h> -#include "scene_constructor_util.h" +#include "ccf/util/scene_constructor_util.h" #include <grasp_util.h> #include <franka_gripper_util.h> @@ -27,7 +27,7 @@ #include <tf2_geometry_msgs/tf2_geometry_msgs.h> #include <tf2_ros/transform_listener.h> -#include "scene_collision_object.h" +#include "ccf/util/scene_collision_object.h" /** * Contains the current scene and additional metadata for the grasping-process. diff --git a/src/dummy_cgv.cpp b/src/dummies/dummy_cgv.cpp similarity index 100% rename from src/dummy_cgv.cpp rename to src/dummies/dummy_cgv.cpp diff --git a/src/dummy_pick_place.cpp b/src/dummies/dummy_pick_place.cpp similarity index 100% rename from src/dummy_pick_place.cpp rename to src/dummies/dummy_pick_place.cpp diff --git a/src/dummy_cgv_connector.cpp b/src/dummy_cgv_controller.cpp similarity index 98% rename from src/dummy_cgv_connector.cpp rename to src/dummy_cgv_controller.cpp index e8d5210..10aa605 100644 --- a/src/dummy_cgv_connector.cpp +++ b/src/dummy_cgv_controller.cpp @@ -17,8 +17,8 @@ #include "connector.pb.h" -#include "DummyRobotArmController.h" -#include "NngConnection.h" +#include "ccf/controller/DummyRobotArmController.h" +#include "ccf/connection/NngConnection.h" #include <google/protobuf/text_format.h> #include <google/protobuf/util/json_util.h> diff --git a/src/dummy_rag_connector.cpp b/src/dummy_rag_controller_a.cpp similarity index 96% rename from src/dummy_rag_connector.cpp rename to src/dummy_rag_controller_a.cpp index b596a80..b3842b7 100644 --- a/src/dummy_rag_connector.cpp +++ b/src/dummy_rag_controller_a.cpp @@ -17,10 +17,10 @@ #include "connector.pb.h" -#include "DummyRobotArmController.h" -#include "NngConnection.h" -#include "MqttConnection.h" -#include "NodeUtil.h" +#include "ccf/controller/DummyRobotArmController.h" +#include "ccf/connection/NngConnection.h" +#include "ccf/connection/MqttConnection.h" +#include "ccf/util/NodeUtil.h" #include <google/protobuf/text_format.h> diff --git a/src/dummy_rbg_connector.cpp b/src/dummy_rag_controller_b.cpp similarity index 97% rename from src/dummy_rbg_connector.cpp rename to src/dummy_rag_controller_b.cpp index 145fe6e..91dc0b7 100644 --- a/src/dummy_rbg_connector.cpp +++ b/src/dummy_rag_controller_b.cpp @@ -17,10 +17,9 @@ #include "connector.pb.h" -#include "DummyRobotArmController.h" -#include "NngConnection.h" -#include "MqttConnection.h" -#include "NodeUtil.h" +#include "ccf/controller/DummyRobotArmController.h" +#include "ccf/connection/MqttConnection.h" +#include "ccf/util/NodeUtil.h" #include <google/protobuf/text_format.h> diff --git a/src/moveit_cgv_connector.cpp b/src/moveit_cgv_controller.cpp similarity index 98% rename from src/moveit_cgv_connector.cpp rename to src/moveit_cgv_controller.cpp index c3de520..d4f5fb7 100644 --- a/src/moveit_cgv_connector.cpp +++ b/src/moveit_cgv_controller.cpp @@ -18,8 +18,8 @@ #include <cgv_connector/BinCheck.h> #include <cgv_connector/SceneUpdate.h> -#include "MoveItRobotArmController.h" -#include "NngConnection.h" +#include "ccf/controller/MoveItRobotArmController.h" +#include "ccf/connection/NngConnection.h" const std::string NODE_NAME = "ros2cgv_moveit"; -- GitLab