From c2b117a9b516e9236148a0679070206a143ba912 Mon Sep 17 00:00:00 2001 From: Ussama Naal Date: Wed, 1 Nov 2023 05:21:38 -0700 Subject: [PATCH] Rename ouster_msgs package to ouster_sensor_msgs --- ouster-ros/CMakeLists.txt | 4 ++-- ouster-ros/include/ouster_ros/os_ros.h | 4 ++-- .../include/ouster_ros/os_sensor_node_base.h | 4 ++-- ouster-ros/package.xml | 4 ++-- ouster-ros/src/os_cloud_node.cpp | 4 ++-- ouster-ros/src/os_ros.cpp | 2 +- ouster-ros/src/os_sensor_node.cpp | 6 +++--- ouster-ros/src/os_sensor_node.h | 18 +++++++++--------- ouster-ros/src/os_sensor_node_base.cpp | 2 +- .../CMakeLists.txt | 2 +- .../msg/PacketMsg.msg | 0 .../package.xml | 4 ++-- .../srv/GetConfig.srv | 0 .../srv/GetMetadata.srv | 0 .../srv/SetConfig.srv | 0 15 files changed, 27 insertions(+), 27 deletions(-) rename {ouster-msgs => ouster-sensor-msgs}/CMakeLists.txt (93%) rename {ouster-msgs => ouster-sensor-msgs}/msg/PacketMsg.msg (100%) rename {ouster-msgs => ouster-sensor-msgs}/package.xml (92%) rename {ouster-msgs => ouster-sensor-msgs}/srv/GetConfig.srv (100%) rename {ouster-msgs => ouster-sensor-msgs}/srv/GetMetadata.srv (100%) rename {ouster-msgs => ouster-sensor-msgs}/srv/SetConfig.srv (100%) diff --git a/ouster-ros/CMakeLists.txt b/ouster-ros/CMakeLists.txt index e673740c..0be151ef 100644 --- a/ouster-ros/CMakeLists.txt +++ b/ouster-ros/CMakeLists.txt @@ -14,7 +14,7 @@ find_package(rclcpp_lifecycle REQUIRED) find_package(std_msgs REQUIRED) find_package(sensor_msgs REQUIRED) find_package(geometry_msgs REQUIRED) -find_package(ouster_msgs REQUIRED) +find_package(ouster_sensor_msgs REQUIRED) find_package(std_srvs REQUIRED) find_package(rosidl_default_generators REQUIRED) find_package(Eigen3 REQUIRED) @@ -63,7 +63,7 @@ set(ouster_ros_library_deps rclcpp sensor_msgs geometry_msgs - ouster_msgs + ouster_sensor_msgs pcl_conversions tf2 tf2_eigen diff --git a/ouster-ros/include/ouster_ros/os_ros.h b/ouster-ros/include/ouster_ros/os_ros.h index 214d5b37..2b11365b 100644 --- a/ouster-ros/include/ouster_ros/os_ros.h +++ b/ouster-ros/include/ouster_ros/os_ros.h @@ -25,7 +25,7 @@ #include #include -#include "ouster_msgs/msg/packet_msg.hpp" +#include "ouster_sensor_msgs/msg/packet_msg.hpp" #include "ouster_ros/os_point.h" namespace ouster_ros { @@ -85,7 +85,7 @@ sensor_msgs::msg::Imu packet_to_imu_msg(const ouster::sensor::packet_format& pf, * @param[in] pf the packet format * @return ROS sensor message with fields populated from the packet */ -sensor_msgs::msg::Imu packet_to_imu_msg(const ouster_msgs::msg::PacketMsg& pm, +sensor_msgs::msg::Imu packet_to_imu_msg(const ouster_sensor_msgs::msg::PacketMsg& pm, const rclcpp::Time& timestamp, const std::string& frame, const sensor::packet_format& pf); diff --git a/ouster-ros/include/ouster_ros/os_sensor_node_base.h b/ouster-ros/include/ouster_ros/os_sensor_node_base.h index 96e4c965..f311282a 100644 --- a/ouster-ros/include/ouster_ros/os_sensor_node_base.h +++ b/ouster-ros/include/ouster_ros/os_sensor_node_base.h @@ -13,7 +13,7 @@ #include #include -#include "ouster_msgs/srv/get_metadata.hpp" +#include "ouster_sensor_msgs/srv/get_metadata.hpp" namespace ouster_ros { @@ -43,7 +43,7 @@ class OusterSensorNodeBase : public rclcpp_lifecycle::LifecycleNode { protected: ouster::sensor::sensor_info info; - rclcpp::Service::SharedPtr get_metadata_srv; + rclcpp::Service::SharedPtr get_metadata_srv; std::string cached_metadata; rclcpp_lifecycle::LifecyclePublisher::SharedPtr metadata_pub; diff --git a/ouster-ros/package.xml b/ouster-ros/package.xml index 897505af..dd2ba60b 100644 --- a/ouster-ros/package.xml +++ b/ouster-ros/package.xml @@ -2,7 +2,7 @@ ouster_ros - 0.10.4 + 0.11.0 Ouster ROS2 driver ouster developers BSD @@ -14,7 +14,7 @@ rclcpp_components rclcpp_lifecycle std_msgs - ouster_msgs + ouster_sensor_msgs sensor_msgs geometry_msgs tf2_ros diff --git a/ouster-ros/src/os_cloud_node.cpp b/ouster-ros/src/os_cloud_node.cpp index b3da1ba6..9c2f034a 100644 --- a/ouster-ros/src/os_cloud_node.cpp +++ b/ouster-ros/src/os_cloud_node.cpp @@ -20,7 +20,7 @@ #include #include -#include "ouster_msgs/msg/packet_msg.hpp" +#include "ouster_sensor_msgs/msg/packet_msg.hpp" #include "ouster_ros/os_processing_node_base.h" #include "ouster_ros/visibility_control.h" @@ -31,7 +31,7 @@ #include "laser_scan_processor.h" namespace sensor = ouster::sensor; -using ouster_msgs::msg::PacketMsg; +using ouster_sensor_msgs::msg::PacketMsg; namespace ouster_ros { diff --git a/ouster-ros/src/os_ros.cpp b/ouster-ros/src/os_ros.cpp index 9e1b3745..abd214e5 100644 --- a/ouster-ros/src/os_ros.cpp +++ b/ouster-ros/src/os_ros.cpp @@ -22,7 +22,7 @@ #include namespace sensor = ouster::sensor; -using ouster_msgs::msg::PacketMsg; +using ouster_sensor_msgs::msg::PacketMsg; namespace ouster_ros { diff --git a/ouster-ros/src/os_sensor_node.cpp b/ouster-ros/src/os_sensor_node.cpp index 3f8c26cb..829b4e5f 100644 --- a/ouster-ros/src/os_sensor_node.cpp +++ b/ouster-ros/src/os_sensor_node.cpp @@ -16,9 +16,9 @@ #include "os_sensor_node.h" -using ouster_msgs::msg::PacketMsg; -using ouster_msgs::srv::GetConfig; -using ouster_msgs::srv::SetConfig; +using ouster_sensor_msgs::msg::PacketMsg; +using ouster_sensor_msgs::srv::GetConfig; +using ouster_sensor_msgs::srv::SetConfig; using namespace std::chrono_literals; using namespace std::string_literals; diff --git a/ouster-ros/src/os_sensor_node.h b/ouster-ros/src/os_sensor_node.h index e6e4f5dd..4e5dbcb8 100644 --- a/ouster-ros/src/os_sensor_node.h +++ b/ouster-ros/src/os_sensor_node.h @@ -20,9 +20,9 @@ #include #include #include -#include "ouster_msgs/msg/packet_msg.hpp" -#include "ouster_msgs/srv/get_config.hpp" -#include "ouster_msgs/srv/set_config.hpp" +#include "ouster_sensor_msgs/msg/packet_msg.hpp" +#include "ouster_sensor_msgs/srv/get_config.hpp" +#include "ouster_sensor_msgs/srv/set_config.hpp" #include "ouster_ros/visibility_control.h" #include "ouster_ros/os_sensor_node_base.h" @@ -145,15 +145,15 @@ class OusterSensor : public OusterSensorNodeBase { std::string mtp_dest; bool mtp_main; std::shared_ptr sensor_client; - ouster_msgs::msg::PacketMsg lidar_packet; - ouster_msgs::msg::PacketMsg imu_packet; - rclcpp_lifecycle::LifecyclePublisher::SharedPtr + ouster_sensor_msgs::msg::PacketMsg lidar_packet; + ouster_sensor_msgs::msg::PacketMsg imu_packet; + rclcpp_lifecycle::LifecyclePublisher::SharedPtr lidar_packet_pub; - rclcpp_lifecycle::LifecyclePublisher::SharedPtr + rclcpp_lifecycle::LifecyclePublisher::SharedPtr imu_packet_pub; rclcpp::Service::SharedPtr reset_srv; - rclcpp::Service::SharedPtr get_config_srv; - rclcpp::Service::SharedPtr set_config_srv; + rclcpp::Service::SharedPtr get_config_srv; + rclcpp::Service::SharedPtr set_config_srv; std::shared_ptr> change_state_client; // TODO: implement & utilize a lock-free ring buffer in future diff --git a/ouster-ros/src/os_sensor_node_base.cpp b/ouster-ros/src/os_sensor_node_base.cpp index c7b4445b..a6026158 100644 --- a/ouster-ros/src/os_sensor_node_base.cpp +++ b/ouster-ros/src/os_sensor_node_base.cpp @@ -15,7 +15,7 @@ #include namespace sensor = ouster::sensor; -using ouster_msgs::srv::GetMetadata; +using ouster_sensor_msgs::srv::GetMetadata; using sensor::UDPProfileLidar; namespace ouster_ros { diff --git a/ouster-msgs/CMakeLists.txt b/ouster-sensor-msgs/CMakeLists.txt similarity index 93% rename from ouster-msgs/CMakeLists.txt rename to ouster-sensor-msgs/CMakeLists.txt index 50ef44c4..b43b1864 100644 --- a/ouster-msgs/CMakeLists.txt +++ b/ouster-sensor-msgs/CMakeLists.txt @@ -1,6 +1,6 @@ cmake_minimum_required(VERSION 3.5) -project(ouster_msgs) +project(ouster_sensor_msgs) find_package(ament_cmake REQUIRED) find_package(std_msgs REQUIRED) diff --git a/ouster-msgs/msg/PacketMsg.msg b/ouster-sensor-msgs/msg/PacketMsg.msg similarity index 100% rename from ouster-msgs/msg/PacketMsg.msg rename to ouster-sensor-msgs/msg/PacketMsg.msg diff --git a/ouster-msgs/package.xml b/ouster-sensor-msgs/package.xml similarity index 92% rename from ouster-msgs/package.xml rename to ouster-sensor-msgs/package.xml index 8a8c7fac..6e4df774 100644 --- a/ouster-msgs/package.xml +++ b/ouster-sensor-msgs/package.xml @@ -1,8 +1,8 @@ - ouster_msgs - 0.2.0 + ouster_sensor_msgs + 0.11.0 ouster_ros message and service definitions ouster developers BSD diff --git a/ouster-msgs/srv/GetConfig.srv b/ouster-sensor-msgs/srv/GetConfig.srv similarity index 100% rename from ouster-msgs/srv/GetConfig.srv rename to ouster-sensor-msgs/srv/GetConfig.srv diff --git a/ouster-msgs/srv/GetMetadata.srv b/ouster-sensor-msgs/srv/GetMetadata.srv similarity index 100% rename from ouster-msgs/srv/GetMetadata.srv rename to ouster-sensor-msgs/srv/GetMetadata.srv diff --git a/ouster-msgs/srv/SetConfig.srv b/ouster-sensor-msgs/srv/SetConfig.srv similarity index 100% rename from ouster-msgs/srv/SetConfig.srv rename to ouster-sensor-msgs/srv/SetConfig.srv