From 5bee04336a870969e4264913a150f54ef397e792 Mon Sep 17 00:00:00 2001
From: Pierre Gergondet <pierre.gergondet@aist.go.jp>
Date: Wed, 12 Feb 2014 18:30:32 +0900
Subject: [PATCH] Use msg/srv defined in dynamic_graph_bridge_msgs
Fixes #22
Conflicts:
include/dynamic_graph_bridge/ros_interpreter.hh
src/ros_interpreter.cpp
---
include/dynamic_graph_bridge/ros_interpreter.hh | 10 +++++-----
manifest.xml | 2 ++
msg/Matrix.msg | 2 --
msg/Vector.msg | 1 -
src/ros_interpreter.cpp | 4 ++--
src/ros_publish.hxx | 4 ++--
src/ros_subscribe.hxx | 4 ++--
src/sot_to_ros.hh | 12 ++++++------
srv/RunCommand.srv | 5 -----
9 files changed, 19 insertions(+), 25 deletions(-)
delete mode 100644 msg/Matrix.msg
delete mode 100644 msg/Vector.msg
delete mode 100644 srv/RunCommand.srv
diff --git a/include/dynamic_graph_bridge/ros_interpreter.hh b/include/dynamic_graph_bridge/ros_interpreter.hh
index 88da328..b2877ee 100644
--- a/include/dynamic_graph_bridge/ros_interpreter.hh
+++ b/include/dynamic_graph_bridge/ros_interpreter.hh
@@ -1,7 +1,7 @@
#ifndef DYNAMIC_GRAPH_BRIDGE_INTERPRETER_HH
# define DYNAMIC_GRAPH_BRIDGE_INTERPRETER_HH
# include <ros/ros.h>
-# include <dynamic_graph_bridge/RunCommand.h>
+# include <dynamic_graph_bridge_msgs/RunCommand.h>
# include <dynamic-graph/python/interpreter.hh>
namespace dynamicgraph
@@ -16,8 +16,8 @@ namespace dynamicgraph
{
public:
typedef boost::function<
- bool (dynamic_graph_bridge::RunCommand::Request&,
- dynamic_graph_bridge::RunCommand::Response&)>
+ bool (dynamic_graph_bridge_msgs::RunCommand::Request&,
+ dynamic_graph_bridge_msgs::RunCommand::Response&)>
runCommandCallback_t;
explicit Interpreter (ros::NodeHandle& nodeHandle);
@@ -34,8 +34,8 @@ namespace dynamicgraph
protected:
/// \brief Run a Python command and return result, stderr and stdout.
- bool runCommandCallback (dynamic_graph_bridge::RunCommand::Request& req,
- dynamic_graph_bridge::RunCommand::Response& res);
+ bool runCommandCallback (dynamic_graph_bridge_msgs::RunCommand::Request& req,
+ dynamic_graph_bridge_msgs::RunCommand::Response& res);
private:
python::Interpreter interpreter_;
diff --git a/manifest.xml b/manifest.xml
index a07cc40..cbf9c56 100644
--- a/manifest.xml
+++ b/manifest.xml
@@ -37,4 +37,6 @@
<depend package="realtime_tools"/>
<depend package="jrl_dynamics_urdf"/>
+
+ <depend package="dynamic_graph_bridge_msgs"/>
</package>
diff --git a/msg/Matrix.msg b/msg/Matrix.msg
deleted file mode 100644
index 323f50b..0000000
--- a/msg/Matrix.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-float64[] data
-uint32 width
diff --git a/msg/Vector.msg b/msg/Vector.msg
deleted file mode 100644
index 922220f..0000000
--- a/msg/Vector.msg
+++ /dev/null
@@ -1 +0,0 @@
-float64[] data
diff --git a/src/ros_interpreter.cpp b/src/ros_interpreter.cpp
index 2720158..4b5c528 100644
--- a/src/ros_interpreter.cpp
+++ b/src/ros_interpreter.cpp
@@ -21,8 +21,8 @@ namespace dynamicgraph
bool
Interpreter::runCommandCallback
- (dynamic_graph_bridge::RunCommand::Request& req,
- dynamic_graph_bridge::RunCommand::Response& res)
+ (dynamic_graph_bridge_msgs::RunCommand::Request& req,
+ dynamic_graph_bridge_msgs::RunCommand::Response& res)
{
interpreter_.python(req.input, res.result, res.stdout, res.stderr);
return true;
diff --git a/src/ros_publish.hxx b/src/ros_publish.hxx
index 9d28a31..34f45fc 100644
--- a/src/ros_publish.hxx
+++ b/src/ros_publish.hxx
@@ -3,8 +3,8 @@
# include <vector>
# include <std_msgs/Float64.h>
-# include "dynamic_graph_bridge/Matrix.h"
-# include "dynamic_graph_bridge/Vector.h"
+# include "dynamic_graph_bridge_msgs/Matrix.h"
+# include "dynamic_graph_bridge_msgs/Vector.h"
# include "sot_to_ros.hh"
diff --git a/src/ros_subscribe.hxx b/src/ros_subscribe.hxx
index 3cdd855..12819e6 100644
--- a/src/ros_subscribe.hxx
+++ b/src/ros_subscribe.hxx
@@ -7,8 +7,8 @@
# include <dynamic-graph/signal-cast-helper.h>
# include <jrl/mal/boost.hh>
# include <std_msgs/Float64.h>
-# include "dynamic_graph_bridge/Matrix.h"
-# include "dynamic_graph_bridge/Vector.h"
+# include "dynamic_graph_bridge_msgs/Matrix.h"
+# include "dynamic_graph_bridge_msgs/Vector.h"
# include "ros_time.hh"
namespace ml = ::maal::boost;
diff --git a/src/sot_to_ros.hh b/src/sot_to_ros.hh
index 8878789..d8a2cfa 100644
--- a/src/sot_to_ros.hh
+++ b/src/sot_to_ros.hh
@@ -8,8 +8,8 @@
# include <jrl/mal/boost.hh>
# include <std_msgs/Float64.h>
# include <std_msgs/UInt32.h>
-# include "dynamic_graph_bridge/Matrix.h"
-# include "dynamic_graph_bridge/Vector.h"
+# include "dynamic_graph_bridge_msgs/Matrix.h"
+# include "dynamic_graph_bridge_msgs/Vector.h"
# include "geometry_msgs/Transform.h"
# include "geometry_msgs/TransformStamped.h"
@@ -91,8 +91,8 @@ namespace dynamicgraph
struct SotToRos<ml::Matrix>
{
typedef ml::Matrix sot_t;
- typedef dynamic_graph_bridge::Matrix ros_t;
- typedef dynamic_graph_bridge::MatrixConstPtr ros_const_ptr_t;
+ typedef dynamic_graph_bridge_msgs::Matrix ros_t;
+ typedef dynamic_graph_bridge_msgs::MatrixConstPtr ros_const_ptr_t;
typedef dynamicgraph::SignalTimeDependent<sot_t, int> signal_t;
typedef dynamicgraph::SignalPtr<sot_t, int> signalIn_t;
typedef boost::function<sot_t& (sot_t&, int)> callback_t;
@@ -112,8 +112,8 @@ namespace dynamicgraph
struct SotToRos<ml::Vector>
{
typedef ml::Vector sot_t;
- typedef dynamic_graph_bridge::Vector ros_t;
- typedef dynamic_graph_bridge::VectorConstPtr ros_const_ptr_t;
+ typedef dynamic_graph_bridge_msgs::Vector ros_t;
+ typedef dynamic_graph_bridge_msgs::VectorConstPtr ros_const_ptr_t;
typedef dynamicgraph::SignalTimeDependent<sot_t, int> signal_t;
typedef dynamicgraph::SignalPtr<sot_t, int> signalIn_t;
typedef boost::function<sot_t& (sot_t&, int)> callback_t;
diff --git a/srv/RunCommand.srv b/srv/RunCommand.srv
deleted file mode 100644
index 4207e9b..0000000
--- a/srv/RunCommand.srv
+++ /dev/null
@@ -1,5 +0,0 @@
-string input
----
-string result
-string stdout
-string stderr
--
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