diff --git a/.classpath b/.classpath
deleted file mode 100644
index 0af71fdd9eee79d97d4af4c4d47f8b4b8bbcbade..0000000000000000000000000000000000000000
--- a/.classpath
+++ /dev/null
@@ -1,19 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<classpath>
- <classpathentry kind="src" path="apache_xmlrpc_client/src/main/java"/>
- <classpathentry kind="src" path="apache_xmlrpc_common/src/main/java"/>
- <classpathentry kind="src" path="apache_xmlrpc_server/src/main/java"/>
- <classpathentry kind="src" path="message_generation_tests/src/test/java"/>
- <classpathentry kind="src" path="rosjava_benchmarks/src/main/java"/>
- <classpathentry kind="src" path="rosjava_geometry/src/main/java"/>
- <classpathentry kind="src" path="rosjava_geometry/src/test/java"/>
- <classpathentry kind="src" path="rosjava_test/src/main/java"/>
- <classpathentry kind="src" path="rosjava_tutorial_pubsub/src/main/java"/>
- <classpathentry kind="src" path="rosjava_tutorial_right_hand_rule/src/main/java"/>
- <classpathentry kind="src" path="rosjava_tutorial_services/src/main/java"/>
- <classpathentry kind="src" path="rosjava/src/main/java"/>
- <classpathentry kind="src" path="rosjava/src/test/java"/>
- <classpathentry kind="lib" path="gradle/wrapper/gradle-wrapper.jar"/>
- <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER"/>
- <classpathentry kind="output" path="bin"/>
-</classpath>
diff --git a/.hgignore b/.hgignore
deleted file mode 100644
index 7cd5193f1a3fd19e9495e652a955253db053ad9c..0000000000000000000000000000000000000000
--- a/.hgignore
+++ /dev/null
@@ -1,25 +0,0 @@
-syntax: glob
-*.class
-*.dex
-*.orig
-*.swp
-*.pyc
-*.DS_Store
-*~
-*.log
-*.ap_
-*.apk
-.cproject
-.settings
-.classpath
-.project
-.gradle
-target
-build
-dist
-msg_gen
-srv_gen
-gen
-libs
-bin
-docs/src/main/sphinx/conf.py
diff --git a/.rosinstall b/.rosinstall
deleted file mode 100644
index e08632f86d453fd183f7eb351550328c36637a4b..0000000000000000000000000000000000000000
--- a/.rosinstall
+++ /dev/null
@@ -1,4 +0,0 @@
-- git:
- local-name: rosjava_core
- uri: https://github.com/rosjava/rosjava_core/
- version: hydro-devel
diff --git a/3rdparty/BUILD b/3rdparty/BUILD
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/3rdparty/jvm/com/google/code/findbugs/BUILD b/3rdparty/jvm/com/google/code/findbugs/BUILD
deleted file mode 100644
index 2a23982e6f02fada213930e0004a199cc4019b45..0000000000000000000000000000000000000000
--- a/3rdparty/jvm/com/google/code/findbugs/BUILD
+++ /dev/null
@@ -1,12 +0,0 @@
-# Do not edit. bazel-deps autogenerates this file from dependencies.yaml.
-java_library(
- name = "jsr305",
- exports = [
- "//external:jar/com/google/code/findbugs/jsr305"
- ],
- visibility = [
- "//visibility:public"
- ]
-)
-
-
diff --git a/3rdparty/jvm/com/google/guava/BUILD b/3rdparty/jvm/com/google/guava/BUILD
deleted file mode 100644
index 3cb65a2e3668f4046003f6d7ed529b65bd25bf6c..0000000000000000000000000000000000000000
--- a/3rdparty/jvm/com/google/guava/BUILD
+++ /dev/null
@@ -1,15 +0,0 @@
-# Do not edit. bazel-deps autogenerates this file from dependencies.yaml.
-java_library(
- name = "guava",
- exports = [
- "//external:jar/com/google/guava/guava"
- ],
- runtime_deps = [
- "//3rdparty/jvm/com/google/code/findbugs:jsr305"
- ],
- visibility = [
- "//visibility:public"
- ]
-)
-
-
diff --git a/3rdparty/jvm/commons_pool/BUILD b/3rdparty/jvm/commons_pool/BUILD
deleted file mode 100644
index 0bbfd10c7500107d020814500cc66eb0ad09549d..0000000000000000000000000000000000000000
--- a/3rdparty/jvm/commons_pool/BUILD
+++ /dev/null
@@ -1,12 +0,0 @@
-# Do not edit. bazel-deps autogenerates this file from dependencies.yaml.
-java_library(
- name = "commons_pool",
- exports = [
- "//external:jar/commons_pool/commons_pool"
- ],
- visibility = [
- "//visibility:public"
- ]
-)
-
-
diff --git a/3rdparty/jvm/dnsjava/BUILD b/3rdparty/jvm/dnsjava/BUILD
deleted file mode 100644
index 7ac97e03db55e04c84acb0cf2192977a80cc36bd..0000000000000000000000000000000000000000
--- a/3rdparty/jvm/dnsjava/BUILD
+++ /dev/null
@@ -1,15 +0,0 @@
-# Do not edit. bazel-deps autogenerates this file from dependencies.yaml.
-java_library(
- name = "dnsjava",
- exports = [
- "//external:jar/dnsjava/dnsjava"
- ],
- runtime_deps = [
- "//3rdparty/jvm/junit:junit"
- ],
- visibility = [
- "//visibility:public"
- ]
-)
-
-
diff --git a/3rdparty/jvm/io/netty/BUILD b/3rdparty/jvm/io/netty/BUILD
deleted file mode 100644
index 42fed0c4a07e5be8c3be7b2d2f0b853472e25b5d..0000000000000000000000000000000000000000
--- a/3rdparty/jvm/io/netty/BUILD
+++ /dev/null
@@ -1,12 +0,0 @@
-# Do not edit. bazel-deps autogenerates this file from dependencies.yaml.
-java_library(
- name = "netty",
- exports = [
- "//external:jar/io/netty/netty"
- ],
- visibility = [
- "//visibility:public"
- ]
-)
-
-
diff --git a/3rdparty/jvm/junit/BUILD b/3rdparty/jvm/junit/BUILD
deleted file mode 100644
index 7be4bd9660b8c19473bb1334a692a9cb64e8c51f..0000000000000000000000000000000000000000
--- a/3rdparty/jvm/junit/BUILD
+++ /dev/null
@@ -1,12 +0,0 @@
-# Do not edit. bazel-deps autogenerates this file from dependencies.yaml.
-java_library(
- name = "junit",
- exports = [
- "//external:jar/junit/junit"
- ],
- visibility = [
- "//visibility:public"
- ]
-)
-
-
diff --git a/3rdparty/jvm/org/apache/commons/BUILD b/3rdparty/jvm/org/apache/commons/BUILD
deleted file mode 100644
index 3c6c77d78a79ae9da1976b0f7d3df7e036c70638..0000000000000000000000000000000000000000
--- a/3rdparty/jvm/org/apache/commons/BUILD
+++ /dev/null
@@ -1,76 +0,0 @@
-# Do not edit. bazel-deps autogenerates this file from dependencies.yaml.
-java_library(
- name = "com_springsource_org_apache_commons_codec",
- exports = [
- "//external:jar/org/apache/commons/com_springsource_org_apache_commons_codec"
- ],
- visibility = [
- "//visibility:public"
- ]
-)
-
-
-
-java_library(
- name = "com_springsource_org_apache_commons_httpclient",
- exports = [
- "//external:jar/org/apache/commons/com_springsource_org_apache_commons_httpclient"
- ],
- runtime_deps = [
- ":com_springsource_org_apache_commons_codec",
- ":com_springsource_org_apache_commons_logging"
- ],
- visibility = [
- "//visibility:public"
- ]
-)
-
-
-
-java_library(
- name = "com_springsource_org_apache_commons_io",
- exports = [
- "//external:jar/org/apache/commons/com_springsource_org_apache_commons_io"
- ],
- visibility = [
- "//visibility:public"
- ]
-)
-
-
-
-java_library(
- name = "com_springsource_org_apache_commons_lang",
- exports = [
- "//external:jar/org/apache/commons/com_springsource_org_apache_commons_lang"
- ],
- visibility = [
- "//visibility:public"
- ]
-)
-
-
-
-java_library(
- name = "com_springsource_org_apache_commons_logging",
- exports = [
- "//external:jar/org/apache/commons/com_springsource_org_apache_commons_logging"
- ],
- visibility = [
- "//visibility:public"
- ]
-)
-
-
-
-java_library(
- name = "com_springsource_org_apache_commons_net",
- exports = [
- "//external:jar/org/apache/commons/com_springsource_org_apache_commons_net"
- ],
- visibility = [
- "//visibility:public"
- ]
-)
-
-
diff --git a/3rdparty/jvm/org/apache/ws/commons/BUILD b/3rdparty/jvm/org/apache/ws/commons/BUILD
deleted file mode 100644
index c538d3b9e856646a04acae5cb8e54a19ec712543..0000000000000000000000000000000000000000
--- a/3rdparty/jvm/org/apache/ws/commons/BUILD
+++ /dev/null
@@ -1,16 +0,0 @@
-# Do not edit. bazel-deps autogenerates this file from dependencies.yaml.
-java_library(
- name = "ws_commons_util",
- exports = [
- "//external:jar/org/apache/ws/commons/ws_commons_util"
- ],
- runtime_deps = [
- "//3rdparty/jvm/junit:junit",
- "//3rdparty/jvm/xml_apis:xml_apis"
- ],
- visibility = [
- "//visibility:public"
- ]
-)
-
-
diff --git a/3rdparty/jvm/org/mockito/BUILD b/3rdparty/jvm/org/mockito/BUILD
deleted file mode 100644
index 025c073b30ae29c160405728404a8d5788c6c6d2..0000000000000000000000000000000000000000
--- a/3rdparty/jvm/org/mockito/BUILD
+++ /dev/null
@@ -1,12 +0,0 @@
-# Do not edit. bazel-deps autogenerates this file from dependencies.yaml.
-java_library(
- name = "mockito_all",
- exports = [
- "//external:jar/org/mockito/mockito_all"
- ],
- visibility = [
- "//visibility:public"
- ]
-)
-
-
diff --git a/3rdparty/jvm/org/ros/rosjava_bootstrap/BUILD b/3rdparty/jvm/org/ros/rosjava_bootstrap/BUILD
deleted file mode 100644
index b74ab7035f9b7a750f989066e8010b2bcf693f92..0000000000000000000000000000000000000000
--- a/3rdparty/jvm/org/ros/rosjava_bootstrap/BUILD
+++ /dev/null
@@ -1,33 +0,0 @@
-# Do not edit. bazel-deps autogenerates this file from dependencies.yaml.
-java_library(
- name = "gradle_plugins",
- exports = [
- "//external:jar/org/ros/rosjava_bootstrap/gradle_plugins"
- ],
- visibility = [
- "//visibility:public"
- ]
-)
-
-
-
-java_library(
- name = "message_generation",
- exports = [
- "//external:jar/org/ros/rosjava_bootstrap/message_generation"
- ],
- runtime_deps = [
- "//3rdparty/jvm/com/google/guava:guava",
- "//3rdparty/jvm/commons_pool:commons_pool",
- "//3rdparty/jvm/io/netty:netty",
- "//3rdparty/jvm/org/apache/commons:com_springsource_org_apache_commons_codec",
- "//3rdparty/jvm/org/apache/commons:com_springsource_org_apache_commons_io",
- "//3rdparty/jvm/org/apache/commons:com_springsource_org_apache_commons_lang",
- ":gradle_plugins"
- ],
- visibility = [
- "//visibility:public"
- ]
-)
-
-
diff --git a/3rdparty/jvm/org/ros/rosjava_messages/BUILD b/3rdparty/jvm/org/ros/rosjava_messages/BUILD
deleted file mode 100644
index 91fd375dec76d52a214974526e15463733c61516..0000000000000000000000000000000000000000
--- a/3rdparty/jvm/org/ros/rosjava_messages/BUILD
+++ /dev/null
@@ -1,89 +0,0 @@
-# Do not edit. bazel-deps autogenerates this file from dependencies.yaml.
-java_library(
- name = "actionlib_msgs",
- exports = [
- "//external:jar/org/ros/rosjava_messages/actionlib_msgs"
- ],
- visibility = [
- "//visibility:public"
- ]
-)
-
-
-
-java_library(
- name = "geometry_msgs",
- exports = [
- "//external:jar/org/ros/rosjava_messages/geometry_msgs"
- ],
- visibility = [
- "//visibility:public"
- ]
-)
-
-
-
-java_library(
- name = "nav_msgs",
- exports = [
- "//external:jar/org/ros/rosjava_messages/nav_msgs"
- ],
- runtime_deps = [
- "//3rdparty/jvm/org/ros/rosjava_bootstrap:message_generation",
- ":actionlib_msgs",
- ":geometry_msgs",
- ":std_msgs"
- ],
- visibility = [
- "//visibility:public"
- ]
-)
-
-
-
-java_library(
- name = "rosgraph_msgs",
- exports = [
- "//external:jar/org/ros/rosjava_messages/rosgraph_msgs"
- ],
- runtime_deps = [
- "//3rdparty/jvm/org/ros/rosjava_bootstrap:message_generation",
- ":std_msgs"
- ],
- visibility = [
- "//visibility:public"
- ]
-)
-
-
-
-java_library(
- name = "rosjava_test_msgs",
- exports = [
- "//external:jar/org/ros/rosjava_messages/rosjava_test_msgs"
- ],
- runtime_deps = [
- "//3rdparty/jvm/org/ros/rosjava_bootstrap:message_generation",
- ":std_msgs"
- ],
- visibility = [
- "//visibility:public"
- ]
-)
-
-
-
-java_library(
- name = "std_msgs",
- exports = [
- "//external:jar/org/ros/rosjava_messages/std_msgs"
- ],
- runtime_deps = [
- "//3rdparty/jvm/org/ros/rosjava_bootstrap:message_generation"
- ],
- visibility = [
- "//visibility:public"
- ]
-)
-
-
diff --git a/3rdparty/jvm/xml_apis/BUILD b/3rdparty/jvm/xml_apis/BUILD
deleted file mode 100644
index 473c5ce2f3516bc5c06f4714c3b941971d405913..0000000000000000000000000000000000000000
--- a/3rdparty/jvm/xml_apis/BUILD
+++ /dev/null
@@ -1,12 +0,0 @@
-# Do not edit. bazel-deps autogenerates this file from dependencies.yaml.
-java_library(
- name = "xml_apis",
- exports = [
- "//external:jar/xml_apis/xml_apis"
- ],
- visibility = [
- "//visibility:public"
- ]
-)
-
-
diff --git a/3rdparty/workspace.bzl b/3rdparty/workspace.bzl
deleted file mode 100644
index 15dcd3c44e6b155ab0d74ee0c67b3621c344bdcd..0000000000000000000000000000000000000000
--- a/3rdparty/workspace.bzl
+++ /dev/null
@@ -1,47 +0,0 @@
-# Do not edit. bazel-deps autogenerates this file from dependencies.yaml.
-
-def declare_maven(hash):
- native.maven_jar(
- name = hash["name"],
- artifact = hash["artifact"],
- sha1 = hash["sha1"],
- repository = hash["repository"]
- )
- native.bind(
- name = hash["bind"],
- actual = hash["actual"]
- )
-
-def list_dependencies():
- return [
- {"artifact": "com.google.code.findbugs:jsr305:1.3.9", "lang": "java", "sha1": "40719ea6961c0cb6afaeb6a921eaa1f6afd4cfdf", "repository": "https://jcenter.bintray.com/", "name": "com_google_code_findbugs_jsr305", "actual": "@com_google_code_findbugs_jsr305//jar", "bind": "jar/com/google/code/findbugs/jsr305"},
- {"artifact": "com.google.guava:guava:12.0", "lang": "java", "sha1": "5bc66dd95b79db1e437eb08adba124a3e4088dc0", "repository": "https://jcenter.bintray.com/", "name": "com_google_guava_guava", "actual": "@com_google_guava_guava//jar", "bind": "jar/com/google/guava/guava"},
- {"artifact": "commons-pool:commons-pool:1.6", "lang": "java", "sha1": "4572d589699f09d866a226a14b7f4323c6d8f040", "repository": "https://jcenter.bintray.com/", "name": "commons_pool_commons_pool", "actual": "@commons_pool_commons_pool//jar", "bind": "jar/commons_pool/commons_pool"},
- {"artifact": "dnsjava:dnsjava:2.1.1", "lang": "java", "sha1": "5708df81cf6dbff545695f0be6380b7bbc85accc", "repository": "https://jcenter.bintray.com/", "name": "dnsjava_dnsjava", "actual": "@dnsjava_dnsjava//jar", "bind": "jar/dnsjava/dnsjava"},
- {"artifact": "io.netty:netty:3.5.13.Final", "lang": "java", "sha1": "389edea561995909d5df3e70fb2c49954ac79a54", "repository": "https://jcenter.bintray.com/", "name": "io_netty_netty", "actual": "@io_netty_netty//jar", "bind": "jar/io/netty/netty"},
-# duplicates in junit:junit fixed to 4.8.2
-# - dnsjava:dnsjava:2.1.1 wanted version 3.8.2
-# - org.apache.ws.commons:ws-commons-util:1.0.1 wanted version 3.8.1
- {"artifact": "junit:junit:4.8.2", "lang": "java", "sha1": "c94f54227b08100974c36170dcb53329435fe5ad", "repository": "https://jcenter.bintray.com/", "name": "junit_junit", "actual": "@junit_junit//jar", "bind": "jar/junit/junit"},
- {"artifact": "org.apache.commons:com.springsource.org.apache.commons.codec:1.3.0", "lang": "java", "sha1": "a7c156ef67bdc69ae36a9c70adf7b8ca2633132c", "repository": "https://jcenter.bintray.com/", "name": "org_apache_commons_com_springsource_org_apache_commons_codec", "actual": "@org_apache_commons_com_springsource_org_apache_commons_codec//jar", "bind": "jar/org/apache/commons/com_springsource_org_apache_commons_codec"},
- {"artifact": "org.apache.commons:com.springsource.org.apache.commons.httpclient:3.1.0", "lang": "java", "sha1": "c493a925a091ac3d8f449d9265fe12482dabb2a7", "repository": "https://jcenter.bintray.com/", "name": "org_apache_commons_com_springsource_org_apache_commons_httpclient", "actual": "@org_apache_commons_com_springsource_org_apache_commons_httpclient//jar", "bind": "jar/org/apache/commons/com_springsource_org_apache_commons_httpclient"},
- {"artifact": "org.apache.commons:com.springsource.org.apache.commons.io:1.4.0", "lang": "java", "sha1": "51097cd000ec88214ff181c9f059947de1cf4a35", "repository": "https://jcenter.bintray.com/", "name": "org_apache_commons_com_springsource_org_apache_commons_io", "actual": "@org_apache_commons_com_springsource_org_apache_commons_io//jar", "bind": "jar/org/apache/commons/com_springsource_org_apache_commons_io"},
- {"artifact": "org.apache.commons:com.springsource.org.apache.commons.lang:2.4.0", "lang": "java", "sha1": "686e3713650c8e3a5d98723b4d3e239586bf9822", "repository": "https://jcenter.bintray.com/", "name": "org_apache_commons_com_springsource_org_apache_commons_lang", "actual": "@org_apache_commons_com_springsource_org_apache_commons_lang//jar", "bind": "jar/org/apache/commons/com_springsource_org_apache_commons_lang"},
- {"artifact": "org.apache.commons:com.springsource.org.apache.commons.logging:1.1.1", "lang": "java", "sha1": "7657caf2c78e1d79c74d36f2ae128a115f7cc180", "repository": "https://jcenter.bintray.com/", "name": "org_apache_commons_com_springsource_org_apache_commons_logging", "actual": "@org_apache_commons_com_springsource_org_apache_commons_logging//jar", "bind": "jar/org/apache/commons/com_springsource_org_apache_commons_logging"},
- {"artifact": "org.apache.commons:com.springsource.org.apache.commons.net:2.0.0", "lang": "java", "sha1": "03e78766072ff5a5cf3f5431d973c430c94ec612", "repository": "https://jcenter.bintray.com/", "name": "org_apache_commons_com_springsource_org_apache_commons_net", "actual": "@org_apache_commons_com_springsource_org_apache_commons_net//jar", "bind": "jar/org/apache/commons/com_springsource_org_apache_commons_net"},
- {"artifact": "org.apache.ws.commons:ws-commons-util:1.0.1", "lang": "java", "sha1": "126e80ff798fece634bc94e61f8be8a8da00be60", "repository": "https://jcenter.bintray.com/", "name": "org_apache_ws_commons_ws_commons_util", "actual": "@org_apache_ws_commons_ws_commons_util//jar", "bind": "jar/org/apache/ws/commons/ws_commons_util"},
- {"artifact": "org.mockito:mockito-all:1.8.5", "lang": "java", "sha1": "a927d8ae3b8d22eb745a74f94e59ce3882f2b524", "repository": "https://jcenter.bintray.com/", "name": "org_mockito_mockito_all", "actual": "@org_mockito_mockito_all//jar", "bind": "jar/org/mockito/mockito_all"},
- {"artifact": "org.ros.rosjava_bootstrap:gradle_plugins:0.3.0", "lang": "java", "sha1": "9915d897f3b5049e99b268068978a1bca0ae7b5d", "repository": "https://github.com/rosjava/rosjava_mvn_repo/raw/master", "name": "org_ros_rosjava_bootstrap_gradle_plugins", "actual": "@org_ros_rosjava_bootstrap_gradle_plugins//jar", "bind": "jar/org/ros/rosjava_bootstrap/gradle_plugins"},
- {"artifact": "org.ros.rosjava_bootstrap:message_generation:0.3.0", "lang": "java", "sha1": "5141e448f0ea6a2d6f539219d4fc9b296ff07ca4", "repository": "https://github.com/rosjava/rosjava_mvn_repo/raw/master", "name": "org_ros_rosjava_bootstrap_message_generation", "actual": "@org_ros_rosjava_bootstrap_message_generation//jar", "bind": "jar/org/ros/rosjava_bootstrap/message_generation"},
- {"artifact": "org.ros.rosjava_messages:actionlib_msgs:1.12.5", "lang": "java", "sha1": "aa70fb74bb8812b9f49cf95d4b44570ae8b951ee", "repository": "https://github.com/rosjava/rosjava_mvn_repo/raw/master", "name": "org_ros_rosjava_messages_actionlib_msgs", "actual": "@org_ros_rosjava_messages_actionlib_msgs//jar", "bind": "jar/org/ros/rosjava_messages/actionlib_msgs"},
- {"artifact": "org.ros.rosjava_messages:geometry_msgs:1.12.5", "lang": "java", "sha1": "0cced5d3f1b4f55a4248884befce7e898856705d", "repository": "https://github.com/rosjava/rosjava_mvn_repo/raw/master", "name": "org_ros_rosjava_messages_geometry_msgs", "actual": "@org_ros_rosjava_messages_geometry_msgs//jar", "bind": "jar/org/ros/rosjava_messages/geometry_msgs"},
- {"artifact": "org.ros.rosjava_messages:nav_msgs:1.12.5", "lang": "java", "sha1": "1af629301e0c1e2c5ae5dc5086127d0943f752fb", "repository": "https://github.com/rosjava/rosjava_mvn_repo/raw/master", "name": "org_ros_rosjava_messages_nav_msgs", "actual": "@org_ros_rosjava_messages_nav_msgs//jar", "bind": "jar/org/ros/rosjava_messages/nav_msgs"},
- {"artifact": "org.ros.rosjava_messages:rosgraph_msgs:1.11.2", "lang": "java", "sha1": "adb731dd5181976b23c217872f61c724a3af70fe", "repository": "https://github.com/rosjava/rosjava_mvn_repo/raw/master", "name": "org_ros_rosjava_messages_rosgraph_msgs", "actual": "@org_ros_rosjava_messages_rosgraph_msgs//jar", "bind": "jar/org/ros/rosjava_messages/rosgraph_msgs"},
- {"artifact": "org.ros.rosjava_messages:rosjava_test_msgs:0.3.0", "lang": "java", "sha1": "d81caa572200690bdeadf5c257f0d09d77623c1a", "repository": "https://github.com/rosjava/rosjava_mvn_repo/raw/master", "name": "org_ros_rosjava_messages_rosjava_test_msgs", "actual": "@org_ros_rosjava_messages_rosjava_test_msgs//jar", "bind": "jar/org/ros/rosjava_messages/rosjava_test_msgs"},
- {"artifact": "org.ros.rosjava_messages:std_msgs:0.5.11", "lang": "java", "sha1": "a0191f0506dfecfc471eb199a119691717801c0e", "repository": "https://github.com/rosjava/rosjava_mvn_repo/raw/master", "name": "org_ros_rosjava_messages_std_msgs", "actual": "@org_ros_rosjava_messages_std_msgs//jar", "bind": "jar/org/ros/rosjava_messages/std_msgs"},
- {"artifact": "xml-apis:xml-apis:1.0.b2", "lang": "java", "sha1": "3136ca936f64c9d68529f048c2618bd356bf85c9", "repository": "https://jcenter.bintray.com/", "name": "xml_apis_xml_apis", "actual": "@xml_apis_xml_apis//jar", "bind": "jar/xml_apis/xml_apis"},
- ]
-
-def maven_dependencies(callback = declare_maven):
- for hash in list_dependencies():
- callback(hash)
diff --git a/CMakeLists.txt b/CMakeLists.txt
deleted file mode 100644
index 0be0c29135f856bbe9507367542d51d0363e3b56..0000000000000000000000000000000000000000
--- a/CMakeLists.txt
+++ /dev/null
@@ -1,34 +0,0 @@
-##############################################################################
-# CMake
-##############################################################################
-
-cmake_minimum_required(VERSION 2.8.3)
-project(rosjava_core)
-
-##############################################################################
-# Catkin
-##############################################################################
-
-find_package(catkin REQUIRED
- rosjava_build_tools
- geometry_msgs
- nav_msgs
- rosjava_test_msgs
- rosgraph_msgs
- sensor_msgs
- tf2_msgs
-)
-
-catkin_rosjava_setup(publish installDist)
-
-# make sure messages get built first if genjava is enabled
-add_dependencies(gradle-${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
-
-catkin_package()
-
-##############################################################################
-# Installation
-##############################################################################
-
-install(DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_MAVEN_DESTINATION}/org/ros/rosjava_core/
- DESTINATION ${CATKIN_GLOBAL_MAVEN_DESTINATION}/org/ros/rosjava_core)
diff --git a/WORKSPACE b/WORKSPACE
deleted file mode 100644
index d946ad27218c844b7ff0b97d0a9873e6c5ddeb7a..0000000000000000000000000000000000000000
--- a/WORKSPACE
+++ /dev/null
@@ -1,9 +0,0 @@
-workspace(name = "com_github_rosjava_rosjava_core")
-
-load("//3rdparty:workspace.bzl", "maven_dependencies")
-
-maven_dependencies()
-
-load("//bazel:repositories.bzl", "rosjava_repositories")
-
-rosjava_repositories()
diff --git a/bazel/BUILD.bazel b/bazel/BUILD.bazel
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/bazel/repositories.bzl b/bazel/repositories.bzl
deleted file mode 100644
index 4a28354ec86f975fca524e3b2ea6a0cedff5e856..0000000000000000000000000000000000000000
--- a/bazel/repositories.bzl
+++ /dev/null
@@ -1,30 +0,0 @@
-"""External dependencies for rosjava_core, excluding Maven dependencies.
-
-Maven dependencies must be added to the workspace with bazel-deps.
-"""
-
-load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
-
-def rosjava_repositories():
- _maybe(http_archive,
- name = "com_googlesource_gerrit_bazlets",
- sha256 = "cdd1a90733cdb71ac4fb86aa6027d3fcad275fe74781175f8437a9c86a0db149",
- strip_prefix = "bazlets-4459b9706a6eedb8453a98d4434fb3bc4db84211",
- urls = [
- "https://github.com/GerritCodeReview/bazlets/archive/4459b9706a6eedb8453a98d4434fb3bc4db84211.tar.gz",
- ],
- )
-
- _maybe(http_archive,
- name = "com_github_rosjava_rosjava_bootstrap",
- sha256 = "3c59776a8c6e22232d07f29a686c0e5f401812ec27f59405711657d54a792c08",
- strip_prefix = "rosjava_bootstrap-62f865dbe8a7830b21e054dc2a5ac7d2edc6eafe",
- urls = [
- "https://github.com/rosjava/rosjava_bootstrap/archive/62f865dbe8a7830b21e054dc2a5ac7d2edc6eafe.tar.gz",
- ],
- )
-
-
-def _maybe(repo_rule, name, **kwargs):
- if name not in native.existing_rules():
- repo_rule(name=name, **kwargs)
diff --git a/build.gradle b/build.gradle
index 4f62fac066cbda5b1db8e19a224c9b19d237c833..b2fb55aeb73cc1b8d19c36e931fbff8c3e84b5f4 100644
--- a/build.gradle
+++ b/build.gradle
@@ -19,7 +19,7 @@ task wrapper(type: Wrapper) {
}
buildscript {
- apply from: "https://github.com/rosjava/rosjava_bootstrap/raw/kinetic/buildscript.gradle"
+ apply from: "buildscript.gradle"
}
apply plugin: "catkin"
diff --git a/buildscript.gradle b/buildscript.gradle
new file mode 100644
index 0000000000000000000000000000000000000000..21adffaa262c9b4ed2d278ecefb49e5da021cf12
--- /dev/null
+++ b/buildscript.gradle
@@ -0,0 +1,50 @@
+/*
+ * Copyright (C) 2014 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+rootProject.buildscript {
+ String rosMavenPath = System.getenv("ROS_MAVEN_PATH")
+ String rosMavenRepository = System.getenv("ROS_MAVEN_REPOSITORY")
+ repositories {
+ if (rosMavenPath != null) {
+ rosMavenPath.tokenize(":").each { path ->
+ maven {
+ // We can't use uri() here because we aren't running inside something
+ // that implements the Script interface.
+ url "file:${path}"
+ }
+ }
+ }
+ maven {
+ url "http://repository.springsource.com/maven/bundles/release"
+ }
+ maven {
+ url "http://repository.springsource.com/maven/bundles/external"
+ }
+ if (rosMavenRepository != null) {
+ maven {
+ url rosMavenRepository
+ }
+ }
+ maven {
+ url "https://github.com/rosjava/rosjava_mvn_repo/raw/master"
+ }
+ google()
+ jcenter()
+ }
+ dependencies {
+ classpath "org.ros.rosjava_bootstrap:gradle_plugins:[0.3,0.4)"
+ }
+}
diff --git a/dependencies.yaml b/dependencies.yaml
deleted file mode 100644
index 9320f2b1c182f7ee8276500e5f3b80c7e5da9e9b..0000000000000000000000000000000000000000
--- a/dependencies.yaml
+++ /dev/null
@@ -1,86 +0,0 @@
-# If you edit this file, follow these instructions to generate the output
-# files:
-#
-# cd ..
-# git clone https://github.com/johnynek/bazel-deps
-# cd bazel-deps
-# bazel build src/scala/com/github/johnynek/bazel_deps:parseproject_deploy.jar
-# cd ../rosjava_core
-# ../bazel-deps/gen_maven_deps.sh generate -r $PWD -s 3rdparty/workspace.bzl -d dependencies.yaml
-
-options:
- languages: [ "java" ]
- resolvers:
- - id: "jcenter"
- type: "default"
- url: https://jcenter.bintray.com/
- - id: "rosjava_mvn_repo"
- type: "default"
- url: https://github.com/rosjava/rosjava_mvn_repo/raw/master
- resolverCache: bazel_output_base
- transitivity: runtime_deps
- versionConflictPolicy: highest
- buildHeader:
- - "# Do not edit. bazel-deps autogenerates this file from dependencies.yaml."
-
-dependencies:
- commons-pool:
- commons-pool:
- lang: java
- version: "1.6"
- com.google.guava:
- guava:
- lang: java
- version: "12.0"
- dnsjava:
- dnsjava:
- lang: java
- version: "2.1.1"
- io.netty:
- netty:
- lang: java
- version: "3.5.13.Final"
- junit:
- junit:
- lang: java
- version: "4.8.2"
- org.apache.commons:
- com.springsource.org.apache.commons.codec:
- lang: java
- version: "1.3.0"
- com.springsource.org.apache.commons.httpclient:
- lang: java
- version: "3.1.0"
- com.springsource.org.apache.commons.io:
- lang: java
- version: "1.4.0"
- com.springsource.org.apache.commons.lang:
- lang: java
- version: "2.4.0"
- com.springsource.org.apache.commons.logging:
- lang: java
- version: "1.1.1"
- com.springsource.org.apache.commons.net:
- lang: java
- version: "2.0.0"
- org.apache.ws.commons:
- ws-commons-util:
- lang: java
- version: "1.0.1"
- org.mockito:
- mockito-all:
- lang: java
- version: "1.8.5"
- org.ros.rosjava_messages:
- nav_msgs:
- lang: java
- version: "1.12.5"
- rosgraph_msgs:
- lang: java
- version: "1.11.2"
- rosjava_test_msgs:
- lang: java
- version: "0.3.0"
- std_msgs:
- lang: java
- version: "0.5.11"
diff --git a/misc/rosjava_formatter.xml b/misc/rosjava_formatter.xml
deleted file mode 100644
index 1afde53f4d03a5dbef55d9de45499efbc71048ad..0000000000000000000000000000000000000000
--- a/misc/rosjava_formatter.xml
+++ /dev/null
@@ -1,279 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<profiles version="11">
-<profile kind="CodeFormatterProfile" name="rosjava" version="11">
-<setting id="org.eclipse.jdt.core.formatter.comment.insert_new_line_before_root_tags" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.disabling_tag" value="@formatter:off"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_annotation" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_type_parameters" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_brace_in_type_declaration" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_type_arguments" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.brace_position_for_anonymous_type_declaration" value="end_of_line"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_colon_in_case" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_brace_in_array_initializer" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.comment.new_lines_at_block_boundaries" value="true"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_new_line_in_empty_annotation_declaration" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_new_line_before_closing_brace_in_array_initializer" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_paren_in_annotation" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.blank_lines_before_field" value="0"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_paren_in_while" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.use_on_off_tags" value="false"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_between_empty_parens_in_annotation_type_member_declaration" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_new_line_before_else_in_if_statement" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_prefix_operator" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.keep_else_statement_on_same_line" value="false"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_ellipsis" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.comment.insert_new_line_for_parameter" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_brace_in_annotation_type_declaration" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.indent_breaks_compare_to_cases" value="true"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_at_in_annotation" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.alignment_for_multiple_fields" value="16"/>
-<setting id="org.eclipse.jdt.core.formatter.alignment_for_expressions_in_array_initializer" value="16"/>
-<setting id="org.eclipse.jdt.core.formatter.alignment_for_conditional_expression" value="80"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_paren_in_for" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_binary_operator" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_question_in_wildcard" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.brace_position_for_array_initializer" value="end_of_line"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_between_empty_parens_in_enum_constant" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_new_line_before_finally_in_try_statement" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_new_line_after_annotation_on_local_variable" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_new_line_before_catch_in_try_statement" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_paren_in_while" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.blank_lines_after_package" value="1"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_type_parameters" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.continuation_indentation" value="2"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_postfix_operator" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.alignment_for_arguments_in_method_invocation" value="16"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_angle_bracket_in_type_arguments" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_superinterfaces" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.blank_lines_before_new_chunk" value="1"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_binary_operator" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.blank_lines_before_package" value="0"/>
-<setting id="org.eclipse.jdt.core.compiler.source" value="1.5"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_enum_constant_arguments" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_paren_in_constructor_declaration" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.comment.format_line_comments" value="true"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_closing_angle_bracket_in_type_arguments" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_enum_declarations" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.join_wrapped_lines" value="true"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_brace_in_block" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.alignment_for_arguments_in_explicit_constructor_call" value="16"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_method_invocation_arguments" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.blank_lines_before_member_type" value="1"/>
-<setting id="org.eclipse.jdt.core.formatter.align_type_members_on_columns" value="false"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_paren_in_enum_constant" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_paren_in_for" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_brace_in_method_declaration" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.alignment_for_selector_in_method_invocation" value="16"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_paren_in_switch" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_unary_operator" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_colon_in_case" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.comment.indent_parameter_description" value="true"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_paren_in_method_declaration" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_paren_in_switch" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_brace_in_enum_declaration" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_angle_bracket_in_type_parameters" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_new_line_in_empty_type_declaration" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.comment.clear_blank_lines_in_block_comment" value="false"/>
-<setting id="org.eclipse.jdt.core.formatter.lineSplit" value="100"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_paren_in_if" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_between_brackets_in_array_type_reference" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_paren_in_parenthesized_expression" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_explicitconstructorcall_arguments" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_brace_in_constructor_declaration" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.blank_lines_before_first_class_body_declaration" value="0"/>
-<setting id="org.eclipse.jdt.core.formatter.indentation.size" value="4"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_between_empty_parens_in_method_declaration" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.enabling_tag" value="@formatter:on"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_paren_in_enum_constant" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.alignment_for_superclass_in_type_declaration" value="16"/>
-<setting id="org.eclipse.jdt.core.formatter.alignment_for_assignment" value="16"/>
-<setting id="org.eclipse.jdt.core.compiler.problem.assertIdentifier" value="error"/>
-<setting id="org.eclipse.jdt.core.formatter.tabulation.char" value="space"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_constructor_declaration_parameters" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_prefix_operator" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.indent_statements_compare_to_body" value="true"/>
-<setting id="org.eclipse.jdt.core.formatter.blank_lines_before_method" value="1"/>
-<setting id="org.eclipse.jdt.core.formatter.wrap_outer_expressions_when_nested" value="true"/>
-<setting id="org.eclipse.jdt.core.formatter.format_guardian_clause_on_one_line" value="false"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_colon_in_for" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_paren_in_cast" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.alignment_for_parameters_in_constructor_declaration" value="16"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_colon_in_labeled_statement" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.brace_position_for_annotation_type_declaration" value="end_of_line"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_new_line_in_empty_method_body" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.alignment_for_method_declaration" value="16"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_paren_in_method_invocation" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_bracket_in_array_allocation_expression" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_brace_in_enum_constant" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_annotation" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_at_in_annotation_type_declaration" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_method_declaration_throws" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_paren_in_if" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.brace_position_for_switch" value="end_of_line"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_method_declaration_throws" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_parenthesized_expression_in_return" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_paren_in_annotation" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_question_in_conditional" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_question_in_wildcard" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_bracket_in_array_allocation_expression" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_parenthesized_expression_in_throw" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_type_arguments" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.compiler.problem.enumIdentifier" value="error"/>
-<setting id="org.eclipse.jdt.core.formatter.indent_switchstatements_compare_to_switch" value="true"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_ellipsis" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.brace_position_for_block" value="end_of_line"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_for_inits" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.brace_position_for_method_declaration" value="end_of_line"/>
-<setting id="org.eclipse.jdt.core.formatter.compact_else_if" value="true"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_array_initializer" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_for_increments" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.format_line_comment_starting_on_first_column" value="true"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_bracket_in_array_reference" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.brace_position_for_enum_constant" value="end_of_line"/>
-<setting id="org.eclipse.jdt.core.formatter.comment.indent_root_tags" value="true"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_enum_declarations" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_explicitconstructorcall_arguments" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_brace_in_switch" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_superinterfaces" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_method_declaration_parameters" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_allocation_expression" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.tabulation.size" value="2"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_bracket_in_array_type_reference" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_new_line_after_opening_brace_in_array_initializer" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_closing_brace_in_block" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_bracket_in_array_reference" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_new_line_in_empty_enum_constant" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_angle_bracket_in_type_arguments" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_paren_in_constructor_declaration" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_paren_in_if" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_constructor_declaration_throws" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.comment.clear_blank_lines_in_javadoc_comment" value="false"/>
-<setting id="org.eclipse.jdt.core.formatter.alignment_for_throws_clause_in_constructor_declaration" value="16"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_assignment_operator" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_assignment_operator" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.indent_empty_lines" value="false"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_paren_in_synchronized" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_closing_paren_in_cast" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_method_declaration_parameters" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.brace_position_for_block_in_case" value="end_of_line"/>
-<setting id="org.eclipse.jdt.core.formatter.number_of_empty_lines_to_preserve" value="1"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_paren_in_method_declaration" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_paren_in_catch" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_paren_in_constructor_declaration" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_paren_in_method_invocation" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_bracket_in_array_reference" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_and_in_type_parameter" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.alignment_for_arguments_in_qualified_allocation_expression" value="16"/>
-<setting id="org.eclipse.jdt.core.compiler.compliance" value="1.5"/>
-<setting id="org.eclipse.jdt.core.formatter.continuation_indentation_for_array_initializer" value="2"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_between_empty_brackets_in_array_allocation_expression" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_at_in_annotation_type_declaration" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.alignment_for_arguments_in_allocation_expression" value="16"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_paren_in_cast" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_unary_operator" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_angle_bracket_in_parameterized_type_reference" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_brace_in_anonymous_type_declaration" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.keep_empty_array_initializer_on_one_line" value="false"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_new_line_in_empty_enum_declaration" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.keep_imple_if_on_one_line" value="false"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_constructor_declaration_parameters" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_closing_angle_bracket_in_type_parameters" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_new_line_at_end_of_file_if_missing" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_colon_in_for" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_colon_in_labeled_statement" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_parameterized_type_reference" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.alignment_for_superinterfaces_in_type_declaration" value="16"/>
-<setting id="org.eclipse.jdt.core.formatter.alignment_for_binary_expression" value="16"/>
-<setting id="org.eclipse.jdt.core.formatter.brace_position_for_enum_declaration" value="end_of_line"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_paren_in_while" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode" value="enabled"/>
-<setting id="org.eclipse.jdt.core.formatter.put_empty_statement_on_new_line" value="true"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_new_line_after_label" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_new_line_after_annotation_on_parameter" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_angle_bracket_in_type_parameters" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_between_empty_parens_in_method_invocation" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_new_line_before_while_in_do_statement" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.alignment_for_arguments_in_enum_constant" value="16"/>
-<setting id="org.eclipse.jdt.core.formatter.comment.format_javadoc_comments" value="true"/>
-<setting id="org.eclipse.jdt.core.formatter.comment.line_length" value="80"/>
-<setting id="org.eclipse.jdt.core.formatter.blank_lines_between_import_groups" value="1"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_enum_constant_arguments" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_semicolon" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.brace_position_for_constructor_declaration" value="end_of_line"/>
-<setting id="org.eclipse.jdt.core.formatter.number_of_blank_lines_at_beginning_of_method_body" value="0"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_colon_in_conditional" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.indent_body_declarations_compare_to_type_header" value="true"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_paren_in_annotation_type_member_declaration" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.wrap_before_binary_operator" value="true"/>
-<setting id="org.eclipse.jdt.core.formatter.indent_body_declarations_compare_to_enum_declaration_header" value="true"/>
-<setting id="org.eclipse.jdt.core.formatter.blank_lines_between_type_declarations" value="1"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_paren_in_synchronized" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.indent_statements_compare_to_block" value="true"/>
-<setting id="org.eclipse.jdt.core.formatter.alignment_for_superinterfaces_in_enum_declaration" value="16"/>
-<setting id="org.eclipse.jdt.core.formatter.join_lines_in_comments" value="true"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_question_in_conditional" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_multiple_field_declarations" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.alignment_for_compact_if" value="16"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_for_inits" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.indent_switchstatements_compare_to_cases" value="true"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_array_initializer" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_colon_in_default" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_and_in_type_parameter" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_between_empty_parens_in_constructor_declaration" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.blank_lines_before_imports" value="1"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_colon_in_assert" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.comment.format_html" value="true"/>
-<setting id="org.eclipse.jdt.core.formatter.alignment_for_throws_clause_in_method_declaration" value="16"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_angle_bracket_in_type_parameters" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_bracket_in_array_allocation_expression" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_new_line_in_empty_anonymous_type_declaration" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_colon_in_conditional" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_angle_bracket_in_parameterized_type_reference" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_paren_in_for" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_postfix_operator" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.comment.format_source_code" value="true"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_paren_in_synchronized" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_allocation_expression" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_constructor_declaration_throws" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.alignment_for_parameters_in_method_declaration" value="16"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_brace_in_array_initializer" value="insert"/>
-<setting id="org.eclipse.jdt.core.compiler.codegen.targetPlatform" value="1.5"/>
-<setting id="org.eclipse.jdt.core.formatter.use_tabs_only_for_leading_indentations" value="true"/>
-<setting id="org.eclipse.jdt.core.formatter.alignment_for_arguments_in_annotation" value="16"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_new_line_after_annotation_on_member" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.comment.format_header" value="false"/>
-<setting id="org.eclipse.jdt.core.formatter.comment.format_block_comments" value="true"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_paren_in_enum_constant" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.alignment_for_enum_constants" value="16"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_new_line_in_empty_block" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.indent_body_declarations_compare_to_annotation_declaration_header" value="true"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_paren_in_parenthesized_expression" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_paren_in_parenthesized_expression" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_paren_in_catch" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_multiple_local_declarations" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_paren_in_switch" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_for_increments" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_paren_in_method_invocation" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_colon_in_assert" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.brace_position_for_type_declaration" value="end_of_line"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_brace_in_array_initializer" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_between_empty_braces_in_array_initializer" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_paren_in_method_declaration" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_semicolon_in_for" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_paren_in_catch" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_angle_bracket_in_parameterized_type_reference" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_multiple_field_declarations" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_paren_in_annotation" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_parameterized_type_reference" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_method_invocation_arguments" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.comment.new_lines_at_javadoc_boundaries" value="true"/>
-<setting id="org.eclipse.jdt.core.formatter.blank_lines_after_imports" value="1"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_multiple_local_declarations" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.indent_body_declarations_compare_to_enum_constant_header" value="true"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_after_semicolon_in_for" value="insert"/>
-<setting id="org.eclipse.jdt.core.formatter.never_indent_line_comments_on_first_column" value="false"/>
-<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_angle_bracket_in_type_arguments" value="do not insert"/>
-<setting id="org.eclipse.jdt.core.formatter.never_indent_block_comments_on_first_column" value="false"/>
-<setting id="org.eclipse.jdt.core.formatter.keep_then_statement_on_same_line" value="false"/>
-</profile>
-</profiles>
diff --git a/misc/rosjava_import_order.importorder b/misc/rosjava_import_order.importorder
deleted file mode 100644
index 1655a2141d125b7a79da96a5145bec74eb1e8ddc..0000000000000000000000000000000000000000
--- a/misc/rosjava_import_order.importorder
+++ /dev/null
@@ -1,6 +0,0 @@
-#Organize Import Order
-#Wed Feb 23 23:44:47 PST 2011
-3=javax
-2=java
-1=
-0=com.google
diff --git a/misc/rospack_nosubdirs b/misc/rospack_nosubdirs
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
diff --git a/rosjava/build.gradle b/rosjava/build.gradle
index 33867f8a4911a16748e9f42a563db78b2cc98d08..31face1892f6fbea250d20adf40df7280a7ead5a 100644
--- a/rosjava/build.gradle
+++ b/rosjava/build.gradle
@@ -19,17 +19,12 @@ dependencies {
compile project(':apache_xmlrpc_server')
compile project(':apache_xmlrpc_client')
compile 'org.ros.rosjava_bootstrap:message_generation:[0.3,0.4)'
- compile 'org.ros.rosjava_messages:rosjava_test_msgs:[0.3,0.4)'
compile 'org.ros.rosjava_messages:rosgraph_msgs:[1.11,1.12)'
- compile 'org.ros.rosjava_messages:geometry_msgs:[1.12,1.13)'
- compile 'org.ros.rosjava_messages:nav_msgs:[1.12,1.13)'
compile 'org.ros.rosjava_messages:tf2_msgs:[0.5,0.6)'
compile 'dnsjava:dnsjava:2.1.1'
compile 'org.apache.commons:com.springsource.org.apache.commons.logging:1.1.1'
compile 'org.apache.commons:com.springsource.org.apache.commons.net:2.0.0'
compile 'com.google.guava:guava:12.0'
- testCompile 'junit:junit:4.8.2'
- testCompile 'org.mockito:mockito-all:1.8.5'
}
jar {
diff --git a/rosjava_benchmarks/build.gradle b/rosjava_benchmarks/build.gradle
deleted file mode 100644
index 8853d321d032a13da92f5f0e7d5d54fe75a21d87..0000000000000000000000000000000000000000
--- a/rosjava_benchmarks/build.gradle
+++ /dev/null
@@ -1,24 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-apply plugin: 'application'
-
-mainClassName = 'org.ros.RosRun'
-
-dependencies {
- compile project(':rosjava')
- compile project(':rosjava_geometry')
-}
diff --git a/rosjava_benchmarks/scripts/pubsub_benchmark.py b/rosjava_benchmarks/scripts/pubsub_benchmark.py
deleted file mode 100755
index b669f7712f4dfcc0baf46eabff7e42940eea58c8..0000000000000000000000000000000000000000
--- a/rosjava_benchmarks/scripts/pubsub_benchmark.py
+++ /dev/null
@@ -1,55 +0,0 @@
-#!/usr/bin/python
-#
-# Copyright (C) 2012 Google Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License"); you may not
-# use this file except in compliance with the License. You may obtain a copy of
-# the License at
-#
-# http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
-# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
-# License for the specific language governing permissions and limitations under
-# the License.
-
-import threading
-
-import roslib; roslib.load_manifest('rosjava_benchmarks')
-import rospy
-
-import tf.msg as tf_msgs
-import std_msgs.msg as std_msgs
-
-
-class PubsubBenchmark(object):
-
- def __init__(self):
- self.count = itertools.count()
- self.time = rospy.Time.now()
- self.lock = threading.Lock()
-
- def callback(self, _):
- with self.lock:
- self.count.next()
-
- def run(self):
- tf_publisher = rospy.Publisher('tf', tf_msgs.tfMessage)
- status_publisher = rospy.Publisher('status', std_msgs.String)
- rospy.Subscriber('tf', tf_msgs.tfMessage, self.callback)
- while not rospy.is_shutdown():
- tf_publisher.publish(tf_msgs.tfMessage())
- if (rospy.Time.now() - self.time) > rospy.Duration(5):
- status_publisher.publish(std_msgs.String('%.2f Hz' % (self.count.next() / 5.0)))
- with self.lock:
- self.count = itertools.count()
- self.time = rospy.Time.now()
-
-
-if __name__ == '__main__':
- try:
- rospy.init_node('benchmark')
- PubsubBenchmark().run()
- except rospy.ROSInterruptException:
- pass
diff --git a/rosjava_benchmarks/src/main/java/org/ros/rosjava_benchmarks/MessagesBenchmark.java b/rosjava_benchmarks/src/main/java/org/ros/rosjava_benchmarks/MessagesBenchmark.java
deleted file mode 100644
index 4ab11ac83c55fd26a37f9c3529291d5ff55ea5f4..0000000000000000000000000000000000000000
--- a/rosjava_benchmarks/src/main/java/org/ros/rosjava_benchmarks/MessagesBenchmark.java
+++ /dev/null
@@ -1,92 +0,0 @@
-/*
- * Copyright (C) 2012 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros.rosjava_benchmarks;
-
-import org.ros.concurrent.CancellableLoop;
-import org.ros.concurrent.Rate;
-import org.ros.concurrent.WallTimeRate;
-import org.ros.message.Duration;
-import org.ros.message.Time;
-import org.ros.namespace.GraphName;
-import org.ros.node.AbstractNodeMain;
-import org.ros.node.ConnectedNode;
-import org.ros.node.topic.Publisher;
-
-import java.util.concurrent.TimeUnit;
-import java.util.concurrent.atomic.AtomicInteger;
-
-/**
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class MessagesBenchmark extends AbstractNodeMain {
-
- private final AtomicInteger counter;
-
- private Time time;
-
- public MessagesBenchmark() {
- counter = new AtomicInteger();
- }
-
- @Override
- public GraphName getDefaultNodeName() {
- return GraphName.of("messages_benchmark");
- }
-
- @Override
- public void onStart(final ConnectedNode connectedNode) {
- connectedNode.executeCancellableLoop(new CancellableLoop() {
- @Override
- protected void loop() throws InterruptedException {
- geometry_msgs.TransformStamped message =
- connectedNode.getTopicMessageFactory()
- .newFromType(geometry_msgs.TransformStamped._TYPE);
- message.getHeader().setFrameId("world");
- message.setChildFrameId("turtle");
- message.getHeader().setStamp(connectedNode.getCurrentTime());
- message.getTransform().getRotation().setW(Math.random());
- message.getTransform().getRotation().setX(Math.random());
- message.getTransform().getRotation().setY(Math.random());
- message.getTransform().getRotation().setZ(Math.random());
- message.getTransform().getTranslation().setX(Math.random());
- message.getTransform().getTranslation().setY(Math.random());
- message.getTransform().getTranslation().setZ(Math.random());
- counter.incrementAndGet();
- }
- });
-
- time = connectedNode.getCurrentTime();
- final Publisher<std_msgs.String> statusPublisher =
- connectedNode.newPublisher("status", std_msgs.String._TYPE);
- final Rate rate = new WallTimeRate(1);
- final std_msgs.String status = statusPublisher.newMessage();
- connectedNode.executeCancellableLoop(new CancellableLoop() {
- @Override
- protected void loop() throws InterruptedException {
- Time now = connectedNode.getCurrentTime();
- Duration delta = now.subtract(time);
- if (delta.totalNsecs() > TimeUnit.NANOSECONDS.convert(5, TimeUnit.SECONDS)) {
- double hz = counter.getAndSet(0) * 1e9 / delta.totalNsecs();
- status.setData(String.format("%.2f Hz", hz));
- statusPublisher.publish(status);
- time = now;
- }
- rate.sleep();
- }
- });
- }
-}
diff --git a/rosjava_benchmarks/src/main/java/org/ros/rosjava_benchmarks/PubsubBenchmark.java b/rosjava_benchmarks/src/main/java/org/ros/rosjava_benchmarks/PubsubBenchmark.java
deleted file mode 100644
index 4b43ae0ca1daed4230ecd9e5c00aba5409e8b8cc..0000000000000000000000000000000000000000
--- a/rosjava_benchmarks/src/main/java/org/ros/rosjava_benchmarks/PubsubBenchmark.java
+++ /dev/null
@@ -1,97 +0,0 @@
-/*
- * Copyright (C) 2012 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros.rosjava_benchmarks;
-
-import org.ros.concurrent.CancellableLoop;
-import org.ros.concurrent.Rate;
-import org.ros.concurrent.WallTimeRate;
-import org.ros.message.Duration;
-import org.ros.message.MessageListener;
-import org.ros.message.Time;
-import org.ros.namespace.GraphName;
-import org.ros.node.AbstractNodeMain;
-import org.ros.node.ConnectedNode;
-import org.ros.node.topic.Publisher;
-import org.ros.node.topic.Subscriber;
-import tf2_msgs.TFMessage;
-
-import java.util.concurrent.TimeUnit;
-import java.util.concurrent.atomic.AtomicInteger;
-
-/**
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class PubsubBenchmark extends AbstractNodeMain {
-
- private final AtomicInteger counter;
-
- private Publisher<std_msgs.String> statusPublisher;
- private Publisher<tf2_msgs.TFMessage> tfPublisher;
- private Subscriber<tf2_msgs.TFMessage> tfSubscriber;
- private Time time;
-
- public PubsubBenchmark() {
- counter = new AtomicInteger();
- }
-
- @Override
- public GraphName getDefaultNodeName() {
- return GraphName.of("pubsub_benchmark");
- }
-
- @Override
- public void onStart(final ConnectedNode connectedNode) {
- tfSubscriber = connectedNode.newSubscriber("tf", tf2_msgs.TFMessage._TYPE);
- tfSubscriber.addMessageListener(new MessageListener<tf2_msgs.TFMessage>() {
- @Override
- public void onNewMessage(tf2_msgs.TFMessage message) {
- counter.incrementAndGet();
- }
- });
-
- tfPublisher = connectedNode.newPublisher("tf", tf2_msgs.TFMessage._TYPE);
- final tf2_msgs.TFMessage tfMessage = tfPublisher.newMessage();
- geometry_msgs.TransformStamped transformStamped =
- connectedNode.getTopicMessageFactory().newFromType(geometry_msgs.TransformStamped._TYPE);
- tfMessage.getTransforms().add(transformStamped);
- connectedNode.executeCancellableLoop(new CancellableLoop() {
- @Override
- protected void loop() throws InterruptedException {
- tfPublisher.publish(tfMessage);
- }
- });
-
- time = connectedNode.getCurrentTime();
- statusPublisher = connectedNode.newPublisher("status", std_msgs.String._TYPE);
- final Rate rate = new WallTimeRate(1);
- final std_msgs.String status = statusPublisher.newMessage();
- connectedNode.executeCancellableLoop(new CancellableLoop() {
- @Override
- protected void loop() throws InterruptedException {
- Time now = connectedNode.getCurrentTime();
- Duration delta = now.subtract(time);
- if (delta.totalNsecs() > TimeUnit.NANOSECONDS.convert(5, TimeUnit.SECONDS)) {
- double hz = counter.getAndSet(0) * 1e9 / delta.totalNsecs();
- status.setData(String.format("%.2f Hz", hz));
- statusPublisher.publish(status);
- time = now;
- }
- rate.sleep();
- }
- });
- }
-}
diff --git a/rosjava_benchmarks/src/main/java/org/ros/rosjava_benchmarks/TransformBenchmark.java b/rosjava_benchmarks/src/main/java/org/ros/rosjava_benchmarks/TransformBenchmark.java
deleted file mode 100644
index 300b70d1312e362df3c0f32d8aa13e7e3b017fec..0000000000000000000000000000000000000000
--- a/rosjava_benchmarks/src/main/java/org/ros/rosjava_benchmarks/TransformBenchmark.java
+++ /dev/null
@@ -1,105 +0,0 @@
-/*
- * Copyright (C) 2012 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros.rosjava_benchmarks;
-
-import org.ros.concurrent.CancellableLoop;
-import org.ros.concurrent.Rate;
-import org.ros.concurrent.WallTimeRate;
-import org.ros.message.Duration;
-import org.ros.message.Time;
-import org.ros.namespace.GraphName;
-import org.ros.node.AbstractNodeMain;
-import org.ros.node.ConnectedNode;
-import org.ros.node.topic.Publisher;
-import org.ros.rosjava_geometry.FrameTransformTree;
-
-import java.util.concurrent.TimeUnit;
-import java.util.concurrent.atomic.AtomicInteger;
-
-/**
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class TransformBenchmark extends AbstractNodeMain {
-
- private final AtomicInteger counter;
-
- private Time time;
-
- public TransformBenchmark() {
- counter = new AtomicInteger();
- }
-
- @Override
- public GraphName getDefaultNodeName() {
- return GraphName.of("transform_benchmark");
- }
-
- @Override
- public void onStart(final ConnectedNode connectedNode) {
- final geometry_msgs.TransformStamped turtle1 =
- connectedNode.getTopicMessageFactory().newFromType(geometry_msgs.TransformStamped._TYPE);
- turtle1.getHeader().setFrameId("world");
- turtle1.setChildFrameId("turtle1");
- final geometry_msgs.TransformStamped turtle2 =
- connectedNode.getTopicMessageFactory().newFromType(geometry_msgs.TransformStamped._TYPE);
- turtle2.getHeader().setFrameId("world");
- turtle2.setChildFrameId("turtle2");
- final FrameTransformTree frameTransformTree = new FrameTransformTree();
- connectedNode.executeCancellableLoop(new CancellableLoop() {
- @Override
- protected void loop() throws InterruptedException {
- updateTransform(turtle1, connectedNode, frameTransformTree);
- updateTransform(turtle2, connectedNode, frameTransformTree);
- frameTransformTree.transform("turtle1", "turtle2");
- counter.incrementAndGet();
- }
- });
-
- time = connectedNode.getCurrentTime();
- final Publisher<std_msgs.String> statusPublisher =
- connectedNode.newPublisher("status", std_msgs.String._TYPE);
- final Rate rate = new WallTimeRate(1);
- final std_msgs.String status = statusPublisher.newMessage();
- connectedNode.executeCancellableLoop(new CancellableLoop() {
- @Override
- protected void loop() throws InterruptedException {
- Time now = connectedNode.getCurrentTime();
- Duration delta = now.subtract(time);
- if (delta.totalNsecs() > TimeUnit.NANOSECONDS.convert(5, TimeUnit.SECONDS)) {
- double hz = counter.getAndSet(0) * 1e9 / delta.totalNsecs();
- status.setData(String.format("%.2f Hz", hz));
- statusPublisher.publish(status);
- time = now;
- }
- rate.sleep();
- }
- });
- }
-
- private void updateTransform(geometry_msgs.TransformStamped transformStamped,
- ConnectedNode connectedNode, FrameTransformTree frameTransformTree) {
- transformStamped.getHeader().setStamp(connectedNode.getCurrentTime());
- transformStamped.getTransform().getRotation().setW(Math.random());
- transformStamped.getTransform().getRotation().setX(Math.random());
- transformStamped.getTransform().getRotation().setY(Math.random());
- transformStamped.getTransform().getRotation().setZ(Math.random());
- transformStamped.getTransform().getTranslation().setX(Math.random());
- transformStamped.getTransform().getTranslation().setY(Math.random());
- transformStamped.getTransform().getTranslation().setZ(Math.random());
- frameTransformTree.update(transformStamped);
- }
-}
diff --git a/rosjava_geometry/build.gradle b/rosjava_geometry/build.gradle
deleted file mode 100644
index e02ee7c6bff3d1e81cb10d98cf40155cc8bbe78a..0000000000000000000000000000000000000000
--- a/rosjava_geometry/build.gradle
+++ /dev/null
@@ -1,20 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-dependencies {
- compile project(':rosjava')
- testCompile 'junit:junit:4.8.2'
-}
diff --git a/rosjava_geometry/src/main/java/org/ros/rosjava_geometry/FrameTransform.java b/rosjava_geometry/src/main/java/org/ros/rosjava_geometry/FrameTransform.java
deleted file mode 100644
index c484d0a80d6518279596de0cfe4c30ca9ea2918e..0000000000000000000000000000000000000000
--- a/rosjava_geometry/src/main/java/org/ros/rosjava_geometry/FrameTransform.java
+++ /dev/null
@@ -1,152 +0,0 @@
-/*
- * Copyright (C) 2012 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros.rosjava_geometry;
-
-import org.ros.message.Time;
-import org.ros.namespace.GraphName;
-
-import com.google.common.base.Preconditions;
-
-/**
- * Describes a {@link Transform} from data in the source frame to data in the
- * target frame at a specified {@link Time}.
- *
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class FrameTransform {
-
- private final Transform transform;
- private final GraphName source;
- private final GraphName target;
- private final Time time;
-
- public static FrameTransform fromTransformStampedMessage(
- geometry_msgs.TransformStamped transformStamped) {
- Transform transform = Transform.fromTransformMessage(transformStamped.getTransform());
- String target = transformStamped.getHeader().getFrameId();
- String source = transformStamped.getChildFrameId();
- Time stamp = transformStamped.getHeader().getStamp();
- return new FrameTransform(transform, GraphName.of(source), GraphName.of(target), stamp);
- }
-
- /**
- * Allocates a new {@link FrameTransform}.
- *
- * @param transform
- * the {@link Transform} that transforms data in the {@code source}
- * frame to data in the {@code target} frame
- * @param source
- * the source frame
- * @param target
- * the target frame
- * @param time
- * the time associated with this {@link FrameTransform}, can be
- * {@null}
- */
- public FrameTransform(Transform transform, GraphName source, GraphName target, Time time) {
- Preconditions.checkNotNull(transform);
- Preconditions.checkNotNull(source);
- Preconditions.checkNotNull(target);
- this.transform = transform;
- this.source = source.toRelative();
- this.target = target.toRelative();
- this.time = time;
- }
-
- public Transform getTransform() {
- return transform;
- }
-
- public GraphName getSourceFrame() {
- return source;
- }
-
- public GraphName getTargetFrame() {
- return target;
- }
-
- public FrameTransform invert() {
- return new FrameTransform(transform.invert(), target, source, time);
- }
-
- /**
- * @return the time associated with the {@link FrameTransform} or {@code null}
- * if there is no associated time
- */
- public Time getTime() {
- return time;
- }
-
- public geometry_msgs.TransformStamped toTransformStampedMessage(
- geometry_msgs.TransformStamped result) {
- Preconditions.checkNotNull(time);
- result.getHeader().setFrameId(target.toString());
- result.getHeader().setStamp(time);
- result.setChildFrameId(source.toString());
- transform.toTransformMessage(result.getTransform());
- return result;
- }
-
- @Override
- public String toString() {
- return String.format("FrameTransform<Source: %s, Target: %s, %s, Time: %s>", source, target,
- transform, time);
- }
-
- @Override
- public int hashCode() {
- final int prime = 31;
- int result = 1;
- result = prime * result + ((source == null) ? 0 : source.hashCode());
- result = prime * result + ((target == null) ? 0 : target.hashCode());
- result = prime * result + ((time == null) ? 0 : time.hashCode());
- result = prime * result + ((transform == null) ? 0 : transform.hashCode());
- return result;
- }
-
- @Override
- public boolean equals(Object obj) {
- if (this == obj)
- return true;
- if (obj == null)
- return false;
- if (getClass() != obj.getClass())
- return false;
- FrameTransform other = (FrameTransform) obj;
- if (source == null) {
- if (other.source != null)
- return false;
- } else if (!source.equals(other.source))
- return false;
- if (target == null) {
- if (other.target != null)
- return false;
- } else if (!target.equals(other.target))
- return false;
- if (time == null) {
- if (other.time != null)
- return false;
- } else if (!time.equals(other.time))
- return false;
- if (transform == null) {
- if (other.transform != null)
- return false;
- } else if (!transform.equals(other.transform))
- return false;
- return true;
- }
-}
diff --git a/rosjava_geometry/src/main/java/org/ros/rosjava_geometry/FrameTransformTree.java b/rosjava_geometry/src/main/java/org/ros/rosjava_geometry/FrameTransformTree.java
deleted file mode 100644
index 2bc3dda252a060ab83a55e7aec1b1663ab57312d..0000000000000000000000000000000000000000
--- a/rosjava_geometry/src/main/java/org/ros/rosjava_geometry/FrameTransformTree.java
+++ /dev/null
@@ -1,259 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros.rosjava_geometry;
-
-import com.google.common.annotations.VisibleForTesting;
-import com.google.common.base.Preconditions;
-import com.google.common.collect.Maps;
-
-import geometry_msgs.TransformStamped;
-import org.ros.concurrent.CircularBlockingDeque;
-import org.ros.message.Time;
-import org.ros.namespace.GraphName;
-
-import java.util.Map;
-
-/**
- * A tree of {@link FrameTransform}s.
- * <p>
- * {@link FrameTransformTree} does not currently support time travel. Lookups
- * always use the newest {@link TransformStamped}.
- *
- * @author damonkohler@google.com (Damon Kohler)
- * @author moesenle@google.com (Lorenz Moesenlechner)
- */
-public class FrameTransformTree {
-
- private static final int TRANSFORM_QUEUE_CAPACITY = 16;
-
- private final Object mutex;
-
- /**
- * A {@link Map} of the most recent {@link LazyFrameTransform} by source
- * frame. Lookups by target frame or by the pair of source and target are both
- * unnecessary because every frame can only have exactly one target.
- */
- private final Map<GraphName, CircularBlockingDeque<LazyFrameTransform>> transforms;
-
- public FrameTransformTree() {
- mutex = new Object();
- transforms = Maps.newConcurrentMap();
- }
-
- /**
- * Updates the tree with the provided {@link geometry_msgs.TransformStamped}
- * message.
- * <p>
- * Note that the tree is updated lazily. Modifications to the provided
- * {@link geometry_msgs.TransformStamped} message may cause unpredictable
- * results.
- *
- * @param transformStamped
- * the {@link geometry_msgs.TransformStamped} message to update with
- */
- public void update(geometry_msgs.TransformStamped transformStamped) {
- Preconditions.checkNotNull(transformStamped);
- GraphName source = GraphName.of(transformStamped.getChildFrameId());
- LazyFrameTransform lazyFrameTransform = new LazyFrameTransform(transformStamped);
- add(source, lazyFrameTransform);
- }
-
- @VisibleForTesting
- void update(FrameTransform frameTransform) {
- Preconditions.checkNotNull(frameTransform);
- GraphName source = frameTransform.getSourceFrame();
- LazyFrameTransform lazyFrameTransform = new LazyFrameTransform(frameTransform);
- add(source, lazyFrameTransform);
- }
-
- private void add(GraphName source, LazyFrameTransform lazyFrameTransform) {
- // This adds support for tf2 while maintaining backward compatibility with tf.
- GraphName relativeSource = source.toRelative();
- if (!transforms.containsKey(relativeSource)) {
- transforms.put(relativeSource, new CircularBlockingDeque<LazyFrameTransform>(
- TRANSFORM_QUEUE_CAPACITY));
- }
- synchronized (mutex) {
- transforms.get(relativeSource).addFirst(lazyFrameTransform);
- }
- }
-
- /**
- * Returns the most recent {@link FrameTransform} for target {@code source}.
- *
- * @param source
- * the frame to look up
- * @return the most recent {@link FrameTransform} for {@code source} or
- * {@code null} if no transform for {@code source} is available
- */
- public FrameTransform lookUp(GraphName source) {
- Preconditions.checkNotNull(source);
- // This adds support for tf2 while maintaining backward compatibility with tf.
- return getLatest(source.toRelative());
- }
-
- private FrameTransform getLatest(GraphName source) {
- CircularBlockingDeque<LazyFrameTransform> deque = transforms.get(source);
- if (deque == null) {
- return null;
- }
- LazyFrameTransform lazyFrameTransform = deque.peekFirst();
- if (lazyFrameTransform == null) {
- return null;
- }
- return lazyFrameTransform.get();
- }
-
- /**
- * @see #lookUp(GraphName)
- */
- public FrameTransform get(String source) {
- Preconditions.checkNotNull(source);
- return lookUp(GraphName.of(source));
- }
-
- /**
- * Returns the {@link FrameTransform} for {@code source} closest to
- * {@code time}.
- *
- * @param source
- * the frame to look up
- * @param time
- * the transform for {@code frame} closest to this {@link Time} will
- * be returned
- * @return the most recent {@link FrameTransform} for {@code source} or
- * {@code null} if no transform for {@code source} is available
- */
- public FrameTransform lookUp(GraphName source, Time time) {
- Preconditions.checkNotNull(source);
- Preconditions.checkNotNull(time);
- return get(source, time);
- }
-
- // TODO(damonkohler): Use an efficient search.
- private FrameTransform get(GraphName source, Time time) {
- CircularBlockingDeque<LazyFrameTransform> deque = transforms.get(source);
- if (deque == null) {
- return null;
- }
- LazyFrameTransform result = null;
- synchronized (mutex) {
- long offset = 0;
- for (LazyFrameTransform lazyFrameTransform : deque) {
- if (result == null) {
- result = lazyFrameTransform;
- offset = Math.abs(time.subtract(result.get().getTime()).totalNsecs());
- continue;
- }
- long newOffset = Math.abs(time.subtract(lazyFrameTransform.get().getTime()).totalNsecs());
- if (newOffset < offset) {
- result = lazyFrameTransform;
- offset = newOffset;
- }
- }
- }
- if (result == null) {
- return null;
- }
- return result.get();
- }
-
- /**
- * @see #lookUp(GraphName, Time)
- */
- public FrameTransform get(String source, Time time) {
- Preconditions.checkNotNull(source);
- return lookUp(GraphName.of(source), time);
- }
-
- /**
- * @return the {@link FrameTransform} from source the frame to the target
- * frame, or {@code null} if no {@link FrameTransform} could be found
- */
- public FrameTransform transform(GraphName source, GraphName target) {
- Preconditions.checkNotNull(source);
- Preconditions.checkNotNull(target);
- // This adds support for tf2 while maintaining backward compatibility with tf.
- GraphName relativeSource = source.toRelative();
- GraphName relativeTarget = target.toRelative();
- if (relativeSource.equals(relativeTarget)) {
- return new FrameTransform(Transform.identity(), relativeSource, relativeTarget, null);
- }
- FrameTransform sourceToRoot = transformToRoot(relativeSource);
- FrameTransform targetToRoot = transformToRoot(relativeTarget);
- if (sourceToRoot == null && targetToRoot == null) {
- return null;
- }
- if (sourceToRoot == null) {
- if (targetToRoot.getTargetFrame().equals(relativeSource)) {
- // relativeSource is root.
- return targetToRoot.invert();
- } else {
- return null;
- }
- }
- if (targetToRoot == null) {
- if (sourceToRoot.getTargetFrame().equals(relativeTarget)) {
- // relativeTarget is root.
- return sourceToRoot;
- } else {
- return null;
- }
- }
- if (sourceToRoot.getTargetFrame().equals(targetToRoot.getTargetFrame())) {
- // Neither relativeSource nor relativeTarget is root and both share the
- // same root.
- Transform transform =
- targetToRoot.getTransform().invert().multiply(sourceToRoot.getTransform());
- return new FrameTransform(transform, relativeSource, relativeTarget, sourceToRoot.getTime());
- }
- // No known transform.
- return null;
- }
-
- /**
- * @see #transform(GraphName, GraphName)
- */
- public FrameTransform transform(String source, String target) {
- Preconditions.checkNotNull(source);
- Preconditions.checkNotNull(target);
- return transform(GraphName.of(source), GraphName.of(target));
- }
-
- /**
- * @param source
- * the source frame
- * @return the {@link Transform} from {@code source} to root
- */
- @VisibleForTesting
- FrameTransform transformToRoot(GraphName source) {
- FrameTransform result = getLatest(source);
- if (result == null) {
- return null;
- }
- while (true) {
- FrameTransform resultToParent = lookUp(result.getTargetFrame(), result.getTime());
- if (resultToParent == null) {
- return result;
- }
- // Now resultToParent.getSourceFrame() == result.getTargetFrame()
- Transform transform = resultToParent.getTransform().multiply(result.getTransform());
- GraphName target = resultToParent.getTargetFrame();
- result = new FrameTransform(transform, source, target, result.getTime());
- }
- }
-}
diff --git a/rosjava_geometry/src/main/java/org/ros/rosjava_geometry/LazyFrameTransform.java b/rosjava_geometry/src/main/java/org/ros/rosjava_geometry/LazyFrameTransform.java
deleted file mode 100644
index acf378e0ed16503164c534bdd8b1094d51009aad..0000000000000000000000000000000000000000
--- a/rosjava_geometry/src/main/java/org/ros/rosjava_geometry/LazyFrameTransform.java
+++ /dev/null
@@ -1,61 +0,0 @@
-/*
- * Copyright (C) 2012 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros.rosjava_geometry;
-
-import com.google.common.annotations.VisibleForTesting;
-
-/**
- * Lazily converts a {@link geometry_msgs.Transform} message to a
- * {@link Transform} on the first call to {@link #get()} and caches the result.
- * <p>
- * This class is thread-safe.
- *
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class LazyFrameTransform {
-
- private final geometry_msgs.TransformStamped message;
-
- // Avoiding constructor code duplication.
- private final Object mutex = new Object();
-
- private FrameTransform frameTransform;
-
- public LazyFrameTransform(geometry_msgs.TransformStamped message) {
- this.message = message;
- }
-
- @VisibleForTesting
- LazyFrameTransform(FrameTransform frameTransform) {
- message = null;
- this.frameTransform = frameTransform;
- }
-
- /**
- * @return the {@link FrameTransform} for the wrapped
- * {@link geometry_msgs.TransformStamped} message
- */
- public FrameTransform get() {
- synchronized (mutex) {
- if (frameTransform != null) {
- return frameTransform;
- }
- frameTransform = FrameTransform.fromTransformStampedMessage(message);
- }
- return frameTransform;
- }
-}
\ No newline at end of file
diff --git a/rosjava_geometry/src/main/java/org/ros/rosjava_geometry/Quaternion.java b/rosjava_geometry/src/main/java/org/ros/rosjava_geometry/Quaternion.java
deleted file mode 100644
index b4c7e72e5ab3a7678b17822bb67b073dd5a1a112..0000000000000000000000000000000000000000
--- a/rosjava_geometry/src/main/java/org/ros/rosjava_geometry/Quaternion.java
+++ /dev/null
@@ -1,210 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros.rosjava_geometry;
-
-import com.google.common.base.Preconditions;
-import com.google.common.collect.Lists;
-
-import java.util.List;
-
-/**
- * A quaternion.
- *
- * @author damonkohler@google.com (Damon Kohler)
- * @author moesenle@google.com (Lorenz Moesenlechner)
- */
-public class Quaternion {
-
- private final double x;
- private final double y;
- private final double z;
- private final double w;
-
- public static Quaternion fromAxisAngle(Vector3 axis, double angle) {
- Vector3 normalized = axis.normalize();
- double sin = Math.sin(angle / 2.0d);
- double cos = Math.cos(angle / 2.0d);
- return new Quaternion(normalized.getX() * sin, normalized.getY() * sin,
- normalized.getZ() * sin, cos);
- }
-
- public static Quaternion fromQuaternionMessage(geometry_msgs.Quaternion message) {
- return new Quaternion(message.getX(), message.getY(), message.getZ(), message.getW());
- }
-
- public static Quaternion rotationBetweenVectors(Vector3 vector1, Vector3 vector2) {
- Preconditions.checkArgument(vector1.getMagnitude() > 0,
- "Cannot calculate rotation between zero-length vectors.");
- Preconditions.checkArgument(vector2.getMagnitude() > 0,
- "Cannot calculate rotation between zero-length vectors.");
- if (vector1.normalize().equals(vector2.normalize())) {
- return identity();
- }
- double angle =
- Math.acos(vector1.dotProduct(vector2) / (vector1.getMagnitude() * vector2.getMagnitude()));
- double axisX = vector1.getY() * vector2.getZ() - vector1.getZ() * vector2.getY();
- double axisY = vector1.getZ() * vector2.getX() - vector1.getX() * vector2.getZ();
- double axisZ = vector1.getX() * vector2.getY() - vector1.getY() * vector2.getX();
- return fromAxisAngle(new Vector3(axisX, axisY, axisZ), angle);
- }
-
- public static Quaternion identity() {
- return new Quaternion(0, 0, 0, 1);
- }
-
- public Quaternion(double x, double y, double z, double w) {
- this.x = x;
- this.y = y;
- this.z = z;
- this.w = w;
- }
-
- public Quaternion scale(double factor) {
- return new Quaternion(x * factor, y * factor, z * factor, w * factor);
- }
-
- public Quaternion conjugate() {
- return new Quaternion(-x, -y, -z, w);
- }
-
- public Quaternion invert() {
- double mm = getMagnitudeSquared();
- Preconditions.checkState(mm != 0);
- return conjugate().scale(1 / mm);
- }
-
- public Quaternion normalize() {
- return scale(1 / getMagnitude());
- }
-
- public Quaternion multiply(Quaternion other) {
- return new Quaternion(w * other.x + x * other.w + y * other.z - z * other.y, w * other.y + y
- * other.w + z * other.x - x * other.z, w * other.z + z * other.w + x * other.y - y
- * other.x, w * other.w - x * other.x - y * other.y - z * other.z);
- }
-
- public Vector3 rotateAndScaleVector(Vector3 vector) {
- Quaternion vectorQuaternion = new Quaternion(vector.getX(), vector.getY(), vector.getZ(), 0);
- Quaternion rotatedQuaternion = multiply(vectorQuaternion.multiply(conjugate()));
- return new Vector3(rotatedQuaternion.getX(), rotatedQuaternion.getY(), rotatedQuaternion.getZ());
- }
-
- public double getX() {
- return x;
- }
-
- public double getY() {
- return y;
- }
-
- public double getZ() {
- return z;
- }
-
- public double getW() {
- return w;
- }
-
- public double getMagnitudeSquared() {
- return x * x + y * y + z * z + w * w;
- }
-
- public double getMagnitude() {
- return Math.sqrt(getMagnitudeSquared());
- }
-
- public boolean isAlmostNeutral(double epsilon) {
- return Math.abs(1 - x * x - y * y - z * z - w * w) < epsilon;
- }
-
- public geometry_msgs.Quaternion toQuaternionMessage(geometry_msgs.Quaternion result) {
- result.setX(x);
- result.setY(y);
- result.setZ(z);
- result.setW(w);
- return result;
- }
-
- public boolean almostEquals(Quaternion other, double epsilon) {
- List<Double> epsilons = Lists.newArrayList();
- epsilons.add(x - other.x);
- epsilons.add(y - other.y);
- epsilons.add(z - other.z);
- epsilons.add(w - other.w);
- for (double e : epsilons) {
- if (Math.abs(e) > epsilon) {
- return false;
- }
- }
- return true;
- }
-
- @Override
- public String toString() {
- return String.format("Quaternion<x: %.4f, y: %.4f, z: %.4f, w: %.4f>", x, y, z, w);
- }
-
- @Override
- public int hashCode() {
- // Ensure that -0 and 0 are considered equal.
- double w = this.w == 0 ? 0 : this.w;
- double x = this.x == 0 ? 0 : this.x;
- double y = this.y == 0 ? 0 : this.y;
- double z = this.z == 0 ? 0 : this.z;
- final int prime = 31;
- int result = 1;
- long temp;
- temp = Double.doubleToLongBits(w);
- result = prime * result + (int) (temp ^ (temp >>> 32));
- temp = Double.doubleToLongBits(x);
- result = prime * result + (int) (temp ^ (temp >>> 32));
- temp = Double.doubleToLongBits(y);
- result = prime * result + (int) (temp ^ (temp >>> 32));
- temp = Double.doubleToLongBits(z);
- result = prime * result + (int) (temp ^ (temp >>> 32));
- return result;
- }
-
- @Override
- public boolean equals(Object obj) {
- if (this == obj)
- return true;
- if (obj == null)
- return false;
- if (getClass() != obj.getClass())
- return false;
- Quaternion other = (Quaternion) obj;
- // Ensure that -0 and 0 are considered equal.
- double w = this.w == 0 ? 0 : this.w;
- double x = this.x == 0 ? 0 : this.x;
- double y = this.y == 0 ? 0 : this.y;
- double z = this.z == 0 ? 0 : this.z;
- double otherW = other.w == 0 ? 0 : other.w;
- double otherX = other.x == 0 ? 0 : other.x;
- double otherY = other.y == 0 ? 0 : other.y;
- double otherZ = other.z == 0 ? 0 : other.z;
- if (Double.doubleToLongBits(w) != Double.doubleToLongBits(otherW))
- return false;
- if (Double.doubleToLongBits(x) != Double.doubleToLongBits(otherX))
- return false;
- if (Double.doubleToLongBits(y) != Double.doubleToLongBits(otherY))
- return false;
- if (Double.doubleToLongBits(z) != Double.doubleToLongBits(otherZ))
- return false;
- return true;
- }
-}
diff --git a/rosjava_geometry/src/main/java/org/ros/rosjava_geometry/Transform.java b/rosjava_geometry/src/main/java/org/ros/rosjava_geometry/Transform.java
deleted file mode 100644
index c79c141590202abb7917b47a9b0f563cd0ebae88..0000000000000000000000000000000000000000
--- a/rosjava_geometry/src/main/java/org/ros/rosjava_geometry/Transform.java
+++ /dev/null
@@ -1,190 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros.rosjava_geometry;
-
-import org.ros.message.Time;
-import org.ros.namespace.GraphName;
-
-/**
- * A transformation in terms of translation, rotation, and scale.
- *
- * @author damonkohler@google.com (Damon Kohler)
- * @author moesenle@google.com (Lorenz Moesenlechner)
- */
-public class Transform {
-
- private Vector3 translation;
- private Quaternion rotationAndScale;
-
- public static Transform fromTransformMessage(geometry_msgs.Transform message) {
- return new Transform(Vector3.fromVector3Message(message.getTranslation()),
- Quaternion.fromQuaternionMessage(message.getRotation()));
- }
-
- public static Transform fromPoseMessage(geometry_msgs.Pose message) {
- return new Transform(Vector3.fromPointMessage(message.getPosition()),
- Quaternion.fromQuaternionMessage(message.getOrientation()));
- }
-
- public static Transform identity() {
- return new Transform(Vector3.zero(), Quaternion.identity());
- }
-
- public static Transform xRotation(double angle) {
- return new Transform(Vector3.zero(), Quaternion.fromAxisAngle(Vector3.xAxis(), angle));
- }
-
- public static Transform yRotation(double angle) {
- return new Transform(Vector3.zero(), Quaternion.fromAxisAngle(Vector3.yAxis(), angle));
- }
-
- public static Transform zRotation(double angle) {
- return new Transform(Vector3.zero(), Quaternion.fromAxisAngle(Vector3.zAxis(), angle));
- }
-
- public static Transform translation(double x, double y, double z) {
- return new Transform(new Vector3(x, y, z), Quaternion.identity());
- }
-
- public static Transform translation(Vector3 vector) {
- return new Transform(vector, Quaternion.identity());
- }
-
- public Transform(Vector3 translation, Quaternion rotation) {
- this.translation = translation;
- this.rotationAndScale = rotation;
- }
-
- /**
- * Apply another {@link Transform} to this {@link Transform}.
- *
- * @param other
- * the {@link Transform} to apply to this {@link Transform}
- * @return the resulting {@link Transform}
- */
- public Transform multiply(Transform other) {
- return new Transform(apply(other.translation), apply(other.rotationAndScale));
- }
-
- public Transform invert() {
- Quaternion inverseRotationAndScale = rotationAndScale.invert();
- return new Transform(inverseRotationAndScale.rotateAndScaleVector(translation.invert()),
- inverseRotationAndScale);
- }
-
- public Vector3 apply(Vector3 vector) {
- return rotationAndScale.rotateAndScaleVector(vector).add(translation);
- }
-
- public Quaternion apply(Quaternion quaternion) {
- return rotationAndScale.multiply(quaternion);
- }
-
- public Transform scale(double factor) {
- return new Transform(translation, rotationAndScale.scale(Math.sqrt(factor)));
- }
-
- public double getScale() {
- return rotationAndScale.getMagnitudeSquared();
- }
-
- /**
- * @see <a
- * href="http://en.wikipedia.org/wiki/Rotation_matrix#Quaternion">Quaternion
- * rotation matrix</a>
- */
- public double[] toMatrix() {
- double x = rotationAndScale.getX();
- double y = rotationAndScale.getY();
- double z = rotationAndScale.getZ();
- double w = rotationAndScale.getW();
- double mm = rotationAndScale.getMagnitudeSquared();
- return new double[] { mm - 2 * y * y - 2 * z * z, 2 * x * y + 2 * z * w, 2 * x * z - 2 * y * w,
- 0, 2 * x * y - 2 * z * w, mm - 2 * x * x - 2 * z * z, 2 * y * z + 2 * x * w, 0,
- 2 * x * z + 2 * y * w, 2 * y * z - 2 * x * w, mm - 2 * x * x - 2 * y * y, 0,
- translation.getX(), translation.getY(), translation.getZ(), 1 };
- }
-
- public geometry_msgs.Transform toTransformMessage(geometry_msgs.Transform result) {
- result.setTranslation(translation.toVector3Message(result.getTranslation()));
- result.setRotation(rotationAndScale.toQuaternionMessage(result.getRotation()));
- return result;
- }
-
- public geometry_msgs.Pose toPoseMessage(geometry_msgs.Pose result) {
- result.setPosition(translation.toPointMessage(result.getPosition()));
- result.setOrientation(rotationAndScale.toQuaternionMessage(result.getOrientation()));
- return result;
- }
-
- public geometry_msgs.PoseStamped toPoseStampedMessage(GraphName frame, Time stamp,
- geometry_msgs.PoseStamped result) {
- result.getHeader().setFrameId(frame.toString());
- result.getHeader().setStamp(stamp);
- result.setPose(toPoseMessage(result.getPose()));
- return result;
- }
-
- public boolean almostEquals(Transform other, double epsilon) {
- return translation.almostEquals(other.translation, epsilon)
- && rotationAndScale.almostEquals(other.rotationAndScale, epsilon);
- }
-
- public Vector3 getTranslation() {
- return translation;
- }
-
- public Quaternion getRotationAndScale() {
- return rotationAndScale;
- }
-
- @Override
- public String toString() {
- return String.format("Transform<%s, %s>", translation, rotationAndScale);
- }
-
- @Override
- public int hashCode() {
- final int prime = 31;
- int result = 1;
- result = prime * result + ((rotationAndScale == null) ? 0 : rotationAndScale.hashCode());
- result = prime * result + ((translation == null) ? 0 : translation.hashCode());
- return result;
- }
-
- @Override
- public boolean equals(Object obj) {
- if (this == obj)
- return true;
- if (obj == null)
- return false;
- if (getClass() != obj.getClass())
- return false;
- Transform other = (Transform) obj;
- if (rotationAndScale == null) {
- if (other.rotationAndScale != null)
- return false;
- } else if (!rotationAndScale.equals(other.rotationAndScale))
- return false;
- if (translation == null) {
- if (other.translation != null)
- return false;
- } else if (!translation.equals(other.translation))
- return false;
- return true;
- }
-}
diff --git a/rosjava_geometry/src/main/java/org/ros/rosjava_geometry/Vector3.java b/rosjava_geometry/src/main/java/org/ros/rosjava_geometry/Vector3.java
deleted file mode 100644
index b5c84ebf330962f05b6949dcbe2706f2c4dcca5f..0000000000000000000000000000000000000000
--- a/rosjava_geometry/src/main/java/org/ros/rosjava_geometry/Vector3.java
+++ /dev/null
@@ -1,188 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros.rosjava_geometry;
-
-import com.google.common.collect.Lists;
-
-import java.util.List;
-
-/**
- * A three dimensional vector.
- *
- * @author damonkohler@google.com (Damon Kohler)
- * @author moesenle@google.com (Lorenz Moesenlechner)
- */
-public class Vector3 {
-
- private static final Vector3 ZERO = new Vector3(0, 0, 0);
- private static final Vector3 X_AXIS = new Vector3(1, 0, 0);
- private static final Vector3 Y_AXIS = new Vector3(0, 1, 0);
- private static final Vector3 Z_AXIS = new Vector3(0, 0, 1);
-
- private final double x;
- private final double y;
- private final double z;
-
- public static Vector3 fromVector3Message(geometry_msgs.Vector3 message) {
- return new Vector3(message.getX(), message.getY(), message.getZ());
- }
-
- public static Vector3 fromPointMessage(geometry_msgs.Point message) {
- return new Vector3(message.getX(), message.getY(), message.getZ());
- }
-
- public static Vector3 zero() {
- return ZERO;
- }
-
- public static Vector3 xAxis() {
- return X_AXIS;
- }
-
- public static Vector3 yAxis() {
- return Y_AXIS;
- }
-
- public static Vector3 zAxis() {
- return Z_AXIS;
- }
-
- public Vector3(double x, double y, double z) {
- this.x = x;
- this.y = y;
- this.z = z;
- }
-
- public Vector3 add(Vector3 other) {
- return new Vector3(x + other.x, y + other.y, z + other.z);
- }
-
- public Vector3 subtract(Vector3 other) {
- return new Vector3(x - other.x, y - other.y, z - other.z);
- }
-
- public Vector3 invert() {
- return new Vector3(-x, -y, -z);
- }
-
- public double dotProduct(Vector3 other) {
- return x * other.x + y * other.y + z * other.z;
- }
-
- public Vector3 normalize() {
- return new Vector3(x / getMagnitude(), y / getMagnitude(), z / getMagnitude());
- }
-
- public Vector3 scale(double factor) {
- return new Vector3(x * factor, y * factor, z * factor);
- }
-
- public double getX() {
- return x;
- }
-
- public double getY() {
- return y;
- }
-
- public double getZ() {
- return z;
- }
-
- public double getMagnitudeSquared() {
- return x * x + y * y + z * z;
- }
-
- public double getMagnitude() {
- return Math.sqrt(getMagnitudeSquared());
- }
-
- public geometry_msgs.Vector3 toVector3Message(geometry_msgs.Vector3 result) {
- result.setX(x);
- result.setY(y);
- result.setZ(z);
- return result;
- }
-
- public geometry_msgs.Point toPointMessage(geometry_msgs.Point result) {
- result.setX(x);
- result.setY(y);
- result.setZ(z);
- return result;
- }
-
- public boolean almostEquals(Vector3 other, double epsilon) {
- List<Double> epsilons = Lists.newArrayList();
- epsilons.add(x - other.x);
- epsilons.add(y - other.y);
- epsilons.add(z - other.z);
- for (double e : epsilons) {
- if (Math.abs(e) > epsilon) {
- return false;
- }
- }
- return true;
- }
-
- @Override
- public String toString() {
- return String.format("Vector3<x: %.4f, y: %.4f, z: %.4f>", x, y, z);
- }
-
- @Override
- public int hashCode() {
- // Ensure that -0 and 0 are considered equal.
- double x = this.x == 0 ? 0 : this.x;
- double y = this.y == 0 ? 0 : this.y;
- double z = this.z == 0 ? 0 : this.z;
- final int prime = 31;
- int result = 1;
- long temp;
- temp = Double.doubleToLongBits(x);
- result = prime * result + (int) (temp ^ (temp >>> 32));
- temp = Double.doubleToLongBits(y);
- result = prime * result + (int) (temp ^ (temp >>> 32));
- temp = Double.doubleToLongBits(z);
- result = prime * result + (int) (temp ^ (temp >>> 32));
- return result;
- }
-
- @Override
- public boolean equals(Object obj) {
- if (this == obj)
- return true;
- if (obj == null)
- return false;
- if (getClass() != obj.getClass())
- return false;
- Vector3 other = (Vector3) obj;
- // Ensure that -0 and 0 are considered equal.
- double x = this.x == 0 ? 0 : this.x;
- double y = this.y == 0 ? 0 : this.y;
- double z = this.z == 0 ? 0 : this.z;
- double otherX = other.x == 0 ? 0 : other.x;
- double otherY = other.y == 0 ? 0 : other.y;
- double otherZ = other.z == 0 ? 0 : other.z;
- if (Double.doubleToLongBits(x) != Double.doubleToLongBits(otherX))
- return false;
- if (Double.doubleToLongBits(y) != Double.doubleToLongBits(otherY))
- return false;
- if (Double.doubleToLongBits(z) != Double.doubleToLongBits(otherZ))
- return false;
- return true;
- }
-}
diff --git a/rosjava_geometry/src/main/java/org/ros/rosjava_geometry/package-info.java b/rosjava_geometry/src/main/java/org/ros/rosjava_geometry/package-info.java
deleted file mode 100644
index e66a3a4b54a7a411877c8386102be2947cb7b8b1..0000000000000000000000000000000000000000
--- a/rosjava_geometry/src/main/java/org/ros/rosjava_geometry/package-info.java
+++ /dev/null
@@ -1,20 +0,0 @@
-/*
- * Copyright (C) 2012 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-/**
- * Provides the classes for common geometry operations and representations (e.g. transformations).
- */
-package org.ros.rosjava_geometry;
\ No newline at end of file
diff --git a/rosjava_geometry/src/test/java/org/ros/rosjava_geometry/FrameTransformTreeTest.java b/rosjava_geometry/src/test/java/org/ros/rosjava_geometry/FrameTransformTreeTest.java
deleted file mode 100644
index bbcdfacbcb9ae472ae6c1e0eced42117bf33c117..0000000000000000000000000000000000000000
--- a/rosjava_geometry/src/test/java/org/ros/rosjava_geometry/FrameTransformTreeTest.java
+++ /dev/null
@@ -1,256 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros.rosjava_geometry;
-
-import static org.junit.Assert.assertEquals;
-import static org.junit.Assert.assertTrue;
-
-import org.junit.Before;
-import org.junit.Test;
-import org.ros.internal.message.DefaultMessageFactory;
-import org.ros.internal.message.definition.MessageDefinitionReflectionProvider;
-import org.ros.message.MessageDefinitionProvider;
-import org.ros.message.MessageFactory;
-import org.ros.message.Time;
-import org.ros.namespace.GraphName;
-
-/**
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class FrameTransformTreeTest {
-
- private FrameTransformTree frameTransformTree;
- private MessageDefinitionProvider messageDefinitionProvider;
- private MessageFactory messageFactory;
-
- @Before
- public void before() {
- frameTransformTree = new FrameTransformTree();
- messageDefinitionProvider = new MessageDefinitionReflectionProvider();
- messageFactory = new DefaultMessageFactory(messageDefinitionProvider);
- }
-
- @Test
- public void testUpdateAndGet() {
- FrameTransform frameTransform = new FrameTransform(Transform.identity(),
- GraphName.of("foo"), GraphName.of("bar"), new Time());
- frameTransformTree.update(frameTransform);
- assertEquals(frameTransform, frameTransformTree.get("foo"));
- }
-
- @Test
- public void testUpdateAndGetWithTransformStampedMessage() {
- FrameTransform frameTransform = new FrameTransform(Transform.identity(),
- GraphName.of("foo"), GraphName.of("bar"), new Time());
- frameTransformTree.update(newTransformStampedMessage(Transform.identity(),
- "foo", "bar", new Time()));
- assertEquals(frameTransform, frameTransformTree.get("foo"));
- }
-
- private geometry_msgs.TransformStamped newTransformStampedMessage(
- Transform transform, String source, String target, Time time) {
- geometry_msgs.TransformStamped message = messageFactory
- .newFromType(geometry_msgs.TransformStamped._TYPE);
- FrameTransform frameTransform = new FrameTransform(transform,
- GraphName.of(source), GraphName.of(target), time);
- frameTransform.toTransformStampedMessage(message);
- return message;
- }
-
- @Test
- public void testIdentityTransforms() {
- frameTransformTree.update(newTransformStampedMessage(Transform.identity(),
- "baz", "bar", new Time()));
- frameTransformTree.update(newTransformStampedMessage(Transform.identity(),
- "bar", "foo", new Time()));
-
- // Full tree transform.
- {
- FrameTransform frameTransform = frameTransformTree
- .transform("baz", "foo");
- assertTrue(frameTransform != null);
- assertEquals(GraphName.of("baz"), frameTransform.getSourceFrame());
- assertEquals(GraphName.of("foo"), frameTransform.getTargetFrame());
- assertEquals(Transform.identity(), frameTransform.getTransform());
- }
-
- // Same node transform.
- {
- FrameTransform frameTransform = frameTransformTree
- .transform("baz", "baz");
- assertTrue(frameTransform != null);
- assertEquals(GraphName.of("baz"), frameTransform.getSourceFrame());
- assertEquals(GraphName.of("baz"), frameTransform.getTargetFrame());
- assertEquals(Transform.identity(), frameTransform.getTransform());
- }
-
- // Same node transform.
- {
- FrameTransform frameTransform = frameTransformTree
- .transform("bar", "bar");
- assertTrue(frameTransform != null);
- assertEquals(GraphName.of("bar"), frameTransform.getSourceFrame());
- assertEquals(GraphName.of("bar"), frameTransform.getTargetFrame());
- assertEquals(Transform.identity(), frameTransform.getTransform());
- }
-
- // Root-to-root transform.
- {
- FrameTransform frameTransform = frameTransformTree
- .transform("foo", "foo");
- assertTrue(frameTransform != null);
- assertEquals(GraphName.of("foo"), frameTransform.getSourceFrame());
- assertEquals(GraphName.of("foo"), frameTransform.getTargetFrame());
- assertEquals(Transform.identity(), frameTransform.getTransform());
- }
-
- // Root-to-leaf transform.
- {
- FrameTransform frameTransform = frameTransformTree
- .transform("foo", "baz");
- assertTrue(frameTransform != null);
- assertEquals(GraphName.of("foo"), frameTransform.getSourceFrame());
- assertEquals(GraphName.of("baz"), frameTransform.getTargetFrame());
- assertEquals(Transform.identity(), frameTransform.getTransform());
- }
- }
-
- /**
- * Fills the {@link FrameTransformTree} with the following frame topography:
- *
- * <pre>
- * foo
- * bar bop
- * baz fuz
- * </pre>
- */
- private void updateFrameTransformTree() {
- {
- Transform transform = Transform.translation(0, 1, 0);
- frameTransformTree.update(newTransformStampedMessage(transform, "bar",
- "foo", new Time()));
- }
- {
- Transform transform = Transform.xRotation(Math.PI / 2);
- frameTransformTree.update(newTransformStampedMessage(transform, "baz",
- "bar", new Time()));
- }
- {
- Transform transform = Transform.translation(1, 0, 0);
- frameTransformTree.update(newTransformStampedMessage(transform, "bop",
- "foo", new Time()));
- }
- {
- Transform transform = Transform.yRotation(Math.PI / 2);
- frameTransformTree.update(newTransformStampedMessage(transform, "fuz",
- "bop", new Time()));
- }
- }
-
- private void checkBazToFooTransform(FrameTransform frameTransform) {
- // If we were to reverse the order of the transforms in our implementation,
- // we would expect the translation vector to be <0, 0, 1> instead.
- Transform transform = Transform.translation(0, 1, 0).multiply(
- Transform.xRotation(Math.PI / 2));
- Quaternion rotationAndScale = transform.getRotationAndScale();
- assertTrue(String.format("%s is not neutral.", rotationAndScale),
- rotationAndScale.isAlmostNeutral(1e-9));
- assertEquals(GraphName.of("baz"), frameTransform.getSourceFrame());
- assertEquals(GraphName.of("foo"), frameTransform.getTargetFrame());
- assertTrue(transform.almostEquals(frameTransform.getTransform(), 1e-9));
- }
-
- @Test
- public void testTransformBazToRoot() {
- updateFrameTransformTree();
- checkBazToFooTransform(frameTransformTree.transformToRoot(GraphName
- .of("baz")));
- }
-
- @Test
- public void testTransformBazToFoo() {
- updateFrameTransformTree();
- checkBazToFooTransform(frameTransformTree.transform("baz", "foo"));
- checkBazToFooTransform(frameTransformTree.transform("foo", "baz").invert());
- }
-
- private void checkFuzToFooTransform(FrameTransform frameTransform) {
- // If we were to reverse the order of the transforms in our implementation,
- // we would expect the translation vector to be <0, 0, 1> instead.
- Transform transform = Transform.translation(1, 0, 0).multiply(
- Transform.yRotation(Math.PI / 2));
- Quaternion rotationAndScale = transform.getRotationAndScale();
- assertTrue(String.format("%s is not neutral.", rotationAndScale),
- rotationAndScale.isAlmostNeutral(1e-9));
- assertEquals(GraphName.of("fuz"), frameTransform.getSourceFrame());
- assertEquals(GraphName.of("foo"), frameTransform.getTargetFrame());
- assertTrue(
- String.format("Expected %s != %s", transform,
- frameTransform.getTransform()),
- transform.almostEquals(frameTransform.getTransform(), 1e-9));
- }
-
- @Test
- public void testTransformFuzToRoot() {
- updateFrameTransformTree();
- checkFuzToFooTransform(frameTransformTree.transformToRoot(GraphName
- .of("fuz")));
- }
-
- @Test
- public void testTransformFuzToFoo() {
- updateFrameTransformTree();
- checkFuzToFooTransform(frameTransformTree.transform("fuz", "foo"));
- checkFuzToFooTransform(frameTransformTree.transform("foo", "fuz").invert());
- }
-
- @Test
- public void testTransformBazToFuz() {
- updateFrameTransformTree();
- FrameTransform frameTransform = frameTransformTree.transform("baz", "fuz");
- Transform transform = Transform.yRotation(Math.PI / 2).invert()
- .multiply(Transform.translation(1, 0, 0).invert())
- .multiply(Transform.translation(0, 1, 0))
- .multiply(Transform.xRotation(Math.PI / 2));
- assertTrue(transform.getRotationAndScale().isAlmostNeutral(1e-9));
- assertEquals(GraphName.of("baz"), frameTransform.getSourceFrame());
- assertEquals(GraphName.of("fuz"), frameTransform.getTargetFrame());
- assertTrue(
- String.format("Expected %s != %s", transform,
- frameTransform.getTransform()),
- transform.almostEquals(frameTransform.getTransform(), 1e-9));
- }
-
- @Test
- public void testTimeTravel() {
- FrameTransform frameTransform1 = new FrameTransform(Transform.identity(),
- GraphName.of("foo"), GraphName.of("bar"), new Time());
- FrameTransform frameTransform2 = new FrameTransform(Transform.identity(),
- GraphName.of("foo"), GraphName.of("bar"), new Time(2));
- FrameTransform frameTransform3 = new FrameTransform(Transform.identity(),
- GraphName.of("foo"), GraphName.of("bar"), new Time(4));
- frameTransformTree.update(frameTransform1);
- frameTransformTree.update(frameTransform2);
- frameTransformTree.update(frameTransform3);
- assertEquals(frameTransform3, frameTransformTree.get("foo"));
- assertEquals(frameTransform1, frameTransformTree.get("foo", new Time()));
- assertEquals(frameTransform1, frameTransformTree.get("foo", new Time(0.5)));
- assertEquals(frameTransform2, frameTransformTree.get("foo", new Time(1.5)));
- assertEquals(frameTransform2, frameTransformTree.get("foo", new Time(2)));
- assertEquals(frameTransform3, frameTransformTree.get("foo", new Time(10)));
- }
-}
diff --git a/rosjava_geometry/src/test/java/org/ros/rosjava_geometry/QuaternionTest.java b/rosjava_geometry/src/test/java/org/ros/rosjava_geometry/QuaternionTest.java
deleted file mode 100644
index 5a2717c6437dc02a5ded54ad2a507636ea0140f1..0000000000000000000000000000000000000000
--- a/rosjava_geometry/src/test/java/org/ros/rosjava_geometry/QuaternionTest.java
+++ /dev/null
@@ -1,101 +0,0 @@
-/*
- * Copyright (C) 2012 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros.rosjava_geometry;
-
-import static org.junit.Assert.assertEquals;
-
-import org.junit.Test;
-
-/**
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class QuaternionTest {
-
- @Test
- public void testAxisAngleToQuaternion() {
- Quaternion quaternion;
-
- quaternion = Quaternion.fromAxisAngle(Vector3.zAxis(), 0);
- assertEquals(0, quaternion.getX(), 1e-9);
- assertEquals(0, quaternion.getY(), 1e-9);
- assertEquals(0, quaternion.getZ(), 1e-9);
- assertEquals(1, quaternion.getW(), 1e-9);
-
- quaternion = Quaternion.fromAxisAngle(Vector3.zAxis(), Math.PI);
- assertEquals(0, quaternion.getX(), 1e-9);
- assertEquals(0, quaternion.getY(), 1e-9);
- assertEquals(1, quaternion.getZ(), 1e-9);
- assertEquals(0, quaternion.getW(), 1e-9);
-
- quaternion = Quaternion.fromAxisAngle(Vector3.zAxis(), Math.PI / 2);
- assertEquals(0, quaternion.getX(), 1e-9);
- assertEquals(0, quaternion.getY(), 1e-9);
- assertEquals(0.7071067811865475, quaternion.getZ(), 1e-9);
- assertEquals(0.7071067811865475, quaternion.getW(), 1e-9);
-
- quaternion = Quaternion.fromAxisAngle(Vector3.zAxis(), -Math.PI / 2);
- assertEquals(0, quaternion.getX(), 1e-9);
- assertEquals(0, quaternion.getY(), 1e-9);
- assertEquals(-0.7071067811865475, quaternion.getZ(), 1e-9);
- assertEquals(0.7071067811865475, quaternion.getW(), 1e-9);
-
- quaternion = Quaternion.fromAxisAngle(Vector3.zAxis(), 0.75 * Math.PI);
- assertEquals(0, quaternion.getX(), 1e-9);
- assertEquals(0, quaternion.getY(), 1e-9);
- assertEquals(0.9238795325112867, quaternion.getZ(), 1e-9);
- assertEquals(0.38268343236508984, quaternion.getW(), 1e-9);
-
- quaternion = Quaternion.fromAxisAngle(Vector3.zAxis(), -0.75 * Math.PI);
- assertEquals(0, quaternion.getX(), 1e-9);
- assertEquals(0, quaternion.getY(), 1e-9);
- assertEquals(-0.9238795325112867, quaternion.getZ(), 1e-9);
- assertEquals(0.38268343236508984, quaternion.getW(), 1e-9);
-
- quaternion = Quaternion.fromAxisAngle(Vector3.zAxis(), 1.5 * Math.PI);
- assertEquals(0, quaternion.getX(), 1e-9);
- assertEquals(0, quaternion.getY(), 1e-9);
- assertEquals(0.7071067811865475, quaternion.getZ(), 1e-9);
- assertEquals(-0.7071067811865475, quaternion.getW(), 1e-9);
- }
-
- @Test
- public void testInvert() {
- Quaternion inverse = Quaternion.fromAxisAngle(Vector3.zAxis(), Math.PI / 2).invert();
- assertEquals(0, inverse.getX(), 1e-9);
- assertEquals(0, inverse.getY(), 1e-9);
- assertEquals(-0.7071067811865475, inverse.getZ(), 1e-9);
- assertEquals(0.7071067811865475, inverse.getW(), 1e-9);
- }
-
- @Test
- public void testMultiply() {
- Quaternion quaternion = Quaternion.fromAxisAngle(Vector3.zAxis(), Math.PI / 2);
- Quaternion inverse = quaternion.invert();
- Quaternion rotated = quaternion.multiply(inverse);
- assertEquals(1, rotated.getW(), 1e-9);
- }
-
- @Test
- public void testRotateVector() {
- Quaternion quaternion = Quaternion.fromAxisAngle(Vector3.zAxis(), Math.PI / 2);
- Vector3 vector = new Vector3(1, 0, 0);
- Vector3 rotated = quaternion.rotateAndScaleVector(vector);
- assertEquals(0, rotated.getX(), 1e-9);
- assertEquals(1, rotated.getY(), 1e-9);
- assertEquals(0, rotated.getZ(), 1e-9);
- }
-}
diff --git a/rosjava_geometry/src/test/java/org/ros/rosjava_geometry/TransformTest.java b/rosjava_geometry/src/test/java/org/ros/rosjava_geometry/TransformTest.java
deleted file mode 100644
index f1c73e374c9678533f90e09c94dd188f34df2708..0000000000000000000000000000000000000000
--- a/rosjava_geometry/src/test/java/org/ros/rosjava_geometry/TransformTest.java
+++ /dev/null
@@ -1,120 +0,0 @@
-/*
- * Copyright (C) 2012 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros.rosjava_geometry;
-
-import static org.junit.Assert.assertEquals;
-import static org.junit.Assert.assertTrue;
-
-import org.junit.Test;
-
-import java.util.Random;
-
-/**
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class TransformTest {
-
- @Test
- public void testMultiply() {
- Transform transform1 = new Transform(Vector3.xAxis(), Quaternion.identity());
- Transform transform2 =
- new Transform(Vector3.yAxis(), Quaternion.fromAxisAngle(Vector3.zAxis(), Math.PI / 2));
-
- Transform result1 = transform1.multiply(transform2);
- assertEquals(1.0, result1.getTranslation().getX(), 1e-9);
- assertEquals(1.0, result1.getTranslation().getY(), 1e-9);
- assertEquals(0.0, result1.getTranslation().getZ(), 1e-9);
- assertEquals(0.0, result1.getRotationAndScale().getX(), 1e-9);
- assertEquals(0.0, result1.getRotationAndScale().getY(), 1e-9);
- assertEquals(0.7071067811865475, result1.getRotationAndScale().getZ(), 1e-9);
- assertEquals(0.7071067811865475, result1.getRotationAndScale().getW(), 1e-9);
-
- Transform result2 = transform2.multiply(transform1);
- assertEquals(0.0, result2.getTranslation().getX(), 1e-9);
- assertEquals(2.0, result2.getTranslation().getY(), 1e-9);
- assertEquals(0.0, result2.getTranslation().getZ(), 1e-9);
- assertEquals(0.0, result2.getRotationAndScale().getX(), 1e-9);
- assertEquals(0.0, result2.getRotationAndScale().getY(), 1e-9);
- assertEquals(0.7071067811865475, result2.getRotationAndScale().getZ(), 1e-9);
- assertEquals(0.7071067811865475, result2.getRotationAndScale().getW(), 1e-9);
- }
-
- @Test
- public void testInvert() {
- Transform transform =
- new Transform(Vector3.yAxis(), Quaternion.fromAxisAngle(Vector3.zAxis(), Math.PI / 2));
- Transform inverse = transform.invert();
-
- assertEquals(-1.0, inverse.getTranslation().getX(), 1e-9);
- assertEquals(0.0, inverse.getTranslation().getY(), 1e-9);
- assertEquals(0.0, inverse.getTranslation().getZ(), 1e-9);
- assertEquals(0.0, inverse.getRotationAndScale().getX(), 1e-9);
- assertEquals(0.0, inverse.getRotationAndScale().getY(), 1e-9);
- assertEquals(-0.7071067811865475, inverse.getRotationAndScale().getZ(), 1e-9);
- assertEquals(0.7071067811865475, inverse.getRotationAndScale().getW(), 1e-9);
-
- Transform neutral = transform.multiply(inverse);
- assertTrue(neutral.almostEquals(Transform.identity(), 1e-9));
- }
-
- @Test
- public void testInvertRandom() {
- Random random = new Random();
- random.setSeed(42);
- for (int i = 0; i < 10000; i++) {
- Vector3 vector = randomVector(random);
- Quaternion quaternion = randomQuaternion(random);
- Transform transform = new Transform(vector, quaternion);
- Transform inverse = transform.invert();
- Transform neutral = transform.multiply(inverse);
- assertTrue(neutral.almostEquals(Transform.identity(), 1e-9));
- }
- }
-
- @Test
- public void testMultiplyRandom() {
- Random random = new Random();
- random.setSeed(42);
- for (int i = 0; i < 10000; i++) {
- Vector3 data = randomVector(random);
- Vector3 vector1 = randomVector(random);
- Vector3 vector2 = randomVector(random);
- Quaternion quaternion1 = randomQuaternion(random);
- Quaternion quaternion2 = randomQuaternion(random);
- Transform transform1 = new Transform(vector1, quaternion1);
- Transform transform2 = new Transform(vector2, quaternion2);
- Vector3 result1 = transform1.apply(transform2.apply(data));
- Vector3 result2 = transform1.multiply(transform2).apply(data);
- assertTrue(result1.almostEquals(result2, 1e-9));
- }
- }
-
- @Test
- public void testScale() {
- assertTrue(Vector3.xAxis().scale(2)
- .almostEquals(Transform.identity().scale(2).apply(Vector3.xAxis()), 1e-9));
- }
-
- private Quaternion randomQuaternion(Random random) {
- return new Quaternion(random.nextDouble(), random.nextDouble(), random.nextDouble(),
- random.nextDouble());
- }
-
- private Vector3 randomVector(Random random) {
- return new Vector3(random.nextDouble(), random.nextDouble(), random.nextDouble());
- }
-}
diff --git a/rosjava_geometry/src/test/java/org/ros/rosjava_geometry/Vector3Test.java b/rosjava_geometry/src/test/java/org/ros/rosjava_geometry/Vector3Test.java
deleted file mode 100644
index f6d3e6c3a1763dd88fb557a5ec08175a728d6fe6..0000000000000000000000000000000000000000
--- a/rosjava_geometry/src/test/java/org/ros/rosjava_geometry/Vector3Test.java
+++ /dev/null
@@ -1,70 +0,0 @@
-/*
- * Copyright (C) 2012 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros.rosjava_geometry;
-
-import static org.junit.Assert.assertEquals;
-
-import org.junit.Test;
-
-/**
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class Vector3Test {
-
- @Test
- public void testAdd() {
- Vector3 vector1 = new Vector3(1, 2, 3);
- Vector3 vector2 = new Vector3(2, 3, 4);
- Vector3 result = vector1.add(vector2);
- assertEquals(result.getX(), 3, 1e-9);
- assertEquals(result.getY(), 5, 1e-9);
- assertEquals(result.getZ(), 7, 1e-9);
- }
-
- @Test
- public void testSubtract() {
- Vector3 vector1 = new Vector3(1, 2, 3);
- Vector3 vector2 = new Vector3(2, 3, 4);
- Vector3 result = vector1.subtract(vector2);
- assertEquals(result.getX(), -1, 1e-9);
- assertEquals(result.getY(), -1, 1e-9);
- assertEquals(result.getZ(), -1, 1e-9);
- }
-
- @Test
- public void testInvert() {
- Vector3 result = new Vector3(1, 1, 1).invert();
- assertEquals(result.getX(), -1, 1e-9);
- assertEquals(result.getY(), -1, 1e-9);
- assertEquals(result.getZ(), -1, 1e-9);
- }
-
- @Test
- public void testDotProduct() {
- Vector3 vector1 = new Vector3(1, 2, 3);
- Vector3 vector2 = new Vector3(2, 3, 4);
- assertEquals(20.0, vector1.dotProduct(vector2), 1e-9);
- }
-
- @Test
- public void testLength() {
- assertEquals(2, new Vector3(2, 0, 0).getMagnitude(), 1e-9);
- assertEquals(2, new Vector3(0, 2, 0).getMagnitude(), 1e-9);
- assertEquals(2, new Vector3(0, 0, 2).getMagnitude(), 1e-9);
- assertEquals(Math.sqrt(3), new Vector3(1, 1, 1).getMagnitude(), 1e-9);
- }
-}
diff --git a/rosjava_test/build.gradle b/rosjava_test/build.gradle
deleted file mode 100644
index 0ce12fbc8feb62a86f3c40a5313e98748d9a28dd..0000000000000000000000000000000000000000
--- a/rosjava_test/build.gradle
+++ /dev/null
@@ -1,24 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-apply plugin: 'application'
-
-mainClassName = 'org.ros.RosRun'
-
-dependencies {
- compile project(':rosjava')
- compile 'junit:junit:4.8.2'
-}
diff --git a/rosjava_test/scripts/serialized_message.py b/rosjava_test/scripts/serialized_message.py
deleted file mode 100644
index 56a6340dc7339afead3e38b7b03afaa33ad05e13..0000000000000000000000000000000000000000
--- a/rosjava_test/scripts/serialized_message.py
+++ /dev/null
@@ -1,37 +0,0 @@
-#!/usr/bin/python
-#
-# Copyright (C) 2012 Google Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License"); you may not
-# use this file except in compliance with the License. You may obtain a copy of
-# the License at
-#
-# http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
-# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
-# License for the specific language governing permissions and limitations under
-# the License.
-
-"""Prints the serialized bytese of a nav_msgs.Odometry message in hex.
-
-This can be modified slightly to print the serialized bytes in hex for
-arbitrary ROS messages and is useful for generating test cases for rosjava
-message serialization.
-"""
-
-__author__ = 'damonkohler@google.com (Damon Kohler)'
-
-import StringIO
-
-import roslib; roslib.load_manifest('rosjava_test')
-import rospy
-
-import nav_msgs.msg as nav_msgs
-
-message = nav_msgs.Odometry()
-buf = StringIO.StringIO()
-message.serialize(buf)
-print ''.join('0x%02x,' % ord(c) for c in buf.getvalue())[:-1]
-
diff --git a/rosjava_test/src/main/java/org/ros/MessageSerializationTestNode.java b/rosjava_test/src/main/java/org/ros/MessageSerializationTestNode.java
deleted file mode 100644
index fe6ce6807b0befe659186bfc8c20130f0686723e..0000000000000000000000000000000000000000
--- a/rosjava_test/src/main/java/org/ros/MessageSerializationTestNode.java
+++ /dev/null
@@ -1,63 +0,0 @@
-/*
- * Copyright (C) 2012 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros;
-
-import nav_msgs.Odometry;
-import org.ros.message.MessageListener;
-import org.ros.namespace.GraphName;
-import org.ros.node.ConnectedNode;
-import org.ros.node.Node;
-import org.ros.node.NodeMain;
-import org.ros.node.topic.Publisher;
-import org.ros.node.topic.Subscriber;
-
-/**
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class MessageSerializationTestNode implements NodeMain {
-
- @Override
- public GraphName getDefaultNodeName() {
- return GraphName.of("message_serialization_test_node");
- }
-
- @Override
- public void onStart(ConnectedNode connectedNode) {
- final Publisher<nav_msgs.Odometry> publisher =
- connectedNode.newPublisher("odom_echo", nav_msgs.Odometry._TYPE);
- Subscriber<nav_msgs.Odometry> subscriber =
- connectedNode.newSubscriber("odom", nav_msgs.Odometry._TYPE);
- subscriber.addMessageListener(new MessageListener<Odometry>() {
- @Override
- public void onNewMessage(Odometry message) {
- publisher.publish(message);
- }
- });
- }
-
- @Override
- public void onShutdown(Node node) {
- }
-
- @Override
- public void onShutdownComplete(Node node) {
- }
-
- @Override
- public void onError(Node node, Throwable throwable) {
- }
-}
diff --git a/rosjava_test/src/main/java/org/ros/ParameterServerTestNode.java b/rosjava_test/src/main/java/org/ros/ParameterServerTestNode.java
deleted file mode 100644
index 523f0b08fd59204fb879826f2ca00f2943181b62..0000000000000000000000000000000000000000
--- a/rosjava_test/src/main/java/org/ros/ParameterServerTestNode.java
+++ /dev/null
@@ -1,136 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros;
-
-import org.apache.commons.logging.Log;
-import org.ros.concurrent.CancellableLoop;
-import org.ros.message.MessageFactory;
-import org.ros.namespace.GraphName;
-import org.ros.namespace.NameResolver;
-import org.ros.node.AbstractNodeMain;
-import org.ros.node.ConnectedNode;
-import org.ros.node.parameter.ParameterTree;
-import org.ros.node.topic.Publisher;
-
-import java.util.List;
-import java.util.Map;
-
-/**
- * This node is used in rostest end-to-end integration tests with other client
- * libraries.
- *
- * @author kwc@willowgarage.com (Ken Conley)
- */
-public class ParameterServerTestNode extends AbstractNodeMain {
-
- @Override
- public GraphName getDefaultNodeName() {
- return GraphName.of("rosjava/parameter_server_test_node");
- }
-
- @SuppressWarnings("rawtypes")
- @Override
- public void onStart(ConnectedNode connectedNode) {
- final Publisher<std_msgs.String> pub_tilde =
- connectedNode.newPublisher("tilde", std_msgs.String._TYPE);
- final Publisher<std_msgs.String> pub_string =
- connectedNode.newPublisher("string", std_msgs.String._TYPE);
- final Publisher<std_msgs.Int64> pub_int =
- connectedNode.newPublisher("int", std_msgs.Int64._TYPE);
- final Publisher<std_msgs.Bool> pub_bool =
- connectedNode.newPublisher("bool", std_msgs.Bool._TYPE);
- final Publisher<std_msgs.Float64> pub_float =
- connectedNode.newPublisher("float", std_msgs.Float64._TYPE);
- final Publisher<rosjava_test_msgs.Composite> pub_composite =
- connectedNode.newPublisher("composite", rosjava_test_msgs.Composite._TYPE);
- final Publisher<rosjava_test_msgs.TestArrays> pub_list =
- connectedNode.newPublisher("list", rosjava_test_msgs.TestArrays._TYPE);
-
- ParameterTree param = connectedNode.getParameterTree();
-
- Log log = connectedNode.getLog();
- MessageFactory topicMessageFactory = connectedNode.getTopicMessageFactory();
-
- final std_msgs.String tilde_m = topicMessageFactory.newFromType(std_msgs.String._TYPE);
- tilde_m.setData(param.getString(connectedNode.resolveName("~tilde").toString()));
- log.info("tilde: " + tilde_m.getData());
-
- GraphName paramNamespace = GraphName.of(param.getString("parameter_namespace"));
- GraphName targetNamespace = GraphName.of(param.getString("target_namespace"));
- log.info("parameter_namespace: " + paramNamespace);
- log.info("target_namespace: " + targetNamespace);
- NameResolver resolver = connectedNode.getResolver().newChild(paramNamespace);
- NameResolver setResolver = connectedNode.getResolver().newChild(targetNamespace);
-
- final std_msgs.String string_m = topicMessageFactory.newFromType(std_msgs.String._TYPE);
- string_m.setData(param.getString(resolver.resolve("string")));
- log.info("string: " + string_m.getData());
- final std_msgs.Int64 int_m = topicMessageFactory.newFromType(std_msgs.Int64._TYPE);
- int_m.setData(param.getInteger(resolver.resolve("int")));
- log.info("int: " + int_m.getData());
-
- final std_msgs.Bool bool_m = topicMessageFactory.newFromType(std_msgs.Bool._TYPE);
- bool_m.setData(param.getBoolean(resolver.resolve("bool")));
- log.info("bool: " + bool_m.getData());
- final std_msgs.Float64 float_m = topicMessageFactory.newFromType(std_msgs.Float64._TYPE);
- float_m.setData(param.getDouble(resolver.resolve("float")));
- log.info("float: " + float_m.getData());
-
- final rosjava_test_msgs.Composite composite_m =
- topicMessageFactory.newFromType(rosjava_test_msgs.Composite._TYPE);
- Map composite_map = param.getMap(resolver.resolve("composite"));
- composite_m.getA().setW((Double) ((Map) composite_map.get("a")).get("w"));
- composite_m.getA().setX((Double) ((Map) composite_map.get("a")).get("x"));
- composite_m.getA().setY((Double) ((Map) composite_map.get("a")).get("y"));
- composite_m.getA().setZ((Double) ((Map) composite_map.get("a")).get("z"));
- composite_m.getB().setX((Double) ((Map) composite_map.get("b")).get("x"));
- composite_m.getB().setY((Double) ((Map) composite_map.get("b")).get("y"));
- composite_m.getB().setZ((Double) ((Map) composite_map.get("b")).get("z"));
-
- final rosjava_test_msgs.TestArrays list_m = topicMessageFactory.newFromType(rosjava_test_msgs.TestArrays._TYPE);
- // only using the integer part for easier (non-float) comparison
- @SuppressWarnings("unchecked")
- List<Integer> list = (List<Integer>) param.getList(resolver.resolve("list"));
- int[] data = new int[list.size()];
- for (int i = 0; i < list.size(); i++) {
- data[i] = list.get(i);
- }
- list_m.setInt32Array(data);
-
- // Set parameters
- param.set(setResolver.resolve("string"), string_m.getData());
- param.set(setResolver.resolve("int"), (int) int_m.getData());
- param.set(setResolver.resolve("float"), float_m.getData());
- param.set(setResolver.resolve("bool"), bool_m.getData());
- param.set(setResolver.resolve("composite"), composite_map);
- param.set(setResolver.resolve("list"), list);
-
- connectedNode.executeCancellableLoop(new CancellableLoop() {
- @Override
- protected void loop() throws InterruptedException {
- pub_tilde.publish(tilde_m);
- pub_string.publish(string_m);
- pub_int.publish(int_m);
- pub_bool.publish(bool_m);
- pub_float.publish(float_m);
- pub_composite.publish(composite_m);
- pub_list.publish(list_m);
- Thread.sleep(100);
- }
- });
- }
-}
diff --git a/rosjava_test/src/main/java/org/ros/PassthroughTestNode.java b/rosjava_test/src/main/java/org/ros/PassthroughTestNode.java
deleted file mode 100644
index 2d251bdd11d230f1000224e4a6132ba49bb91ac5..0000000000000000000000000000000000000000
--- a/rosjava_test/src/main/java/org/ros/PassthroughTestNode.java
+++ /dev/null
@@ -1,97 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros;
-
-import org.ros.message.MessageListener;
-import org.ros.namespace.GraphName;
-import org.ros.node.AbstractNodeMain;
-import org.ros.node.ConnectedNode;
-import org.ros.node.topic.Publisher;
-import org.ros.node.topic.Subscriber;
-
-/**
- * This node is used in rostest end-to-end integration tests with other client
- * libraries.
- *
- * @author kwc@willowgarage.com (Ken Conley)
- */
-public class PassthroughTestNode extends AbstractNodeMain {
-
- @Override
- public GraphName getDefaultNodeName() {
- return GraphName.of("rosjava/passthrough_test_node");
- }
-
- @Override
- public void onStart(final ConnectedNode connectedNode) {
- // The goal of the passthrough node is simply to retransmit the messages
- // sent to it. This allows us to external verify that the node is compatible
- // with multiple publishers, multiple subscribers, etc...
-
- // String pass through
- final Publisher<std_msgs.String> pub_string =
- connectedNode.newPublisher("string_out", std_msgs.String._TYPE);
- MessageListener<std_msgs.String> string_cb = new MessageListener<std_msgs.String>() {
- @Override
- public void onNewMessage(std_msgs.String m) {
- pub_string.publish(m);
- }
- };
- Subscriber<std_msgs.String> stringSubscriber =
- connectedNode.newSubscriber("string_in", "std_msgs/String");
- stringSubscriber.addMessageListener(string_cb);
-
- // Int64 pass through
- final Publisher<std_msgs.Int64> pub_int64 = connectedNode.newPublisher("int64_out", "std_msgs/Int64");
- MessageListener<std_msgs.Int64> int64_cb = new MessageListener<std_msgs.Int64>() {
- @Override
- public void onNewMessage(std_msgs.Int64 m) {
- pub_int64.publish(m);
- }
- };
- Subscriber<std_msgs.Int64> int64Subscriber = connectedNode.newSubscriber("int64_in", "std_msgs/Int64");
- int64Subscriber.addMessageListener(int64_cb);
-
- // TestHeader pass through
- final Publisher<rosjava_test_msgs.TestHeader> pub_header =
- connectedNode.newPublisher("test_header_out", rosjava_test_msgs.TestHeader._TYPE);
- MessageListener<rosjava_test_msgs.TestHeader> header_cb = new MessageListener<rosjava_test_msgs.TestHeader>() {
- @Override
- public void onNewMessage(rosjava_test_msgs.TestHeader m) {
- m.setOrigCallerId(m.getCallerId());
- m.setCallerId(connectedNode.getName().toString());
- pub_header.publish(m);
- }
- };
- Subscriber<rosjava_test_msgs.TestHeader> testHeaderSubscriber =
- connectedNode.newSubscriber("test_header_in", "rosjava_test_msgs/TestHeader");
- testHeaderSubscriber.addMessageListener(header_cb);
-
- // TestComposite pass through
- final Publisher<rosjava_test_msgs.Composite> pub_composite =
- connectedNode.newPublisher("composite_out", "rosjava_test_msgs/Composite");
- MessageListener<rosjava_test_msgs.Composite> composite_cb = new MessageListener<rosjava_test_msgs.Composite>() {
- @Override
- public void onNewMessage(rosjava_test_msgs.Composite m) {
- pub_composite.publish(m);
- }
- };
- Subscriber<rosjava_test_msgs.Composite> compositeSubscriber =
- connectedNode.newSubscriber("composite_in", "rosjava_test_msgs/Composite");
- compositeSubscriber.addMessageListener(composite_cb);
- }
-}
diff --git a/rosjava_test/src/main/java/org/ros/SlaveApiTestNode.java b/rosjava_test/src/main/java/org/ros/SlaveApiTestNode.java
deleted file mode 100644
index 7636b04dea172b432ac958b0a1f82ff7d77de5bd..0000000000000000000000000000000000000000
--- a/rosjava_test/src/main/java/org/ros/SlaveApiTestNode.java
+++ /dev/null
@@ -1,86 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros;
-
-import org.ros.concurrent.CancellableLoop;
-import org.ros.message.MessageFactory;
-import org.ros.message.MessageListener;
-import org.ros.namespace.GraphName;
-import org.ros.node.AbstractNodeMain;
-import org.ros.node.ConnectedNode;
-import org.ros.node.topic.Publisher;
-import org.ros.node.topic.Subscriber;
-
-/**
- * This node is used to test the slave API externally using rostest.
- *
- * @author kwc@willowgarage.com (Ken Conley)
- */
-public class SlaveApiTestNode extends AbstractNodeMain {
-
- @Override
- public GraphName getDefaultNodeName() {
- return GraphName.of("rosjava/slave_api_test_node");
- }
-
- @Override
- public void onStart(final ConnectedNode connectedNode) {
- // Basic chatter in/out test.
- final Publisher<std_msgs.String> pub_string =
- connectedNode.newPublisher("chatter_out", std_msgs.String._TYPE);
- MessageListener<std_msgs.String> chatter_cb = new MessageListener<std_msgs.String>() {
- @Override
- public void onNewMessage(std_msgs.String m) {
- System.out.println("String: " + m.getData());
- }
- };
-
- Subscriber<std_msgs.String> stringSubscriber =
- connectedNode.newSubscriber("chatter_in", std_msgs.String._TYPE);
- stringSubscriber.addMessageListener(chatter_cb);
-
- // Have at least one case of dual pub/sub on the same topic.
- final Publisher<std_msgs.Int64> pub_int64_pubsub =
- connectedNode.newPublisher("int64", std_msgs.Int64._TYPE);
- MessageListener<std_msgs.Int64> int64_cb = new MessageListener<std_msgs.Int64>() {
- @Override
- public void onNewMessage(std_msgs.Int64 m) {
- }
- };
-
- Subscriber<std_msgs.Int64> int64Subscriber =
- connectedNode.newSubscriber("int64", "std_msgs/std_msgs.Int64");
- int64Subscriber.addMessageListener(int64_cb);
-
- // Don't do any performance optimizations here. We want to make sure that
- // GC, etc. is working.
- connectedNode.executeCancellableLoop(new CancellableLoop() {
- @Override
- protected void loop() throws InterruptedException {
- MessageFactory topicMessageFactory = connectedNode.getTopicMessageFactory();
- std_msgs.String chatter = topicMessageFactory.newFromType(std_msgs.String._TYPE);
- chatter.setData("hello " + System.currentTimeMillis());
- pub_string.publish(chatter);
-
- std_msgs.Int64 num = topicMessageFactory.newFromType(std_msgs.Int64._TYPE);
- num.setData(1);
- pub_int64_pubsub.publish(num);
- Thread.sleep(100);
- }
- });
- }
-}
diff --git a/rosjava_tutorial_pubsub/BUILD.bazel b/rosjava_tutorial_pubsub/BUILD.bazel
deleted file mode 100644
index 40acec59084dd6178102c00c9f3fa0876160eb0a..0000000000000000000000000000000000000000
--- a/rosjava_tutorial_pubsub/BUILD.bazel
+++ /dev/null
@@ -1,13 +0,0 @@
-java_binary(
- name = "rosjava_tutorial_pubsub",
- srcs = glob([
- "src/main/**/*.java",
- ]),
- main_class = "org.ros.RosRun",
- deps = [
- "//3rdparty/jvm/org/apache/commons:com_springsource_org_apache_commons_logging",
- "//3rdparty/jvm/org/ros/rosjava_messages:std_msgs",
- "//rosjava",
- "@com_github_rosjava_rosjava_bootstrap//message_generation",
- ],
-)
diff --git a/rosjava_tutorial_pubsub/build.gradle b/rosjava_tutorial_pubsub/build.gradle
deleted file mode 100644
index 11c866cf5a8ca19e90162d84054ab34ea51300d3..0000000000000000000000000000000000000000
--- a/rosjava_tutorial_pubsub/build.gradle
+++ /dev/null
@@ -1,26 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-apply plugin: 'application'
-
-mainClassName = 'org.ros.RosRun'
-
-dependencies {
- compile project(':rosjava')
-}
-
-defaultTasks 'publish', 'installDist'
-
diff --git a/rosjava_tutorial_pubsub/src/main/java/org/ros/rosjava_tutorial_pubsub/Listener.java b/rosjava_tutorial_pubsub/src/main/java/org/ros/rosjava_tutorial_pubsub/Listener.java
deleted file mode 100644
index 2725c40cb72b1b0baecd7ef6a787f32cbf0be1f0..0000000000000000000000000000000000000000
--- a/rosjava_tutorial_pubsub/src/main/java/org/ros/rosjava_tutorial_pubsub/Listener.java
+++ /dev/null
@@ -1,50 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros.rosjava_tutorial_pubsub;
-
-import org.apache.commons.logging.Log;
-import org.ros.message.MessageListener;
-import org.ros.namespace.GraphName;
-import org.ros.node.AbstractNodeMain;
-import org.ros.node.ConnectedNode;
-import org.ros.node.NodeMain;
-import org.ros.node.topic.Subscriber;
-
-/**
- * A simple {@link Subscriber} {@link NodeMain}.
- *
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class Listener extends AbstractNodeMain {
-
- @Override
- public GraphName getDefaultNodeName() {
- return GraphName.of("rosjava_tutorial_pubsub/listener");
- }
-
- @Override
- public void onStart(ConnectedNode connectedNode) {
- final Log log = connectedNode.getLog();
- Subscriber<std_msgs.String> subscriber = connectedNode.newSubscriber("chatter", std_msgs.String._TYPE);
- subscriber.addMessageListener(new MessageListener<std_msgs.String>() {
- @Override
- public void onNewMessage(std_msgs.String message) {
- log.info("I heard: \"" + message.getData() + "\"");
- }
- });
- }
-}
diff --git a/rosjava_tutorial_pubsub/src/main/java/org/ros/rosjava_tutorial_pubsub/Talker.java b/rosjava_tutorial_pubsub/src/main/java/org/ros/rosjava_tutorial_pubsub/Talker.java
deleted file mode 100644
index 645d6ebc4c72417a2c86fae0619ff26a8c450f16..0000000000000000000000000000000000000000
--- a/rosjava_tutorial_pubsub/src/main/java/org/ros/rosjava_tutorial_pubsub/Talker.java
+++ /dev/null
@@ -1,72 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros.rosjava_tutorial_pubsub;
-
-import org.ros.concurrent.CancellableLoop;
-import org.ros.namespace.GraphName;
-import org.ros.node.AbstractNodeMain;
-import org.ros.node.ConnectedNode;
-import org.ros.node.NodeMain;
-import org.ros.node.topic.Publisher;
-
-/**
- * A simple {@link Publisher} {@link NodeMain}.
- *
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class Talker extends AbstractNodeMain {
- private String topic_name;
-
- public Talker() {
- topic_name = "chatter";
- }
-
- public Talker(String topic)
- {
- topic_name = topic;
- }
-
- @Override
- public GraphName getDefaultNodeName() {
- return GraphName.of("rosjava_tutorial_pubsub/talker");
- }
-
- @Override
- public void onStart(final ConnectedNode connectedNode) {
- final Publisher<std_msgs.String> publisher =
- connectedNode.newPublisher(topic_name, std_msgs.String._TYPE);
- // This CancellableLoop will be canceled automatically when the node shuts
- // down.
- connectedNode.executeCancellableLoop(new CancellableLoop() {
- private int sequenceNumber;
-
- @Override
- protected void setup() {
- sequenceNumber = 0;
- }
-
- @Override
- protected void loop() throws InterruptedException {
- std_msgs.String str = publisher.newMessage();
- str.setData("Hello world! " + sequenceNumber);
- publisher.publish(str);
- sequenceNumber++;
- Thread.sleep(1000);
- }
- });
- }
-}
diff --git a/rosjava_tutorial_right_hand_rule/build.gradle b/rosjava_tutorial_right_hand_rule/build.gradle
deleted file mode 100644
index c48db93699b911fb7cf9fd3e85ac5ed4301797fa..0000000000000000000000000000000000000000
--- a/rosjava_tutorial_right_hand_rule/build.gradle
+++ /dev/null
@@ -1,25 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-apply plugin: 'application'
-
-mainClassName = 'org.ros.RosRun'
-
-dependencies {
- compile project(':rosjava')
- compile 'org.ros.rosjava_messages:sensor_msgs:[1.12,1.13)'
-}
-
diff --git a/rosjava_tutorial_right_hand_rule/src/main/java/org/ros/rosjava_tutorial_right_hand_rule/RightHandRule.java b/rosjava_tutorial_right_hand_rule/src/main/java/org/ros/rosjava_tutorial_right_hand_rule/RightHandRule.java
deleted file mode 100644
index 1bafae60749170de1350055271099f5a5bcda4a7..0000000000000000000000000000000000000000
--- a/rosjava_tutorial_right_hand_rule/src/main/java/org/ros/rosjava_tutorial_right_hand_rule/RightHandRule.java
+++ /dev/null
@@ -1,61 +0,0 @@
-/*
- * Copyright (C) 2012 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros.rosjava_tutorial_right_hand_rule;
-
-import org.ros.message.MessageListener;
-import org.ros.namespace.GraphName;
-import org.ros.node.AbstractNodeMain;
-import org.ros.node.ConnectedNode;
-import org.ros.node.topic.Publisher;
-import org.ros.node.topic.Subscriber;
-
-/**
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class RightHandRule extends AbstractNodeMain {
-
- @Override
- public GraphName getDefaultNodeName() {
- return GraphName.of("right_hand_rule");
- }
-
- @Override
- public void onStart(ConnectedNode connectedNode) {
- final Publisher<geometry_msgs.Twist> publisher =
- connectedNode.newPublisher("cmd_vel", geometry_msgs.Twist._TYPE);
- final geometry_msgs.Twist twist = publisher.newMessage();
- final Subscriber<sensor_msgs.LaserScan> subscriber =
- connectedNode.newSubscriber("base_scan", sensor_msgs.LaserScan._TYPE);
- subscriber.addMessageListener(new MessageListener<sensor_msgs.LaserScan>() {
- @Override
- public void onNewMessage(sensor_msgs.LaserScan message) {
- float[] ranges = message.getRanges();
- float northRange = ranges[ranges.length / 2];
- float northEastRange = ranges[ranges.length / 3];
- double linearVelocity = 0.5;
- double angularVelocity = -0.5;
- if (northRange < 1. || northEastRange < 1.) {
- linearVelocity = 0;
- angularVelocity = 0.5;
- }
- twist.getAngular().setZ(angularVelocity);
- twist.getLinear().setX(linearVelocity);
- publisher.publish(twist);
- }
- });
- }
-}
diff --git a/rosjava_tutorial_right_hand_rule/world/maze-erratic.world b/rosjava_tutorial_right_hand_rule/world/maze-erratic.world
deleted file mode 100644
index f5b647785d02a1d7a4ba9627dbb3e1d494262c3f..0000000000000000000000000000000000000000
--- a/rosjava_tutorial_right_hand_rule/world/maze-erratic.world
+++ /dev/null
@@ -1,63 +0,0 @@
-define topurg ranger
-(
- sensor(
- range [ 0.0 30.0 ]
- fov 270.25
- samples 1081
- )
-
- # generic model properties
- color "black"
- size [ 0.05 0.05 0.1 ]
-)
-
-define erratic position
-(
- size [0.35 0.35 0.25]
- origin [-0.05 0 0 0]
- gui_nose 1
- drive "diff"
- topurg(pose [ 0.050 0.000 0 0.000 ])
-)
-
-define floorplan model
-(
- # sombre, sensible, artistic
- color "gray30"
-
- # most maps will need a bounding box
- boundary 0
-
- gui_nose 0
- gui_grid 0
-
- gui_outline 0
- gripper_return 0
- fiducial_return 0
- laser_return 1
-)
-
-# set the resolution of the underlying raytrace model in meters
-resolution 0.02
-
-interval_sim 100 # simulation timestep in milliseconds
-
-window
-(
- size [ 500.0 500.0 ]
- rotate [ 0.0 0.0 ]
- scale 10.0
-)
-
-# load an environment bitmap
-floorplan
-(
- name "maze"
- bitmap "maze.png"
- size [50.0 50.0 0.5]
- pose [ 0.0 0.0 0 0.0 ]
- gui_move 0
-)
-
-# throw in a robot
-erratic( pose [ 1.25 -25.0 0.0 90.0 ] name "era" color "blue")
diff --git a/rosjava_tutorial_right_hand_rule/world/maze.png b/rosjava_tutorial_right_hand_rule/world/maze.png
deleted file mode 100644
index ed9ab46dce6f7df6ac425089a154b150c5d2dd90..0000000000000000000000000000000000000000
Binary files a/rosjava_tutorial_right_hand_rule/world/maze.png and /dev/null differ
diff --git a/rosjava_tutorial_services/build.gradle b/rosjava_tutorial_services/build.gradle
deleted file mode 100644
index b3c0d175ab54de7815d2ed935a406773c0d90eef..0000000000000000000000000000000000000000
--- a/rosjava_tutorial_services/build.gradle
+++ /dev/null
@@ -1,23 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-apply plugin: 'application'
-
-mainClassName = 'org.ros.RosRun'
-
-dependencies {
- compile project(':rosjava')
-}
diff --git a/rosjava_tutorial_services/src/main/java/org/ros/rosjava_tutorial_services/Client.java b/rosjava_tutorial_services/src/main/java/org/ros/rosjava_tutorial_services/Client.java
deleted file mode 100644
index 1f1e69a6deee2ce9828635e573e61229ab9bbf77..0000000000000000000000000000000000000000
--- a/rosjava_tutorial_services/src/main/java/org/ros/rosjava_tutorial_services/Client.java
+++ /dev/null
@@ -1,65 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros.rosjava_tutorial_services;
-
-import org.ros.exception.RemoteException;
-import org.ros.exception.RosRuntimeException;
-import org.ros.exception.ServiceNotFoundException;
-import org.ros.namespace.GraphName;
-import org.ros.node.AbstractNodeMain;
-import org.ros.node.ConnectedNode;
-import org.ros.node.NodeMain;
-import org.ros.node.service.ServiceClient;
-import org.ros.node.service.ServiceResponseListener;
-
-/**
- * A simple {@link ServiceClient} {@link NodeMain}.
- *
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class Client extends AbstractNodeMain {
-
- @Override
- public GraphName getDefaultNodeName() {
- return GraphName.of("rosjava_tutorial_services/client");
- }
-
- @Override
- public void onStart(final ConnectedNode connectedNode) {
- ServiceClient<rosjava_test_msgs.AddTwoIntsRequest, rosjava_test_msgs.AddTwoIntsResponse> serviceClient;
- try {
- serviceClient = connectedNode.newServiceClient("add_two_ints", rosjava_test_msgs.AddTwoInts._TYPE);
- } catch (ServiceNotFoundException e) {
- throw new RosRuntimeException(e);
- }
- final rosjava_test_msgs.AddTwoIntsRequest request = serviceClient.newMessage();
- request.setA(2);
- request.setB(2);
- serviceClient.call(request, new ServiceResponseListener<rosjava_test_msgs.AddTwoIntsResponse>() {
- @Override
- public void onSuccess(rosjava_test_msgs.AddTwoIntsResponse response) {
- connectedNode.getLog().info(
- String.format("%d + %d = %d", request.getA(), request.getB(), response.getSum()));
- }
-
- @Override
- public void onFailure(RemoteException e) {
- throw new RosRuntimeException(e);
- }
- });
- }
-}
diff --git a/rosjava_tutorial_services/src/main/java/org/ros/rosjava_tutorial_services/Server.java b/rosjava_tutorial_services/src/main/java/org/ros/rosjava_tutorial_services/Server.java
deleted file mode 100644
index 5a313bfbba92cb3899dfc6ab18fcf42b11018f43..0000000000000000000000000000000000000000
--- a/rosjava_tutorial_services/src/main/java/org/ros/rosjava_tutorial_services/Server.java
+++ /dev/null
@@ -1,49 +0,0 @@
-/*
- * Copyright (C) 2011 Google Inc.
- *
- * Licensed under the Apache License, Version 2.0 (the "License"); you may not
- * use this file except in compliance with the License. You may obtain a copy of
- * the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
- * License for the specific language governing permissions and limitations under
- * the License.
- */
-
-package org.ros.rosjava_tutorial_services;
-
-import org.ros.namespace.GraphName;
-import org.ros.node.AbstractNodeMain;
-import org.ros.node.ConnectedNode;
-import org.ros.node.NodeMain;
-import org.ros.node.service.ServiceResponseBuilder;
-import org.ros.node.service.ServiceServer;
-
-/**
- * This is a simple {@link ServiceServer} {@link NodeMain}.
- *
- * @author damonkohler@google.com (Damon Kohler)
- */
-public class Server extends AbstractNodeMain {
-
- @Override
- public GraphName getDefaultNodeName() {
- return GraphName.of("rosjava_tutorial_services/server");
- }
-
- @Override
- public void onStart(ConnectedNode connectedNode) {
- connectedNode.newServiceServer("add_two_ints", rosjava_test_msgs.AddTwoInts._TYPE,
- new ServiceResponseBuilder<rosjava_test_msgs.AddTwoIntsRequest, rosjava_test_msgs.AddTwoIntsResponse>() {
- @Override
- public void
- build(rosjava_test_msgs.AddTwoIntsRequest request, rosjava_test_msgs.AddTwoIntsResponse response) {
- response.setSum(request.getA() + request.getB());
- }
- });
- }
-}
diff --git a/settings.gradle b/settings.gradle
index f86bd0d5d6c744bea411f814f82bcbfaf9cb8365..0a8a7f1acbb160b4f29fa33520f5cdb0308bf49c 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -19,13 +19,7 @@ include(
'apache_xmlrpc_common',
'apache_xmlrpc_server',
'rosjava',
- 'rosjava_geometry',
- 'rosjava_benchmarks',
- 'rosjava_test',
'rosjava_helpers',
- 'rosjava_tutorial_pubsub',
- 'rosjava_tutorial_right_hand_rule',
- 'rosjava_tutorial_services',
'docs',
)