From fd3de461f3d0e8b01e77162f96d7fc4550df1c37 Mon Sep 17 00:00:00 2001
From: Paul D'Angio <pcdangio@gmail.com>
Date: Sat, 6 Mar 2021 13:33:57 -0500
Subject: [PATCH] multi: switched to new sensor_msgs_ext messages
---
.../CMakeLists.txt => CMakeLists.txt | 4 --
driver_mpu9250/doxyfile => doxyfile | 0
driver_mpu9250_msgs/CMakeLists.txt | 37 -------------------
driver_mpu9250_msgs/package.xml | 16 --------
.../srv/calibrate_gyroscope.srv | 6 ---
driver_mpu9250/package.xml => package.xml | 2 -
{driver_mpu9250/src => src}/calibration.cpp | 0
{driver_mpu9250/src => src}/calibration.h | 0
{driver_mpu9250/src => src}/driver.cpp | 0
{driver_mpu9250/src => src}/driver.h | 0
{driver_mpu9250/src => src}/main_rpi.cpp | 0
{driver_mpu9250/src => src}/ros_node.cpp | 14 +++----
{driver_mpu9250/src => src}/ros_node.h | 4 +-
{driver_mpu9250/src => src}/rpi_driver.cpp | 0
{driver_mpu9250/src => src}/rpi_driver.h | 0
15 files changed, 9 insertions(+), 74 deletions(-)
rename driver_mpu9250/CMakeLists.txt => CMakeLists.txt (95%)
rename driver_mpu9250/doxyfile => doxyfile (100%)
delete mode 100644 driver_mpu9250_msgs/CMakeLists.txt
delete mode 100644 driver_mpu9250_msgs/package.xml
delete mode 100644 driver_mpu9250_msgs/srv/calibrate_gyroscope.srv
rename driver_mpu9250/package.xml => package.xml (84%)
rename {driver_mpu9250/src => src}/calibration.cpp (100%)
rename {driver_mpu9250/src => src}/calibration.h (100%)
rename {driver_mpu9250/src => src}/driver.cpp (100%)
rename {driver_mpu9250/src => src}/driver.h (100%)
rename {driver_mpu9250/src => src}/main_rpi.cpp (100%)
rename {driver_mpu9250/src => src}/ros_node.cpp (95%)
rename {driver_mpu9250/src => src}/ros_node.h (93%)
rename {driver_mpu9250/src => src}/rpi_driver.cpp (100%)
rename {driver_mpu9250/src => src}/rpi_driver.h (100%)
diff --git a/driver_mpu9250/CMakeLists.txt b/CMakeLists.txt
similarity index 95%
rename from driver_mpu9250/CMakeLists.txt
rename to CMakeLists.txt
index 0102e64..448f52d 100644
--- a/driver_mpu9250/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,13 +1,9 @@
cmake_minimum_required(VERSION 2.8.3)
project(driver_mpu9250)
-# Compile as C++11, supported in ROS Kinetic and newer
-add_compile_options(-std=c++11)
-
# Find catkin and package dependencies
find_package(catkin REQUIRED COMPONENTS
roscpp
- driver_mpu9250_msgs
sensor_msgs_ext
)
diff --git a/driver_mpu9250/doxyfile b/doxyfile
similarity index 100%
rename from driver_mpu9250/doxyfile
rename to doxyfile
diff --git a/driver_mpu9250_msgs/CMakeLists.txt b/driver_mpu9250_msgs/CMakeLists.txt
deleted file mode 100644
index 7279065..0000000
--- a/driver_mpu9250_msgs/CMakeLists.txt
+++ /dev/null
@@ -1,37 +0,0 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(driver_mpu9250_msgs)
-
-# Find catkin and package dependencies.
-find_package(catkin REQUIRED COMPONENTS
- message_generation)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-# FILES
-# Message1.msg
-# Message2.msg
-# )
-
-# Generate services in the 'srv' folder
-add_service_files(
- FILES
- calibrate_gyroscope.srv
-)
-
-## Generate actions in the 'action' folder
-# add_action_files(
-# FILES
-# Action1.action
-# Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-generate_messages(
-# DEPENDENCIES
-# std_msgs # Or other packages containing msgs
-)
-
-# Generage catkin package.
-catkin_package(
-# CATKIN_DEPENDS other_catkin_pkg
-)
\ No newline at end of file
diff --git a/driver_mpu9250_msgs/package.xml b/driver_mpu9250_msgs/package.xml
deleted file mode 100644
index ac64dbc..0000000
--- a/driver_mpu9250_msgs/package.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-
- <name>driver_mpu9250_msgs</name>
- <version>1.0.0</version>
- <description>Provides messages and services for interacting with the driver_mpu9250 node.</description>
-
- <author email="pcdangio@gmail.com">Paul D'Angio</author>
- <maintainer email="pcdangio@gmail.com">Paul D'Angio</maintainer>
-
- <license>MIT</license>
-
- <buildtool_depend>catkin</buildtool_depend>
- <build_depend>message_generation</build_depend>
-
-</package>
\ No newline at end of file
diff --git a/driver_mpu9250_msgs/srv/calibrate_gyroscope.srv b/driver_mpu9250_msgs/srv/calibrate_gyroscope.srv
deleted file mode 100644
index f04afd6..0000000
--- a/driver_mpu9250_msgs/srv/calibrate_gyroscope.srv
+++ /dev/null
@@ -1,6 +0,0 @@
-# Requests for the IMU to perform a zero-velocity calibration of the gyroscope.
-
-uint32 averaging_period # The number of milliseconds to average the bias calculation over.
----
-bool success # TRUE if the calibration was successful, otherwise FALSE.
-string message # If unsuccesful, reports the reason.
\ No newline at end of file
diff --git a/driver_mpu9250/package.xml b/package.xml
similarity index 84%
rename from driver_mpu9250/package.xml
rename to package.xml
index 96d6159..2753c6a 100644
--- a/driver_mpu9250/package.xml
+++ b/package.xml
@@ -11,8 +11,6 @@
<buildtool_depend>catkin</buildtool_depend>
<depend>roscpp</depend>
- <build_depend>libeigen3-dev</build_depend>
- <depend>driver_mpu9250_msgs</depend>
<depend>sensor_msgs_ext</depend>
</package>
diff --git a/driver_mpu9250/src/calibration.cpp b/src/calibration.cpp
similarity index 100%
rename from driver_mpu9250/src/calibration.cpp
rename to src/calibration.cpp
diff --git a/driver_mpu9250/src/calibration.h b/src/calibration.h
similarity index 100%
rename from driver_mpu9250/src/calibration.h
rename to src/calibration.h
diff --git a/driver_mpu9250/src/driver.cpp b/src/driver.cpp
similarity index 100%
rename from driver_mpu9250/src/driver.cpp
rename to src/driver.cpp
diff --git a/driver_mpu9250/src/driver.h b/src/driver.h
similarity index 100%
rename from driver_mpu9250/src/driver.h
rename to src/driver.h
diff --git a/driver_mpu9250/src/main_rpi.cpp b/src/main_rpi.cpp
similarity index 100%
rename from driver_mpu9250/src/main_rpi.cpp
rename to src/main_rpi.cpp
diff --git a/driver_mpu9250/src/ros_node.cpp b/src/ros_node.cpp
similarity index 95%
rename from driver_mpu9250/src/ros_node.cpp
rename to src/ros_node.cpp
index 706a649..3f4d956 100644
--- a/driver_mpu9250/src/ros_node.cpp
+++ b/src/ros_node.cpp
@@ -1,7 +1,7 @@
#include "ros_node.h"
-#include <sensor_msgs_ext/acceleration.h>
-#include <sensor_msgs_ext/angular_velocity.h>
+#include <sensor_msgs_ext/accelerometer.h>
+#include <sensor_msgs_ext/gyroscope.h>
#include <sensor_msgs_ext/magnetic_field.h>
#include <sensor_msgs_ext/temperature.h>
#include <sensor_msgs_ext/covariance.h>
@@ -39,8 +39,8 @@ ros_node::ros_node(std::shared_ptr<driver> driver, int argc, char **argv)
ros_node::m_calibration_magnetometer.load(private_node, "calibration_magnetometer");
// Set up data publishers.
- ros_node::m_publisher_accelerometer = ros_node::m_node->advertise<sensor_msgs_ext::acceleration>("imu/accelerometer", 1);
- ros_node::m_publisher_gyroscope = ros_node::m_node->advertise<sensor_msgs_ext::angular_velocity>("imu/gyroscope", 1);
+ ros_node::m_publisher_accelerometer = ros_node::m_node->advertise<sensor_msgs_ext::accelerometer>("imu/accelerometer", 1);
+ ros_node::m_publisher_gyroscope = ros_node::m_node->advertise<sensor_msgs_ext::gyroscope>("imu/gyroscope", 1);
ros_node::m_publisher_magnetometer = ros_node::m_node->advertise<sensor_msgs_ext::magnetic_field>("imu/magnetometer", 1);
ros_node::m_publisher_temperature = ros_node::m_node->advertise<sensor_msgs_ext::temperature>("imu/temperature", 1);
@@ -86,7 +86,7 @@ void ros_node::spin()
}
// SERVICES
-bool ros_node::service_calibrate_gyroscope(driver_mpu9250_msgs::calibrate_gyroscopeRequest& request, driver_mpu9250_msgs::calibrate_gyroscopeResponse& response)
+bool ros_node::service_calibrate_gyroscope(sensor_msgs_ext::calibrate_gyroscopeRequest& request, sensor_msgs_ext::calibrate_gyroscopeResponse& response)
{
response.success = ros_node::calibrate_gyroscope(request.averaging_period);
if(!response.success)
@@ -202,7 +202,7 @@ void ros_node::deinitialize_driver()
void ros_node::data_callback(driver::data data)
{
// Create accelerometer message.
- sensor_msgs_ext::acceleration message_accel;
+ sensor_msgs_ext::accelerometer message_accel;
// Set accelerations (convert from g's to m/s^2)
message_accel.x = static_cast<double>(data.accel_x) * 9.80665;
message_accel.y = static_cast<double>(data.accel_y) * 9.80665;
@@ -213,7 +213,7 @@ void ros_node::data_callback(driver::data data)
ros_node::m_publisher_accelerometer.publish(message_accel);
// Create gyroscope message.
- sensor_msgs_ext::angular_velocity message_gyro;
+ sensor_msgs_ext::gyroscope message_gyro;
// Set rotation rates (convert from deg/sec to rad/sec)
message_gyro.x = static_cast<double>(data.gyro_x) * M_PI / 180.0;
message_gyro.y = static_cast<double>(data.gyro_y) * M_PI / 180.0;
diff --git a/driver_mpu9250/src/ros_node.h b/src/ros_node.h
similarity index 93%
rename from driver_mpu9250/src/ros_node.h
rename to src/ros_node.h
index 6a8952e..2794cea 100644
--- a/driver_mpu9250/src/ros_node.h
+++ b/src/ros_node.h
@@ -7,7 +7,7 @@
#include "calibration.h"
#include <ros/ros.h>
-#include <driver_mpu9250_msgs/calibrate_gyroscope.h>
+#include <sensor_msgs_ext/calibrate_gyroscope.h>
#include <atomic>
#include <deque>
@@ -79,7 +79,7 @@ private:
/// \param request The service request.
/// \param response The service response.
/// \returns TRUE if the service completed successfully, otherwise FALSE.
- bool service_calibrate_gyroscope(driver_mpu9250_msgs::calibrate_gyroscopeRequest& request, driver_mpu9250_msgs::calibrate_gyroscopeResponse& response);
+ bool service_calibrate_gyroscope(sensor_msgs_ext::calibrate_gyroscopeRequest& request, sensor_msgs_ext::calibrate_gyroscopeResponse& response);
// METHODS
/// \brief Publishes covariance matrices.
diff --git a/driver_mpu9250/src/rpi_driver.cpp b/src/rpi_driver.cpp
similarity index 100%
rename from driver_mpu9250/src/rpi_driver.cpp
rename to src/rpi_driver.cpp
diff --git a/driver_mpu9250/src/rpi_driver.h b/src/rpi_driver.h
similarity index 100%
rename from driver_mpu9250/src/rpi_driver.h
rename to src/rpi_driver.h
--
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