From ac932ea443ad1b3cd5e769aecb3c768baeb49359 Mon Sep 17 00:00:00 2001
From: Steven Macenski <stevenmacenski@gmail.com>
Date: Wed, 10 Oct 2018 17:57:48 +0200
Subject: [PATCH] Metapackage + Reorg + build script updates (#107)
* moved over
* moving all messages into an internal msgs metapackage grouping
* moving all the messages into a homologated package
* making necessary changes for the msgs package homologation
* adding metapackage
* adding myself as a maintainer
* build script and doc updates for package in workspace
* dealing with merge issues
* remove author fields
* moving around
* merge conflict v3
* remove costmap 2d from utils
* killing src dir
* remove costmap 2d clone #3
* remove extraneous file
* kill dwa for some reason
* dwb rectification
* removing oregon author -> maintainer
* controller -> nav2_controller
* adding new msgs to new things
* tags
* bringup pkg
* compiling with task status mode
* getting the task status to compile for dwa
* adding costmap2d into nav2 naming nominclature
* adding controller metapackage
* recursive definitions -- bringup cannot be inside of the metapackage
* kill bad line
* hopefully actual last git merge error...
* changelog resolve
---
doc/BUILD.md | 14 +-
.../doc => nav2_amcl}/.gitignore | 0
.../CHANGELOG.rst | 0
.../nav2_amcl => nav2_amcl}/CMakeLists.txt | 0
.../README.md | 0
.../nav2_amcl => nav2_amcl}/package.xml | 0
.../nav2_amcl => nav2_amcl}/src/amcl_node.cpp | 0
.../nav2_amcl => nav2_amcl}/src/amcl_node.hpp | 0
.../nav2_amcl => nav2_amcl}/src/main.cpp | 0
.../test/CMakeLists.txt | 0
.../test/integration/CMakeLists.txt | 0
.../test/integration/README.md | 0
.../integration/test_localization_launch.py | 0
.../integration/test_localization_node.cpp | 0
{launch => nav2_amcl/test/maps}/test_map.pgm | 0
.../test/maps/test_map.yaml | 0
.../localization_node.launch.py | 0
.../test/unit/CMakeLists.txt | 0
.../test/unit/test_localization_amcl.cpp | 0
.../CHANGELOG.rst | 0
.../CMakeLists.txt | 4 +-
.../README.md | 0
.../doc/..gitignore | 0
.../nav2_astar_planner/astar_planner.hpp | 0
.../package.xml | 4 +-
.../src/astar_planner.cpp | 0
.../src/main.cpp | 0
.../test/.gitignore | 0
.../nav2_robot => nav2_bringup}/CHANGELOG.rst | 0
.../CMakeLists.txt | 12 +-
.../nav2_robot => nav2_bringup}/README.md | 0
.../launch}/core.launch.py | 0
.../launch}/system_test.rviz | 0
.../maps => nav2_bringup/launch}/test_map.pgm | 0
{launch => nav2_bringup/launch}/test_map.yaml | 0
.../package.xml | 11 +-
.../CHANGELOG.rst | 0
.../CMakeLists.txt | 6 +-
.../README.md | 0
.../doc/.gitignore | 0
.../nav2_bt_navigator/bt_navigator.hpp | 1 +
.../package.xml | 4 +-
.../src/bt_navigator.cpp | 0
.../src/main.cpp | 0
.../test/.gitignore | 0
.../costmap_queue/CMakeLists.txt | 4 +-
.../include/costmap_queue/costmap_queue.h | 6 +-
.../costmap_queue/limited_costmap_queue.h | 2 +-
.../include/costmap_queue/map_based_queue.h | 0
.../costmap_queue/package.xml | 2 +-
.../costmap_queue/src/costmap_queue.cpp | 2 +-
.../src/limited_costmap_queue.cpp | 2 +-
.../costmap_queue/test/mbq_test.cpp | 0
.../costmap_queue/test/utest.cpp | 4 +-
.../dwb_core/CMakeLists.txt | 4 +-
.../dwb_core/include/dwb_core/common_types.h | 4 +-
.../dwb_core/include/dwb_core/dwb_core.h | 0
.../dwb_core/include/dwb_core/exceptions.h | 0
.../dwb_core/include/dwb_core/goal_checker.h | 0
.../dwb_core/illegal_trajectory_tracker.h | 0
.../dwb_core/include/dwb_core/publisher.h | 0
.../include/dwb_core/trajectory_critic.h | 0
.../include/dwb_core/trajectory_generator.h | 0
.../dwb_core/package.xml | 4 +-
.../dwb_core/src/dwb_core.cpp | 2 +-
.../src/illegal_trajectory_tracker.cpp | 0
.../dwb_core/src/publisher.cpp | 2 +-
.../dwb_critics/CMakeLists.txt | 4 +-
.../dwb_critics/default_critics.xml | 0
.../include/dwb_critics/alignment_util.h | 0
.../include/dwb_critics/base_obstacle.h | 2 +-
.../include/dwb_critics/goal_align.h | 0
.../include/dwb_critics/goal_dist.h | 0
.../include/dwb_critics/line_iterator.h | 0
.../include/dwb_critics/map_grid.h | 4 +-
.../include/dwb_critics/obstacle_footprint.h | 0
.../include/dwb_critics/oscillation.h | 0
.../include/dwb_critics/path_align.h | 0
.../include/dwb_critics/path_dist.h | 0
.../include/dwb_critics/prefer_forward.h | 0
.../include/dwb_critics/rotate_to_goal.h | 0
.../include/dwb_critics/twirling.h | 0
.../dwb_critics/package.xml | 2 +-
.../dwb_critics/src/alignment_util.cpp | 0
.../dwb_critics/src/base_obstacle.cpp | 6 +-
.../dwb_critics/src/goal_align.cpp | 0
.../dwb_critics/src/goal_dist.cpp | 4 +-
.../dwb_critics/src/map_grid.cpp | 8 +-
.../dwb_critics/src/obstacle_footprint.cpp | 6 +-
.../dwb_critics/src/oscillation.cpp | 0
.../dwb_critics/src/path_align.cpp | 0
.../dwb_critics/src/path_dist.cpp | 4 +-
.../dwb_critics/src/prefer_forward.cpp | 0
.../dwb_critics/src/rotate_to_goal.cpp | 0
.../dwb_critics/src/twirling.cpp | 0
.../dwb_msgs/CMakeLists.txt | 0
.../dwb_msgs/msg/CriticScore.msg | 0
.../dwb_msgs/msg/LocalPlanEvaluation.msg | 0
.../dwb_msgs/msg/Trajectory2D.msg | 0
.../dwb_msgs/msg/TrajectoryScore.msg | 0
.../dwb_msgs/package.xml | 0
.../dwb_msgs/srv/DebugLocalPlan.srv | 0
.../dwb_msgs/srv/GenerateTrajectory.srv | 0
.../dwb_msgs/srv/GenerateTwists.srv | 0
.../dwb_msgs/srv/GetCriticScore.srv | 0
.../dwb_msgs/srv/ScoreTrajectory.srv | 0
.../dwb_plugins/CMakeLists.txt | 0
.../dwb_plugins/cfg/KinematicParams.cfg | 0
.../dwb_plugins/kinematic_parameters.h | 0
.../dwb_plugins/limited_accel_generator.h | 0
.../dwb_plugins/one_d_velocity_iterator.h | 0
.../include/dwb_plugins/simple_goal_checker.h | 0
.../dwb_plugins/standard_traj_generator.h | 0
.../dwb_plugins/stopped_goal_checker.h | 0
.../include/dwb_plugins/velocity_iterator.h | 0
.../include/dwb_plugins/xy_theta_iterator.h | 0
.../dwb_plugins/package.xml | 0
.../dwb_plugins/plugins.xml | 0
.../dwb_plugins/src/kinematic_parameters.cpp | 0
.../src/limited_accel_generator.cpp | 0
.../dwb_plugins/src/simple_goal_checker.cpp | 0
.../src/standard_traj_generator.cpp | 0
.../dwb_plugins/src/stopped_goal_checker.cpp | 0
.../dwb_plugins/src/xy_theta_iterator.cpp | 0
.../dwb_plugins/test/goal_checker.cpp | 0
.../dwb_plugins/test/goal_checker.launch | 0
.../dwb_plugins/test/twist_gen.cpp | 0
.../dwb_plugins/test/twist_gen.launch | 0
.../test/velocity_iterator_test.cpp | 0
.../nav2_controller}/CHANGELOG.rst | 0
.../nav2_controller/CMakeLists.txt | 10 +
nav2_controller/nav2_controller/package.xml | 28 ++
.../nav2_controller_dwb/CMakeLists.txt | 4 +-
.../nav2_controller_dwb/dwb_controller.hpp | 0
.../nav2_controller_dwb/package.xml | 4 +-
.../src/dwb_controller.cpp | 2 +-
.../nav2_controller_dwb/src/main.cpp | 0
.../nav2_controller_example}/CHANGELOG.rst | 0
.../nav2_controller_example/CMakeLists.txt | 4 +-
.../nav2_controller_example}/README.md | 0
.../nav2_controller_example/doc/.gitignore | 0
.../dwa_controller.hpp | 0
.../nav2_controller_example/package.xml | 4 +-
.../src/dwa_controller.cpp | 0
.../nav2_controller_example/src/main.cpp | 0
.../nav2_controller_example/test/.gitignore | 0
.../nav_2d_msgs/CMakeLists.txt | 0
.../nav_2d_msgs/msg/Path2D.msg | 0
.../nav_2d_msgs/msg/Pose2D32.msg | 0
.../nav_2d_msgs/msg/Pose2DStamped.msg | 0
.../nav_2d_msgs/msg/Twist2D.msg | 0
.../nav_2d_msgs/msg/Twist2D32.msg | 0
.../nav_2d_msgs/msg/Twist2DStamped.msg | 0
.../nav_2d_msgs/package.xml | 0
.../nav_2d_utils/CMakeLists.txt | 0
.../include/nav_2d_utils/conversions.h | 0
.../include/nav_2d_utils/odom_subscriber.h | 0
.../include/nav_2d_utils/parameters.h | 0
.../include/nav_2d_utils/path_ops.h | 0
.../include/nav_2d_utils/tf_help.h | 0
.../nav_2d_utils/package.xml | 0
.../nav_2d_utils/src/conversions.cpp | 0
.../nav_2d_utils/src/path_ops.cpp | 0
nav2_costmap_2d/CHANGELOG.rst | 7 +
.../CMakeLists.txt | 30 +--
.../cfg/Costmap2D.cfg | 2 +-
.../cfg/GenericPlugin.cfg | 2 +-
.../cfg/InflationPlugin.cfg | 2 +-
.../cfg/ObstaclePlugin.cfg | 2 +-
.../cfg/VoxelPlugin.cfg | 2 +-
.../costmap_plugins.xml | 8 +-
.../include/nav2_costmap_2d}/array_parser.h | 10 +-
.../include/nav2_costmap_2d}/cost_values.h | 8 +-
.../include/nav2_costmap_2d}/costmap_2d.h | 10 +-
.../nav2_costmap_2d}/costmap_2d_publisher.h | 12 +-
.../include/nav2_costmap_2d}/costmap_2d_ros.h | 34 +--
.../include/nav2_costmap_2d}/costmap_layer.h | 22 +-
.../include/nav2_costmap_2d}/costmap_math.h | 6 +-
.../include/nav2_costmap_2d}/footprint.h | 10 +-
.../nav2_costmap_2d}/inflation_layer.h | 22 +-
.../include/nav2_costmap_2d}/layer.h | 14 +-
.../nav2_costmap_2d}/layered_costmap.h | 18 +-
.../include/nav2_costmap_2d}/observation.h | 10 +-
.../nav2_costmap_2d}/observation_buffer.h | 12 +-
.../include/nav2_costmap_2d}/obstacle_layer.h | 48 ++--
.../include/nav2_costmap_2d}/static_layer.h | 22 +-
.../include/nav2_costmap_2d}/testing_helper.h | 52 ++--
.../include/nav2_costmap_2d}/voxel_layer.h | 28 +-
.../launch/example.launch | 6 +-
.../launch/example_params.yaml | 0
.../msg/VoxelGrid.msg | 0
.../package.xml | 10 +-
.../plugins/inflation_layer.cpp | 36 +--
.../plugins/obstacle_layer.cpp | 32 +--
.../plugins/static_layer.cpp | 42 +--
.../plugins/voxel_layer.cpp | 28 +-
.../src/array_parser.cpp | 4 +-
.../src/costmap_2d.cpp | 6 +-
.../src/costmap_2d_cloud.cpp | 8 +-
.../src/costmap_2d_markers.cpp | 8 +-
.../src/costmap_2d_node.cpp | 4 +-
.../src/costmap_2d_publisher.cpp | 8 +-
.../src/costmap_2d_ros.cpp | 46 ++--
.../src/costmap_layer.cpp | 18 +-
.../src/costmap_math.cpp | 2 +-
.../src/footprint.cpp | 24 +-
.../src/layer.cpp | 6 +-
.../src/layered_costmap.cpp | 14 +-
.../src/observation_buffer.cpp | 14 +-
.../test/TenByTen.pgm | Bin
.../test/TenByTen.yaml | 0
.../test/array_parser_test.cpp | 4 +-
.../test/costmap_params.yaml | 0
.../test/costmap_tester.cpp | 30 +--
.../test/footprint_tests.cpp | 2 +-
.../test/footprint_tests.launch | 2 +-
.../test/inflation_tests.cpp | 38 +--
.../test/inflation_tests.launch | 4 +-
.../test/module_tests.cpp | 78 +++---
.../test/obstacle_tests.cpp | 26 +-
nav2_costmap_2d/test/obstacle_tests.launch | 5 +
nav2_costmap_2d/test/simple_driving_test.xml | 14 +
.../test/static_tests.cpp | 24 +-
nav2_costmap_2d/test/static_tests.launch | 5 +
.../CHANGELOG.rst | 0
.../CMakeLists.txt | 6 +-
.../README.md | 0
.../doc/.gitignore | 0
.../costmap_world_model.hpp | 12 +-
.../package.xml | 6 +-
.../src/costmap_world_model.cpp | 6 +-
.../src/main.cpp | 0
.../test/.gitignore | 0
.../CHANGELOG.rst | 0
.../CMakeLists.txt | 8 +-
.../README.md | 0
.../doc/..gitignore | 0
.../dijkstra_planner.hpp | 14 +-
.../include/nav2_dijkstra_planner/navfn.hpp | 0
.../package.xml | 8 +-
.../src/dijkstra_planner.cpp | 16 +-
.../src/main.cpp | 0
.../src/navfn.cpp | 0
.../test/.gitignore | 0
.../.gitignore | 0
.../README.md => nav2_map_server/.gitignore | 0
.../CHANGELOG.rst | 0
.../CMakeLists.txt | 0
.../README.md | 0
.../nav2_map_server/base_map_server.hpp | 0
.../include/nav2_map_server/map_factory.hpp | 0
.../nav2_map_server/map_reps/map_reps.hpp | 0
.../map_reps/occ_grid_server.hpp | 0
.../nav2_map_server/map_server_ros.hpp | 0
.../package.xml | 0
.../src/main.cpp | 0
.../src/map_reps/map_factory.cpp | 0
.../src/map_reps/occ_grid_server.cpp | 0
.../src/map_server_ros.cpp | 0
.../test/CMakeLists.txt | 0
.../test/component/CMakeLists.txt | 0
.../test/component/test_occ_grid_launch.py | 0
.../test/component/test_occ_grid_node.cpp | 0
.../test/test_constants.cpp | 0
.../test/test_constants/test_constants.h | 0
.../map_server_node.launch.cpython-35.pyc | Bin 0 -> 659 bytes
.../map_server_node.launch.py | 0
.../test/testmap.bmp | Bin
.../test/testmap.png | Bin
.../test/testmap.yaml | 0
.../test/unit/CMakeLists.txt | 0
.../test/unit/test_occ_grid.cpp | 0
.../CHANGELOG.rst | 0
.../CMakeLists.txt | 4 +-
.../README.md | 0
.../doc/.gitignore | 0
.../mission_executor.hpp | 3 +-
.../package.xml | 4 +-
.../src/main.cpp | 0
.../src/mission_executor.cpp | 4 +-
.../test/.gitignore | 0
nav2_msgs/CHANGELOG.rst | 0
.../CMakeLists.txt | 7 +-
nav2_msgs/README.md | 0
.../msg/Costmap.msg | 0
.../msg/CostmapMetaData.msg | 0
.../msg/MissionPlan.msg | 0
.../msg/Path.msg | 2 +-
.../msg/PathEndPoints.msg | 2 +-
nav2_msgs/msg/TaskStatus.msg | 5 +
.../package.xml | 5 +-
.../srv/GetCostmap.srv | 4 +-
.../CMakeLists.txt | 8 +-
.../example_result.png | Bin
.../maps/map.pgm | Bin
.../maps/map.xcf | Bin
.../maps/map_circular.pgm | 0
.../maps/map_circular.yaml | 0
.../package.xml | 8 +-
.../planner_tester.cpp | 8 +-
.../planner_tester.hpp | 6 +-
.../test_planner_launch.py | 0
.../test_planner_node.cpp | 0
nav2_robot/CHANGELOG.rst | 0
.../nav2_robot => nav2_robot}/CMakeLists.txt | 0
nav2_robot/README.md | 0
nav2_robot/doc/.gitignore | 0
.../include/nav2_robot/robot.hpp | 0
.../include/nav2_robot/ros_robot.hpp | 0
.../nav2_robot => nav2_robot}/package.xml | 0
.../src/ros_robot.cpp | 0
nav2_robot/test/.gitignore | 0
nav2_simple_navigator/CHANGELOG.rst | 0
.../CMakeLists.txt | 4 +-
nav2_simple_navigator/README.md | 0
nav2_simple_navigator/doc/.gitignore | 0
.../simple_navigator.hpp | 1 +
.../package.xml | 4 +-
.../src/main.cpp | 0
.../src/simple_navigator.cpp | 0
nav2_simple_navigator/test/.gitignore | 0
nav2_tasks/CHANGELOG.rst | 0
.../nav2_tasks => nav2_tasks}/CMakeLists.txt | 6 +-
nav2_tasks/README.md | 0
nav2_tasks/doc/.gitignore | 0
.../nav2_tasks/compute_path_to_pose_task.hpp | 8 +-
.../nav2_tasks/costmap_service_client.hpp | 10 +-
.../nav2_tasks/execute_mission_task.hpp | 4 +-
.../include/nav2_tasks/follow_path_task.hpp | 4 +-
.../include/nav2_tasks/map_service_client.hpp | 0
.../nav2_tasks/navigate_to_pose_task.hpp | 0
.../include/nav2_tasks/service_client.hpp | 0
.../include/nav2_tasks/task_client.hpp | 8 +-
.../include/nav2_tasks/task_server.hpp | 10 +-
.../include/nav2_tasks/task_status.hpp | 10 +-
.../msg/TaskStatus.msg | 0
.../nav2_tasks => nav2_tasks}/package.xml | 2 +
nav2_tasks/test/.gitignore | 0
nav2_util/CHANGELOG.rst | 0
.../nav2_util => nav2_util}/CMakeLists.txt | 4 +-
nav2_util/README.md | 0
nav2_util/doc/.gitignore | 0
.../include/nav2_util/costmap.hpp | 10 +-
.../include/nav2_util/map/map.h | 0
.../nav2_util/map_loader/map_loader.hpp | 0
.../include/nav2_util/pf/eig3.h | 0
.../include/nav2_util/pf/pf.h | 0
.../include/nav2_util/pf/pf_kdtree.h | 0
.../include/nav2_util/pf/pf_pdf.h | 0
.../include/nav2_util/pf/pf_vector.h | 0
.../include/nav2_util/sensors/laser.h | 0
.../include/nav2_util/sensors/odom.h | 0
.../include/nav2_util/sensors/sensor.h | 0
.../include/nav2_util/strutils.hpp | 0
{src/libs/nav2_util => nav2_util}/package.xml | 4 +-
.../nav2_util => nav2_util}/src/costmap.cpp | 6 +-
.../nav2_util => nav2_util}/src/map/map.c | 0
.../src/map/map_cspace.cpp | 0
.../src/map/map_draw.c | 0
.../src/map/map_range.c | 0
.../src/map/map_store.c | 0
.../src/map_loader/map_loader.cpp | 0
.../nav2_util => nav2_util}/src/pf/eig3.c | 0
{src/libs/nav2_util => nav2_util}/src/pf/pf.c | 0
.../nav2_util => nav2_util}/src/pf/pf_draw.c | 0
.../src/pf/pf_kdtree.c | 0
.../nav2_util => nav2_util}/src/pf/pf_pdf.c | 0
.../src/pf/pf_vector.c | 0
.../src/sensors/laser.cpp | 0
.../src/sensors/odom.cpp | 0
.../src/sensors/sensor.cpp | 0
nav2_util/test/.gitignore | 0
navigation2/CHANGELOG.rst | 0
navigation2/CMakeLists.txt | 10 +
navigation2/package.xml | 35 +++
src/libs/costmap_2d/CHANGELOG.rst | 245 ------------------
.../costmap_2d/test/obstacle_tests.launch | 5 -
.../costmap_2d/test/simple_driving_test.xml | 14 -
src/libs/costmap_2d/test/static_tests.launch | 5 -
src/libs/nav2_util/msg/Costmap.msg | 9 -
src/libs/nav2_util/msg/CostmapMetaData.msg | 23 --
.../nav2_mission_execution_msgs/package.xml | 29 ---
.../nav2_planning_msgs/CMakeLists.txt | 27 --
.../nav2_world_model_msgs/CMakeLists.txt | 27 --
.../nav2_world_model_msgs/package.xml | 31 ---
tools/build_all.sh | 4 +-
tools/initial_ros_setup.sh | 165 ++++++------
387 files changed, 844 insertions(+), 1157 deletions(-)
rename {src/control/nav2_controller_example/doc => nav2_amcl}/.gitignore (100%)
rename {src/control/nav2_controller_example => nav2_amcl}/CHANGELOG.rst (100%)
rename {src/localization/nav2_amcl => nav2_amcl}/CMakeLists.txt (100%)
rename {src/control/nav2_controller_example => nav2_amcl}/README.md (100%)
rename {src/localization/nav2_amcl => nav2_amcl}/package.xml (100%)
rename {src/localization/nav2_amcl => nav2_amcl}/src/amcl_node.cpp (100%)
rename {src/localization/nav2_amcl => nav2_amcl}/src/amcl_node.hpp (100%)
rename {src/localization/nav2_amcl => nav2_amcl}/src/main.cpp (100%)
rename {src/localization/nav2_amcl => nav2_amcl}/test/CMakeLists.txt (100%)
rename {src/localization/nav2_amcl => nav2_amcl}/test/integration/CMakeLists.txt (100%)
rename {src/localization/nav2_amcl => nav2_amcl}/test/integration/README.md (100%)
rename {src/localization/nav2_amcl => nav2_amcl}/test/integration/test_localization_launch.py (100%)
rename {src/localization/nav2_amcl => nav2_amcl}/test/integration/test_localization_node.cpp (100%)
rename {launch => nav2_amcl/test/maps}/test_map.pgm (100%)
rename {src/localization/nav2_amcl => nav2_amcl}/test/maps/test_map.yaml (100%)
rename {src/localization/nav2_amcl => nav2_amcl}/test/test_launch_files/localization_node.launch.py (100%)
rename {src/localization/nav2_amcl => nav2_amcl}/test/unit/CMakeLists.txt (100%)
rename {src/localization/nav2_amcl => nav2_amcl}/test/unit/test_localization_amcl.cpp (100%)
rename {src/libs/nav2_libs_msgs => nav2_astar_planner}/CHANGELOG.rst (100%)
rename {src/planning/nav2_astar_planner => nav2_astar_planner}/CMakeLists.txt (95%)
rename {src/libs/nav2_libs_msgs => nav2_astar_planner}/README.md (100%)
rename {src/planning/nav2_astar_planner => nav2_astar_planner}/doc/..gitignore (100%)
rename {src/planning/nav2_astar_planner => nav2_astar_planner}/include/nav2_astar_planner/astar_planner.hpp (100%)
rename {src/planning/nav2_astar_planner => nav2_astar_planner}/package.xml (89%)
rename {src/planning/nav2_astar_planner => nav2_astar_planner}/src/astar_planner.cpp (100%)
rename {src/planning/nav2_astar_planner => nav2_astar_planner}/src/main.cpp (100%)
rename {src/control/nav2_controller_example => nav2_astar_planner}/test/.gitignore (100%)
rename {src/libs/nav2_robot => nav2_bringup}/CHANGELOG.rst (100%)
rename {src/mission_execution/nav2_mission_execution_msgs => nav2_bringup}/CMakeLists.txt (66%)
rename {src/libs/nav2_robot => nav2_bringup}/README.md (100%)
rename {launch => nav2_bringup/launch}/core.launch.py (100%)
rename {launch => nav2_bringup/launch}/system_test.rviz (100%)
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rename src/navigation/nav2_bt_navigator/CHANGELOG.rst => nav2_costmap_world_model/test/.gitignore (100%)
rename {src/navigation/nav2_simple_navigator => nav2_dijkstra_planner}/CHANGELOG.rst (100%)
rename {src/planning/nav2_dijkstra_planner => nav2_dijkstra_planner}/CMakeLists.txt (88%)
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rename src/planning/nav2_astar_planner/CHANGELOG.rst => nav2_gazebo_localizer/.gitignore (100%)
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rename {src/mapping/nav2_map_server => nav2_map_server}/test/component/test_occ_grid_launch.py (100%)
rename {src/mapping/nav2_map_server => nav2_map_server}/test/component/test_occ_grid_node.cpp (100%)
rename {src/mapping/nav2_map_server => nav2_map_server}/test/test_constants.cpp (100%)
rename {src/mapping/nav2_map_server => nav2_map_server}/test/test_constants/test_constants.h (100%)
create mode 100644 nav2_map_server/test/test_launch_files/__pycache__/map_server_node.launch.cpython-35.pyc
rename {src/mapping/nav2_map_server => nav2_map_server}/test/test_launch_files/map_server_node.launch.py (100%)
rename {src/mapping/nav2_map_server => nav2_map_server}/test/testmap.bmp (100%)
rename {src/mapping/nav2_map_server => nav2_map_server}/test/testmap.png (100%)
rename {src/mapping/nav2_map_server => nav2_map_server}/test/testmap.yaml (100%)
rename {src/mapping/nav2_map_server => nav2_map_server}/test/unit/CMakeLists.txt (100%)
rename {src/mapping/nav2_map_server => nav2_map_server}/test/unit/test_occ_grid.cpp (100%)
rename {src/planning/nav2_planning_msgs => nav2_mission_executor}/CHANGELOG.rst (100%)
rename {src/mission_execution/nav2_mission_executor => nav2_mission_executor}/CMakeLists.txt (93%)
rename {src/planning/nav2_planning_msgs => nav2_mission_executor}/README.md (100%)
rename src/world_model/nav2_costmap_world_model/CHANGELOG.rst => nav2_mission_executor/doc/.gitignore (100%)
rename {src/mission_execution/nav2_mission_executor => nav2_mission_executor}/include/nav2_mission_executor/mission_executor.hpp (94%)
rename {src/mission_execution/nav2_mission_executor => nav2_mission_executor}/package.xml (87%)
rename {src/mission_execution/nav2_mission_executor => nav2_mission_executor}/src/main.cpp (100%)
rename {src/mission_execution/nav2_mission_executor => nav2_mission_executor}/src/mission_executor.cpp (93%)
rename src/world_model/nav2_costmap_world_model/README.md => nav2_mission_executor/test/.gitignore (100%)
create mode 100644 nav2_msgs/CHANGELOG.rst
rename {src/libs/nav2_libs_msgs => nav2_msgs}/CMakeLists.txt (83%)
create mode 100644 nav2_msgs/README.md
rename {src/libs/nav2_libs_msgs => nav2_msgs}/msg/Costmap.msg (100%)
rename {src/libs/nav2_libs_msgs => nav2_msgs}/msg/CostmapMetaData.msg (100%)
rename {src/mission_execution/nav2_mission_execution_msgs => nav2_msgs}/msg/MissionPlan.msg (100%)
rename {src/planning/nav2_planning_msgs => nav2_msgs}/msg/Path.msg (76%)
rename {src/planning/nav2_planning_msgs => nav2_msgs}/msg/PathEndPoints.msg (93%)
create mode 100644 nav2_msgs/msg/TaskStatus.msg
rename {src/planning/nav2_planning_msgs => nav2_msgs}/package.xml (83%)
rename {src/world_model/nav2_world_model_msgs => nav2_msgs}/srv/GetCostmap.srv (50%)
rename {src/planning/nav2_planning_tests => nav2_planning_tests}/CMakeLists.txt (87%)
rename {src/planning/nav2_planning_tests => nav2_planning_tests}/example_result.png (100%)
rename {src/planning/nav2_planning_tests => nav2_planning_tests}/maps/map.pgm (100%)
rename {src/planning/nav2_planning_tests => nav2_planning_tests}/maps/map.xcf (100%)
rename {src/planning/nav2_planning_tests => nav2_planning_tests}/maps/map_circular.pgm (100%)
rename {src/planning/nav2_planning_tests => nav2_planning_tests}/maps/map_circular.yaml (100%)
rename {src/planning/nav2_planning_tests => nav2_planning_tests}/package.xml (77%)
rename {src/planning/nav2_planning_tests => nav2_planning_tests}/planner_tester.cpp (97%)
rename {src/planning/nav2_planning_tests => nav2_planning_tests}/planner_tester.hpp (95%)
rename {src/planning/nav2_planning_tests => nav2_planning_tests}/test_planner_launch.py (100%)
rename {src/planning/nav2_planning_tests => nav2_planning_tests}/test_planner_node.cpp (100%)
create mode 100644 nav2_robot/CHANGELOG.rst
rename {src/libs/nav2_robot => nav2_robot}/CMakeLists.txt (100%)
create mode 100644 nav2_robot/README.md
create mode 100644 nav2_robot/doc/.gitignore
rename {src/libs/nav2_robot => nav2_robot}/include/nav2_robot/robot.hpp (100%)
rename {src/libs/nav2_robot => nav2_robot}/include/nav2_robot/ros_robot.hpp (100%)
rename {src/libs/nav2_robot => nav2_robot}/package.xml (100%)
rename {src/libs/nav2_robot => nav2_robot}/src/ros_robot.cpp (100%)
create mode 100644 nav2_robot/test/.gitignore
create mode 100644 nav2_simple_navigator/CHANGELOG.rst
rename {src/navigation/nav2_simple_navigator => nav2_simple_navigator}/CMakeLists.txt (95%)
create mode 100644 nav2_simple_navigator/README.md
create mode 100644 nav2_simple_navigator/doc/.gitignore
rename {src/navigation/nav2_simple_navigator => nav2_simple_navigator}/include/nav2_simple_navigator/simple_navigator.hpp (97%)
rename {src/navigation/nav2_simple_navigator => nav2_simple_navigator}/package.xml (89%)
rename {src/navigation/nav2_simple_navigator => nav2_simple_navigator}/src/main.cpp (100%)
rename {src/navigation/nav2_simple_navigator => nav2_simple_navigator}/src/simple_navigator.cpp (100%)
create mode 100644 nav2_simple_navigator/test/.gitignore
create mode 100644 nav2_tasks/CHANGELOG.rst
rename {src/libs/nav2_tasks => nav2_tasks}/CMakeLists.txt (87%)
create mode 100644 nav2_tasks/README.md
create mode 100644 nav2_tasks/doc/.gitignore
rename {src/libs/nav2_tasks => nav2_tasks}/include/nav2_tasks/compute_path_to_pose_task.hpp (84%)
rename {src/libs/nav2_tasks => nav2_tasks}/include/nav2_tasks/costmap_service_client.hpp (72%)
rename {src/libs/nav2_tasks => nav2_tasks}/include/nav2_tasks/execute_mission_task.hpp (90%)
rename {src/libs/nav2_tasks => nav2_tasks}/include/nav2_tasks/follow_path_task.hpp (92%)
rename {src/libs/nav2_tasks => nav2_tasks}/include/nav2_tasks/map_service_client.hpp (100%)
rename {src/libs/nav2_tasks => nav2_tasks}/include/nav2_tasks/navigate_to_pose_task.hpp (100%)
rename {src/libs/nav2_tasks => nav2_tasks}/include/nav2_tasks/service_client.hpp (100%)
rename {src/libs/nav2_tasks => nav2_tasks}/include/nav2_tasks/task_client.hpp (96%)
rename {src/libs/nav2_tasks => nav2_tasks}/include/nav2_tasks/task_server.hpp (94%)
rename {src/libs/nav2_tasks => nav2_tasks}/include/nav2_tasks/task_status.hpp (76%)
rename {src/libs/nav2_tasks => nav2_tasks}/msg/TaskStatus.msg (100%)
rename {src/libs/nav2_tasks => nav2_tasks}/package.xml (93%)
create mode 100644 nav2_tasks/test/.gitignore
create mode 100644 nav2_util/CHANGELOG.rst
rename {src/libs/nav2_util => nav2_util}/CMakeLists.txt (96%)
create mode 100644 nav2_util/README.md
create mode 100644 nav2_util/doc/.gitignore
rename {src/libs/nav2_util => nav2_util}/include/nav2_util/costmap.hpp (87%)
rename {src/libs/nav2_util => nav2_util}/include/nav2_util/map/map.h (100%)
rename {src/libs/nav2_util => nav2_util}/include/nav2_util/map_loader/map_loader.hpp (100%)
rename {src/libs/nav2_util => nav2_util}/include/nav2_util/pf/eig3.h (100%)
rename {src/libs/nav2_util => nav2_util}/include/nav2_util/pf/pf.h (100%)
rename {src/libs/nav2_util => nav2_util}/include/nav2_util/pf/pf_kdtree.h (100%)
rename {src/libs/nav2_util => nav2_util}/include/nav2_util/pf/pf_pdf.h (100%)
rename {src/libs/nav2_util => nav2_util}/include/nav2_util/pf/pf_vector.h (100%)
rename {src/libs/nav2_util => nav2_util}/include/nav2_util/sensors/laser.h (100%)
rename {src/libs/nav2_util => nav2_util}/include/nav2_util/sensors/odom.h (100%)
rename {src/libs/nav2_util => nav2_util}/include/nav2_util/sensors/sensor.h (100%)
rename {src/libs/nav2_util => nav2_util}/include/nav2_util/strutils.hpp (100%)
rename {src/libs/nav2_util => nav2_util}/package.xml (92%)
rename {src/libs/nav2_util => nav2_util}/src/costmap.cpp (98%)
rename {src/libs/nav2_util => nav2_util}/src/map/map.c (100%)
rename {src/libs/nav2_util => nav2_util}/src/map/map_cspace.cpp (100%)
rename {src/libs/nav2_util => nav2_util}/src/map/map_draw.c (100%)
rename {src/libs/nav2_util => nav2_util}/src/map/map_range.c (100%)
rename {src/libs/nav2_util => nav2_util}/src/map/map_store.c (100%)
rename {src/libs/nav2_util => nav2_util}/src/map_loader/map_loader.cpp (100%)
rename {src/libs/nav2_util => nav2_util}/src/pf/eig3.c (100%)
rename {src/libs/nav2_util => nav2_util}/src/pf/pf.c (100%)
rename {src/libs/nav2_util => nav2_util}/src/pf/pf_draw.c (100%)
rename {src/libs/nav2_util => nav2_util}/src/pf/pf_kdtree.c (100%)
rename {src/libs/nav2_util => nav2_util}/src/pf/pf_pdf.c (100%)
rename {src/libs/nav2_util => nav2_util}/src/pf/pf_vector.c (100%)
rename {src/libs/nav2_util => nav2_util}/src/sensors/laser.cpp (100%)
rename {src/libs/nav2_util => nav2_util}/src/sensors/odom.cpp (100%)
rename {src/libs/nav2_util => nav2_util}/src/sensors/sensor.cpp (100%)
create mode 100644 nav2_util/test/.gitignore
create mode 100644 navigation2/CHANGELOG.rst
create mode 100644 navigation2/CMakeLists.txt
create mode 100644 navigation2/package.xml
delete mode 100644 src/libs/costmap_2d/CHANGELOG.rst
delete mode 100644 src/libs/costmap_2d/test/obstacle_tests.launch
delete mode 100644 src/libs/costmap_2d/test/simple_driving_test.xml
delete mode 100644 src/libs/costmap_2d/test/static_tests.launch
delete mode 100644 src/libs/nav2_util/msg/Costmap.msg
delete mode 100644 src/libs/nav2_util/msg/CostmapMetaData.msg
delete mode 100644 src/mission_execution/nav2_mission_execution_msgs/package.xml
delete mode 100644 src/planning/nav2_planning_msgs/CMakeLists.txt
delete mode 100644 src/world_model/nav2_world_model_msgs/CMakeLists.txt
delete mode 100644 src/world_model/nav2_world_model_msgs/package.xml
diff --git a/doc/BUILD.md b/doc/BUILD.md
index 5a8a2559..058dad8b 100644
--- a/doc/BUILD.md
+++ b/doc/BUILD.md
@@ -19,8 +19,8 @@ RUN apt-get install -y \
Third, ensure there are no ROS environment variables set in your terminal or `.bashrc` file before taking the steps below.*
```sh
-mkdir <workspace_dir>
-cd <workspace_dir>
+mkdir <directory_for_workspaces>
+cd <directory_for_workspaces>
wget https://raw.githubusercontent.com/ros-planning/navigation2/master/tools/initial_ros_setup.sh
chmod a+x initial_ros_setup.sh
./initial_ros_setup.sh
@@ -38,7 +38,7 @@ The `initial_ros_setup.sh` script downloads four ROS workspaces and then builds
* Navigation 2 - This repo.
- After all the workspaces are downloaded, the `navigtion2/tools/build_all.sh` script is run which builds each repo in the order listed above using the `colcon build --symlink-install` command (except ROS 1 dependencies which are built using `catkin_make`)
+ After all the workspaces are downloaded, the `navigation2/tools/build_all.sh` script is run which builds each repo in the order listed above using the `colcon build --symlink-install` command (except ROS 1 dependencies which are built using `catkin_make`)
### Options
@@ -58,13 +58,13 @@ Most work will be done in the `navigation2` workspace, so just building that wil
To build just `navigation2`,
```sh
-cd <workspace_dir>/navigation2
+cd <directory_for_workspaces>/navigation2_ws
source ../navstack_dependencies_ws/install/setup.sh
colcon build --symlink-install
```
In the case that the developer changes any dependencies, they can run
-`<workspace_dir>/navigation2/tools/build_all.sh` in a clean environment to get everything rebuilt easily
+`<directory_for_workspaces>/navigation2_ws/src/navigation2/tools/build_all.sh` in a clean environment to get everything rebuilt easily
### Build System
@@ -75,9 +75,9 @@ Instead, it would be better to do an initial download of all the source and depe
./initial_ros_setup.sh --no-ros1 --download-only
```
-Then the CI tool can monitor the `navigation2` repo, update it as necessary, and rebuild using either the `<workspace_dir>/navigation2/tools/build_all.sh` script or by running
+Then the CI tool can monitor the `navigation2` repo, update it as necessary, and rebuild using either the `<directory_for_workspaces>/navigation2_ws/src/navigation2/tools/build_all.sh` script or by running
```sh
-cd <workspace_dir>/navigation2
+cd <directory_for_workspaces>/navigation2_ws/src/navigation2
source ../navstack_dependencies_ws/install/setup.sh
colcon build --symlink-install
```
diff --git a/src/control/nav2_controller_example/doc/.gitignore b/nav2_amcl/.gitignore
similarity index 100%
rename from src/control/nav2_controller_example/doc/.gitignore
rename to nav2_amcl/.gitignore
diff --git a/src/control/nav2_controller_example/CHANGELOG.rst b/nav2_amcl/CHANGELOG.rst
similarity index 100%
rename from src/control/nav2_controller_example/CHANGELOG.rst
rename to nav2_amcl/CHANGELOG.rst
diff --git a/src/localization/nav2_amcl/CMakeLists.txt b/nav2_amcl/CMakeLists.txt
similarity index 100%
rename from src/localization/nav2_amcl/CMakeLists.txt
rename to nav2_amcl/CMakeLists.txt
diff --git a/src/control/nav2_controller_example/README.md b/nav2_amcl/README.md
similarity index 100%
rename from src/control/nav2_controller_example/README.md
rename to nav2_amcl/README.md
diff --git a/src/localization/nav2_amcl/package.xml b/nav2_amcl/package.xml
similarity index 100%
rename from src/localization/nav2_amcl/package.xml
rename to nav2_amcl/package.xml
diff --git a/src/localization/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
similarity index 100%
rename from src/localization/nav2_amcl/src/amcl_node.cpp
rename to nav2_amcl/src/amcl_node.cpp
diff --git a/src/localization/nav2_amcl/src/amcl_node.hpp b/nav2_amcl/src/amcl_node.hpp
similarity index 100%
rename from src/localization/nav2_amcl/src/amcl_node.hpp
rename to nav2_amcl/src/amcl_node.hpp
diff --git a/src/localization/nav2_amcl/src/main.cpp b/nav2_amcl/src/main.cpp
similarity index 100%
rename from src/localization/nav2_amcl/src/main.cpp
rename to nav2_amcl/src/main.cpp
diff --git a/src/localization/nav2_amcl/test/CMakeLists.txt b/nav2_amcl/test/CMakeLists.txt
similarity index 100%
rename from src/localization/nav2_amcl/test/CMakeLists.txt
rename to nav2_amcl/test/CMakeLists.txt
diff --git a/src/localization/nav2_amcl/test/integration/CMakeLists.txt b/nav2_amcl/test/integration/CMakeLists.txt
similarity index 100%
rename from src/localization/nav2_amcl/test/integration/CMakeLists.txt
rename to nav2_amcl/test/integration/CMakeLists.txt
diff --git a/src/localization/nav2_amcl/test/integration/README.md b/nav2_amcl/test/integration/README.md
similarity index 100%
rename from src/localization/nav2_amcl/test/integration/README.md
rename to nav2_amcl/test/integration/README.md
diff --git a/src/localization/nav2_amcl/test/integration/test_localization_launch.py b/nav2_amcl/test/integration/test_localization_launch.py
similarity index 100%
rename from src/localization/nav2_amcl/test/integration/test_localization_launch.py
rename to nav2_amcl/test/integration/test_localization_launch.py
diff --git a/src/localization/nav2_amcl/test/integration/test_localization_node.cpp b/nav2_amcl/test/integration/test_localization_node.cpp
similarity index 100%
rename from src/localization/nav2_amcl/test/integration/test_localization_node.cpp
rename to nav2_amcl/test/integration/test_localization_node.cpp
diff --git a/launch/test_map.pgm b/nav2_amcl/test/maps/test_map.pgm
similarity index 100%
rename from launch/test_map.pgm
rename to nav2_amcl/test/maps/test_map.pgm
diff --git a/src/localization/nav2_amcl/test/maps/test_map.yaml b/nav2_amcl/test/maps/test_map.yaml
similarity index 100%
rename from src/localization/nav2_amcl/test/maps/test_map.yaml
rename to nav2_amcl/test/maps/test_map.yaml
diff --git a/src/localization/nav2_amcl/test/test_launch_files/localization_node.launch.py b/nav2_amcl/test/test_launch_files/localization_node.launch.py
similarity index 100%
rename from src/localization/nav2_amcl/test/test_launch_files/localization_node.launch.py
rename to nav2_amcl/test/test_launch_files/localization_node.launch.py
diff --git a/src/localization/nav2_amcl/test/unit/CMakeLists.txt b/nav2_amcl/test/unit/CMakeLists.txt
similarity index 100%
rename from src/localization/nav2_amcl/test/unit/CMakeLists.txt
rename to nav2_amcl/test/unit/CMakeLists.txt
diff --git a/src/localization/nav2_amcl/test/unit/test_localization_amcl.cpp b/nav2_amcl/test/unit/test_localization_amcl.cpp
similarity index 100%
rename from src/localization/nav2_amcl/test/unit/test_localization_amcl.cpp
rename to nav2_amcl/test/unit/test_localization_amcl.cpp
diff --git a/src/libs/nav2_libs_msgs/CHANGELOG.rst b/nav2_astar_planner/CHANGELOG.rst
similarity index 100%
rename from src/libs/nav2_libs_msgs/CHANGELOG.rst
rename to nav2_astar_planner/CHANGELOG.rst
diff --git a/src/planning/nav2_astar_planner/CMakeLists.txt b/nav2_astar_planner/CMakeLists.txt
similarity index 95%
rename from src/planning/nav2_astar_planner/CMakeLists.txt
rename to nav2_astar_planner/CMakeLists.txt
index d1d3cbac..dea2710a 100644
--- a/src/planning/nav2_astar_planner/CMakeLists.txt
+++ b/nav2_astar_planner/CMakeLists.txt
@@ -15,7 +15,7 @@ find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(nav2_tasks REQUIRED)
find_package(nav2_util REQUIRED)
-find_package(nav2_planning_msgs REQUIRED)
+find_package(nav2_msgs REQUIRED)
include_directories(
include
@@ -39,7 +39,7 @@ set(dependencies
nav2_tasks
task
nav2_util
- nav2_planning_msgs
+ nav2_msgs
)
ament_target_dependencies(${executable_name}
diff --git a/src/libs/nav2_libs_msgs/README.md b/nav2_astar_planner/README.md
similarity index 100%
rename from src/libs/nav2_libs_msgs/README.md
rename to nav2_astar_planner/README.md
diff --git a/src/planning/nav2_astar_planner/doc/..gitignore b/nav2_astar_planner/doc/..gitignore
similarity index 100%
rename from src/planning/nav2_astar_planner/doc/..gitignore
rename to nav2_astar_planner/doc/..gitignore
diff --git a/src/planning/nav2_astar_planner/include/nav2_astar_planner/astar_planner.hpp b/nav2_astar_planner/include/nav2_astar_planner/astar_planner.hpp
similarity index 100%
rename from src/planning/nav2_astar_planner/include/nav2_astar_planner/astar_planner.hpp
rename to nav2_astar_planner/include/nav2_astar_planner/astar_planner.hpp
diff --git a/src/planning/nav2_astar_planner/package.xml b/nav2_astar_planner/package.xml
similarity index 89%
rename from src/planning/nav2_astar_planner/package.xml
rename to nav2_astar_planner/package.xml
index 410d063d..0726b523 100644
--- a/src/planning/nav2_astar_planner/package.xml
+++ b/nav2_astar_planner/package.xml
@@ -12,11 +12,11 @@
<build_depend>rclcpp</build_depend>
<build_depend>nav2_tasks</build_depend>
<build_depend>nav2_util</build_depend>
- <build_depend>nav2_planning_msgs</build_depend>
+ <build_depend>nav2_msgs</build_depend>
<exec_depend>rclcpp</exec_depend>
<exec_depend>nav2_tasks</exec_depend>
- <exec_depend>nav2_planning_msgs</exec_depend>
+ <exec_depend>nav2_msgs</exec_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>ament_lint_auto</test_depend>
diff --git a/src/planning/nav2_astar_planner/src/astar_planner.cpp b/nav2_astar_planner/src/astar_planner.cpp
similarity index 100%
rename from src/planning/nav2_astar_planner/src/astar_planner.cpp
rename to nav2_astar_planner/src/astar_planner.cpp
diff --git a/src/planning/nav2_astar_planner/src/main.cpp b/nav2_astar_planner/src/main.cpp
similarity index 100%
rename from src/planning/nav2_astar_planner/src/main.cpp
rename to nav2_astar_planner/src/main.cpp
diff --git a/src/control/nav2_controller_example/test/.gitignore b/nav2_astar_planner/test/.gitignore
similarity index 100%
rename from src/control/nav2_controller_example/test/.gitignore
rename to nav2_astar_planner/test/.gitignore
diff --git a/src/libs/nav2_robot/CHANGELOG.rst b/nav2_bringup/CHANGELOG.rst
similarity index 100%
rename from src/libs/nav2_robot/CHANGELOG.rst
rename to nav2_bringup/CHANGELOG.rst
diff --git a/src/mission_execution/nav2_mission_execution_msgs/CMakeLists.txt b/nav2_bringup/CMakeLists.txt
similarity index 66%
rename from src/mission_execution/nav2_mission_execution_msgs/CMakeLists.txt
rename to nav2_bringup/CMakeLists.txt
index 05067d8a..0ea5bc69 100644
--- a/src/mission_execution/nav2_mission_execution_msgs/CMakeLists.txt
+++ b/nav2_bringup/CMakeLists.txt
@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.5)
-project(nav2_mission_execution_msgs)
+project(nav2_bringup)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
@@ -12,15 +12,11 @@ endif()
find_package(ament_cmake REQUIRED)
find_package(builtin_interfaces REQUIRED)
-find_package(geometry_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
-find_package(std_msgs REQUIRED)
-
-rosidl_generate_interfaces(${PROJECT_NAME}
- "msg/MissionPlan.msg"
- DEPENDENCIES builtin_interfaces geometry_msgs std_msgs
-)
+find_package(navigation2 REQUIRED)
ament_export_dependencies(rosidl_default_runtime)
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+
ament_package()
diff --git a/src/libs/nav2_robot/README.md b/nav2_bringup/README.md
similarity index 100%
rename from src/libs/nav2_robot/README.md
rename to nav2_bringup/README.md
diff --git a/launch/core.launch.py b/nav2_bringup/launch/core.launch.py
similarity index 100%
rename from launch/core.launch.py
rename to nav2_bringup/launch/core.launch.py
diff --git a/launch/system_test.rviz b/nav2_bringup/launch/system_test.rviz
similarity index 100%
rename from launch/system_test.rviz
rename to nav2_bringup/launch/system_test.rviz
diff --git a/src/localization/nav2_amcl/test/maps/test_map.pgm b/nav2_bringup/launch/test_map.pgm
similarity index 100%
rename from src/localization/nav2_amcl/test/maps/test_map.pgm
rename to nav2_bringup/launch/test_map.pgm
diff --git a/launch/test_map.yaml b/nav2_bringup/launch/test_map.yaml
similarity index 100%
rename from launch/test_map.yaml
rename to nav2_bringup/launch/test_map.yaml
diff --git a/src/libs/nav2_libs_msgs/package.xml b/nav2_bringup/package.xml
similarity index 73%
rename from src/libs/nav2_libs_msgs/package.xml
rename to nav2_bringup/package.xml
index 67b9e467..be9e566e 100644
--- a/src/libs/nav2_libs_msgs/package.xml
+++ b/nav2_bringup/package.xml
@@ -1,25 +1,24 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
- <name>nav2_libs_msgs</name>
+ <name>nav2_bringup</name>
<version>0.1.0</version>
- <description>TODO</description>
+ <description>Bringup scripts and configurations for the navigation2 stack</description>
<maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
+ <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
<license>Apache License 2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<build_depend>rclcpp</build_depend>
- <build_depend>std_msgs</build_depend>
+ <build_depend>navigation2</build_depend>
<build_depend>builtin_interfaces</build_depend>
<build_depend>rosidl_default_generators</build_depend>
- <build_depend>geometry_msgs</build_depend>
<exec_depend>rclcpp</exec_depend>
- <exec_depend>std_msgs</exec_depend>
<exec_depend>builtin_interfaces</exec_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
- <exec_depend>geometry_msgs</exec_depend>
+ <exec_depend>navigation2</exec_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
diff --git a/src/libs/nav2_tasks/CHANGELOG.rst b/nav2_bt_navigator/CHANGELOG.rst
similarity index 100%
rename from src/libs/nav2_tasks/CHANGELOG.rst
rename to nav2_bt_navigator/CHANGELOG.rst
diff --git a/src/navigation/nav2_bt_navigator/CMakeLists.txt b/nav2_bt_navigator/CMakeLists.txt
similarity index 95%
rename from src/navigation/nav2_bt_navigator/CMakeLists.txt
rename to nav2_bt_navigator/CMakeLists.txt
index 6e4eea18..88a00233 100644
--- a/src/navigation/nav2_bt_navigator/CMakeLists.txt
+++ b/nav2_bt_navigator/CMakeLists.txt
@@ -14,7 +14,7 @@ find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(nav2_tasks REQUIRED)
-find_package(nav2_planning_msgs REQUIRED)
+find_package(nav2_msgs REQUIRED)
include_directories(
include
@@ -36,8 +36,8 @@ set(dependencies
rclcpp
std_msgs
nav2_tasks
- nav2_planning_msgs
-)
+ nav2_msgs
+)
ament_target_dependencies(${executable_name}
${dependencies}
diff --git a/src/libs/nav2_tasks/README.md b/nav2_bt_navigator/README.md
similarity index 100%
rename from src/libs/nav2_tasks/README.md
rename to nav2_bt_navigator/README.md
diff --git a/src/libs/nav2_util/CHANGELOG.rst b/nav2_bt_navigator/doc/.gitignore
similarity index 100%
rename from src/libs/nav2_util/CHANGELOG.rst
rename to nav2_bt_navigator/doc/.gitignore
diff --git a/src/navigation/nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp b/nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp
similarity index 97%
rename from src/navigation/nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp
rename to nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp
index 2d9733f8..b2beeb12 100644
--- a/src/navigation/nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp
+++ b/nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp
@@ -17,6 +17,7 @@
#include <string>
#include <memory>
+#include "nav2_tasks/task_status.hpp"
#include "nav2_tasks/navigate_to_pose_task.hpp"
#include "nav2_tasks/compute_path_to_pose_task.hpp"
#include "nav2_tasks/follow_path_task.hpp"
diff --git a/src/navigation/nav2_bt_navigator/package.xml b/nav2_bt_navigator/package.xml
similarity index 88%
rename from src/navigation/nav2_bt_navigator/package.xml
rename to nav2_bt_navigator/package.xml
index 36a34446..c3a2b7d2 100644
--- a/src/navigation/nav2_bt_navigator/package.xml
+++ b/nav2_bt_navigator/package.xml
@@ -11,11 +11,11 @@
<build_depend>rclcpp</build_depend>
<build_depend>nav2_tasks</build_depend>
- <build_depend>nav2_planning_msgs</build_depend>
+ <build_depend>nav2_msgs</build_depend>
<exec_depend>rclcpp</exec_depend>
<exec_depend>nav2_tasks</exec_depend>
- <exec_depend>nav2_planning_msgs</exec_depend>
+ <exec_depend>nav2_msgs</exec_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>ament_lint_auto</test_depend>
diff --git a/src/navigation/nav2_bt_navigator/src/bt_navigator.cpp b/nav2_bt_navigator/src/bt_navigator.cpp
similarity index 100%
rename from src/navigation/nav2_bt_navigator/src/bt_navigator.cpp
rename to nav2_bt_navigator/src/bt_navigator.cpp
diff --git a/src/navigation/nav2_bt_navigator/src/main.cpp b/nav2_bt_navigator/src/main.cpp
similarity index 100%
rename from src/navigation/nav2_bt_navigator/src/main.cpp
rename to nav2_bt_navigator/src/main.cpp
diff --git a/src/libs/nav2_util/README.md b/nav2_bt_navigator/test/.gitignore
similarity index 100%
rename from src/libs/nav2_util/README.md
rename to nav2_bt_navigator/test/.gitignore
diff --git a/src/control/costmap_queue/CMakeLists.txt b/nav2_controller/costmap_queue/CMakeLists.txt
similarity index 95%
rename from src/control/costmap_queue/CMakeLists.txt
rename to nav2_controller/costmap_queue/CMakeLists.txt
index 9dab0634..c92d6ed6 100644
--- a/src/control/costmap_queue/CMakeLists.txt
+++ b/nav2_controller/costmap_queue/CMakeLists.txt
@@ -11,7 +11,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
endif()
find_package(ament_cmake REQUIRED)
-find_package(costmap_2d REQUIRED)
+find_package(nav2_costmap_2d REQUIRED)
find_package(rclcpp REQUIRED)
find_package(Boost REQUIRED COMPONENTS system thread)
@@ -27,7 +27,7 @@ add_library(${PROJECT_NAME}
set(dependencies
rclcpp
- costmap_2d
+ nav2_costmap_2d
)
ament_target_dependencies(${PROJECT_NAME}
diff --git a/src/control/costmap_queue/include/costmap_queue/costmap_queue.h b/nav2_controller/costmap_queue/include/costmap_queue/costmap_queue.h
similarity index 97%
rename from src/control/costmap_queue/include/costmap_queue/costmap_queue.h
rename to nav2_controller/costmap_queue/include/costmap_queue/costmap_queue.h
index 5f0ddc05..33c6449f 100644
--- a/src/control/costmap_queue/include/costmap_queue/costmap_queue.h
+++ b/nav2_controller/costmap_queue/include/costmap_queue/costmap_queue.h
@@ -39,7 +39,7 @@
#include <vector>
#include <limits>
#include <memory>
-#include "costmap_2d/costmap_2d.h"
+#include "nav2_costmap_2d/costmap_2d.h"
#include "costmap_queue/map_based_queue.h"
namespace costmap_queue
@@ -113,7 +113,7 @@ public:
* @param costmap Costmap which defines the size/number of cells
* @param manhattan If true, sort cells by Manhattan distance, otherwise use Euclidean distance
*/
- explicit CostmapQueue(costmap_2d::Costmap2D & costmap, bool manhattan = false);
+ explicit CostmapQueue(nav2_costmap_2d::Costmap2D & costmap, bool manhattan = false);
/**
* @brief Clear the queue
@@ -162,7 +162,7 @@ protected:
*/
void computeCache();
- costmap_2d::Costmap2D & costmap_;
+ nav2_costmap_2d::Costmap2D & costmap_;
std::vector<bool> seen_;
int max_distance_;
bool manhattan_;
diff --git a/src/control/costmap_queue/include/costmap_queue/limited_costmap_queue.h b/nav2_controller/costmap_queue/include/costmap_queue/limited_costmap_queue.h
similarity index 96%
rename from src/control/costmap_queue/include/costmap_queue/limited_costmap_queue.h
rename to nav2_controller/costmap_queue/include/costmap_queue/limited_costmap_queue.h
index fee03da8..0a1fa4d9 100644
--- a/src/control/costmap_queue/include/costmap_queue/limited_costmap_queue.h
+++ b/nav2_controller/costmap_queue/include/costmap_queue/limited_costmap_queue.h
@@ -50,7 +50,7 @@ public:
/**
* @brief Constructor with limit as an integer number of cells.
*/
- LimitedCostmapQueue(costmap_2d::Costmap2D & costmap, const int cell_distance_limit);
+ LimitedCostmapQueue(nav2_costmap_2d::Costmap2D & costmap, const int cell_distance_limit);
bool validCellToQueue(const CellData & cell) override;
};
} // namespace costmap_queue
diff --git a/src/control/costmap_queue/include/costmap_queue/map_based_queue.h b/nav2_controller/costmap_queue/include/costmap_queue/map_based_queue.h
similarity index 100%
rename from src/control/costmap_queue/include/costmap_queue/map_based_queue.h
rename to nav2_controller/costmap_queue/include/costmap_queue/map_based_queue.h
diff --git a/src/control/costmap_queue/package.xml b/nav2_controller/costmap_queue/package.xml
similarity index 95%
rename from src/control/costmap_queue/package.xml
rename to nav2_controller/costmap_queue/package.xml
index 277ea17a..f5720fb1 100644
--- a/src/control/costmap_queue/package.xml
+++ b/nav2_controller/costmap_queue/package.xml
@@ -9,7 +9,7 @@
<license>BSD</license>
<buildtool_depend>ament_cmake</buildtool_depend>
- <depend>costmap_2d</depend>
+ <depend>nav2_costmap_2d</depend>
<depend>rclcpp</depend>
<test_depend>ament_cmake_cppcheck</test_depend>
diff --git a/src/control/costmap_queue/src/costmap_queue.cpp b/nav2_controller/costmap_queue/src/costmap_queue.cpp
similarity index 98%
rename from src/control/costmap_queue/src/costmap_queue.cpp
rename to nav2_controller/costmap_queue/src/costmap_queue.cpp
index f1e2f205..b4bdc90d 100644
--- a/src/control/costmap_queue/src/costmap_queue.cpp
+++ b/nav2_controller/costmap_queue/src/costmap_queue.cpp
@@ -41,7 +41,7 @@ using std::hypot;
namespace costmap_queue
{
-CostmapQueue::CostmapQueue(costmap_2d::Costmap2D & costmap, bool manhattan)
+CostmapQueue::CostmapQueue(nav2_costmap_2d::Costmap2D & costmap, bool manhattan)
: MapBasedQueue(), costmap_(costmap), max_distance_(-1), manhattan_(manhattan),
cached_max_distance_(-1)
{
diff --git a/src/control/costmap_queue/src/limited_costmap_queue.cpp b/nav2_controller/costmap_queue/src/limited_costmap_queue.cpp
similarity index 94%
rename from src/control/costmap_queue/src/limited_costmap_queue.cpp
rename to nav2_controller/costmap_queue/src/limited_costmap_queue.cpp
index 6321f03a..982a92c5 100644
--- a/src/control/costmap_queue/src/limited_costmap_queue.cpp
+++ b/nav2_controller/costmap_queue/src/limited_costmap_queue.cpp
@@ -37,7 +37,7 @@
namespace costmap_queue
{
-LimitedCostmapQueue::LimitedCostmapQueue(costmap_2d::Costmap2D & costmap, const int distance_limit)
+LimitedCostmapQueue::LimitedCostmapQueue(nav2_costmap_2d::Costmap2D & costmap, const int distance_limit)
: CostmapQueue(costmap)
{
max_distance_ = distance_limit;
diff --git a/src/control/costmap_queue/test/mbq_test.cpp b/nav2_controller/costmap_queue/test/mbq_test.cpp
similarity index 100%
rename from src/control/costmap_queue/test/mbq_test.cpp
rename to nav2_controller/costmap_queue/test/mbq_test.cpp
diff --git a/src/control/costmap_queue/test/utest.cpp b/nav2_controller/costmap_queue/test/utest.cpp
similarity index 97%
rename from src/control/costmap_queue/test/utest.cpp
rename to nav2_controller/costmap_queue/test/utest.cpp
index f9cbf11e..615868b1 100644
--- a/src/control/costmap_queue/test/utest.cpp
+++ b/nav2_controller/costmap_queue/test/utest.cpp
@@ -42,7 +42,7 @@
using std::hypot;
-costmap_2d::Costmap2D costmap(5, 5, 1.0, 0.0, 0.0);
+nav2_costmap_2d::Costmap2D costmap(5, 5, 1.0, 0.0, 0.0);
TEST(CostmapQueue, basicQueue)
{
@@ -59,7 +59,7 @@ TEST(CostmapQueue, basicQueue)
TEST(CostmapQueue, bigTest)
{
- costmap_2d::Costmap2D big_map(500, 500, 1.0, 0.0, 0.0);
+ nav2_costmap_2d::Costmap2D big_map(500, 500, 1.0, 0.0, 0.0);
costmap_queue::CostmapQueue q(big_map);
int count = 0;
q.enqueueCell(0, 0);
diff --git a/src/control/dwb_core/CMakeLists.txt b/nav2_controller/dwb_core/CMakeLists.txt
similarity index 96%
rename from src/control/dwb_core/CMakeLists.txt
rename to nav2_controller/dwb_core/CMakeLists.txt
index 71f55ffd..d3348a16 100644
--- a/src/control/dwb_core/CMakeLists.txt
+++ b/nav2_controller/dwb_core/CMakeLists.txt
@@ -16,7 +16,7 @@ find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_2d_msgs REQUIRED)
find_package(dwb_msgs REQUIRED)
-find_package(costmap_2d REQUIRED)
+find_package(nav2_costmap_2d REQUIRED)
find_package(pluginlib REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
@@ -32,7 +32,7 @@ set(dependencies
geometry_msgs
nav_2d_msgs
dwb_msgs
- costmap_2d
+ nav2_costmap_2d
pluginlib
sensor_msgs
visualization_msgs
diff --git a/src/control/dwb_core/include/dwb_core/common_types.h b/nav2_controller/dwb_core/include/dwb_core/common_types.h
similarity index 88%
rename from src/control/dwb_core/include/dwb_core/common_types.h
rename to nav2_controller/dwb_core/include/dwb_core/common_types.h
index 189d1eaf..0809988f 100644
--- a/src/control/dwb_core/include/dwb_core/common_types.h
+++ b/nav2_controller/dwb_core/include/dwb_core/common_types.h
@@ -16,7 +16,7 @@
#define DWB_CORE__COMMON_TYPES_H_
#include <memory>
-#include "costmap_2d/costmap_2d_ros.h"
+#include "nav2_costmap_2d/costmap_2d_ros.h"
#include "tf2_ros/transform_listener.h"
@@ -24,7 +24,7 @@ namespace dwb_core
{
typedef std::shared_ptr<tf2_ros::Buffer> TFBufferPtr;
-typedef std::shared_ptr<costmap_2d::Costmap2DROS> CostmapROSPtr;
+typedef std::shared_ptr<nav2_costmap_2d::Costmap2DROS> CostmapROSPtr;
}
diff --git a/src/control/dwb_core/include/dwb_core/dwb_core.h b/nav2_controller/dwb_core/include/dwb_core/dwb_core.h
similarity index 100%
rename from src/control/dwb_core/include/dwb_core/dwb_core.h
rename to nav2_controller/dwb_core/include/dwb_core/dwb_core.h
diff --git a/src/control/dwb_core/include/dwb_core/exceptions.h b/nav2_controller/dwb_core/include/dwb_core/exceptions.h
similarity index 100%
rename from src/control/dwb_core/include/dwb_core/exceptions.h
rename to nav2_controller/dwb_core/include/dwb_core/exceptions.h
diff --git a/src/control/dwb_core/include/dwb_core/goal_checker.h b/nav2_controller/dwb_core/include/dwb_core/goal_checker.h
similarity index 100%
rename from src/control/dwb_core/include/dwb_core/goal_checker.h
rename to nav2_controller/dwb_core/include/dwb_core/goal_checker.h
diff --git a/src/control/dwb_core/include/dwb_core/illegal_trajectory_tracker.h b/nav2_controller/dwb_core/include/dwb_core/illegal_trajectory_tracker.h
similarity index 100%
rename from src/control/dwb_core/include/dwb_core/illegal_trajectory_tracker.h
rename to nav2_controller/dwb_core/include/dwb_core/illegal_trajectory_tracker.h
diff --git a/src/control/dwb_core/include/dwb_core/publisher.h b/nav2_controller/dwb_core/include/dwb_core/publisher.h
similarity index 100%
rename from src/control/dwb_core/include/dwb_core/publisher.h
rename to nav2_controller/dwb_core/include/dwb_core/publisher.h
diff --git a/src/control/dwb_core/include/dwb_core/trajectory_critic.h b/nav2_controller/dwb_core/include/dwb_core/trajectory_critic.h
similarity index 100%
rename from src/control/dwb_core/include/dwb_core/trajectory_critic.h
rename to nav2_controller/dwb_core/include/dwb_core/trajectory_critic.h
diff --git a/src/control/dwb_core/include/dwb_core/trajectory_generator.h b/nav2_controller/dwb_core/include/dwb_core/trajectory_generator.h
similarity index 100%
rename from src/control/dwb_core/include/dwb_core/trajectory_generator.h
rename to nav2_controller/dwb_core/include/dwb_core/trajectory_generator.h
diff --git a/src/control/dwb_core/package.xml b/nav2_controller/dwb_core/package.xml
similarity index 94%
rename from src/control/dwb_core/package.xml
rename to nav2_controller/dwb_core/package.xml
index f980c313..4fed5111 100644
--- a/src/control/dwb_core/package.xml
+++ b/nav2_controller/dwb_core/package.xml
@@ -15,7 +15,7 @@
<build_depend>geometry_msgs</build_depend>
<build_depend>nav_2d_msgs</build_depend>
<build_depend>dwb_msgs</build_depend>
- <build_depend>costmap_2d</build_depend>
+ <build_depend>nav2_costmap_2d</build_depend>
<build_depend>pluginlib</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>visualization_msgs</build_depend>
@@ -27,7 +27,7 @@
<exec_depend>std_msgs</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>dwb_msgs</exec_depend>
- <exec_depend>costmap_2d</exec_depend>
+ <exec_depend>nav2_costmap_2d</exec_depend>
<exec_depend>nav_2d_utils</exec_depend>
<exec_depend>pluginlib</exec_depend>
diff --git a/src/control/dwb_core/src/dwb_core.cpp b/nav2_controller/dwb_core/src/dwb_core.cpp
similarity index 99%
rename from src/control/dwb_core/src/dwb_core.cpp
rename to nav2_controller/dwb_core/src/dwb_core.cpp
index a6e864e0..f6d56e43 100644
--- a/src/control/dwb_core/src/dwb_core.cpp
+++ b/nav2_controller/dwb_core/src/dwb_core.cpp
@@ -393,7 +393,7 @@ nav_2d_msgs::msg::Path2D DWBLocalPlanner::transformGlobalPlan(
transformed_plan.header.stamp = pose.header.stamp;
// we'll discard points on the plan that are outside the local costmap
- costmap_2d::Costmap2D * costmap = costmap_ros_->getCostmap();
+ nav2_costmap_2d::Costmap2D * costmap = costmap_ros_->getCostmap();
double dist_threshold = std::max(costmap->getSizeInCellsX(), costmap->getSizeInCellsY()) *
costmap->getResolution() / 2.0;
double sq_dist_threshold = dist_threshold * dist_threshold;
diff --git a/src/control/dwb_core/src/illegal_trajectory_tracker.cpp b/nav2_controller/dwb_core/src/illegal_trajectory_tracker.cpp
similarity index 100%
rename from src/control/dwb_core/src/illegal_trajectory_tracker.cpp
rename to nav2_controller/dwb_core/src/illegal_trajectory_tracker.cpp
diff --git a/src/control/dwb_core/src/publisher.cpp b/nav2_controller/dwb_core/src/publisher.cpp
similarity index 99%
rename from src/control/dwb_core/src/publisher.cpp
rename to nav2_controller/dwb_core/src/publisher.cpp
index 569b8f6b..f98886ed 100644
--- a/src/control/dwb_core/src/publisher.cpp
+++ b/nav2_controller/dwb_core/src/publisher.cpp
@@ -159,7 +159,7 @@ void DWBPublisher::publishCostGrid(
cost_grid_pc.header.frame_id = costmap_ros->getGlobalFrameID();
cost_grid_pc.header.stamp = rclcpp::Clock().now();
- costmap_2d::Costmap2D * costmap = costmap_ros->getCostmap();
+ nav2_costmap_2d::Costmap2D * costmap = costmap_ros->getCostmap();
double x_coord, y_coord;
unsigned int size_x = costmap->getSizeInCellsX();
unsigned int size_y = costmap->getSizeInCellsY();
diff --git a/src/control/dwb_critics/CMakeLists.txt b/nav2_controller/dwb_critics/CMakeLists.txt
similarity index 96%
rename from src/control/dwb_critics/CMakeLists.txt
rename to nav2_controller/dwb_critics/CMakeLists.txt
index 36af2fc1..4e246963 100644
--- a/src/control/dwb_critics/CMakeLists.txt
+++ b/nav2_controller/dwb_critics/CMakeLists.txt
@@ -12,7 +12,7 @@ endif()
find_package(ament_cmake REQUIRED)
find_package(angles REQUIRED)
-find_package(costmap_2d REQUIRED)
+find_package(nav2_costmap_2d REQUIRED)
find_package(costmap_queue REQUIRED)
find_package(dwb_core REQUIRED)
find_package(geometry_msgs REQUIRED)
@@ -43,7 +43,7 @@ add_library(${PROJECT_NAME}
set(dependencies
angles
- costmap_2d
+ nav2_costmap_2d
costmap_queue
dwb_core
geometry_msgs
diff --git a/src/control/dwb_critics/default_critics.xml b/nav2_controller/dwb_critics/default_critics.xml
similarity index 100%
rename from src/control/dwb_critics/default_critics.xml
rename to nav2_controller/dwb_critics/default_critics.xml
diff --git a/src/control/dwb_critics/include/dwb_critics/alignment_util.h b/nav2_controller/dwb_critics/include/dwb_critics/alignment_util.h
similarity index 100%
rename from src/control/dwb_critics/include/dwb_critics/alignment_util.h
rename to nav2_controller/dwb_critics/include/dwb_critics/alignment_util.h
diff --git a/src/control/dwb_critics/include/dwb_critics/base_obstacle.h b/nav2_controller/dwb_critics/include/dwb_critics/base_obstacle.h
similarity index 98%
rename from src/control/dwb_critics/include/dwb_critics/base_obstacle.h
rename to nav2_controller/dwb_critics/include/dwb_critics/base_obstacle.h
index 7cbd7094..1b325bc8 100644
--- a/src/control/dwb_critics/include/dwb_critics/base_obstacle.h
+++ b/nav2_controller/dwb_critics/include/dwb_critics/base_obstacle.h
@@ -71,7 +71,7 @@ public:
virtual bool isValidCost(const unsigned char cost);
protected:
- costmap_2d::Costmap2D * costmap_;
+ nav2_costmap_2d::Costmap2D * costmap_;
bool sum_scores_;
};
} // namespace dwb_critics
diff --git a/src/control/dwb_critics/include/dwb_critics/goal_align.h b/nav2_controller/dwb_critics/include/dwb_critics/goal_align.h
similarity index 100%
rename from src/control/dwb_critics/include/dwb_critics/goal_align.h
rename to nav2_controller/dwb_critics/include/dwb_critics/goal_align.h
diff --git a/src/control/dwb_critics/include/dwb_critics/goal_dist.h b/nav2_controller/dwb_critics/include/dwb_critics/goal_dist.h
similarity index 100%
rename from src/control/dwb_critics/include/dwb_critics/goal_dist.h
rename to nav2_controller/dwb_critics/include/dwb_critics/goal_dist.h
diff --git a/src/control/dwb_critics/include/dwb_critics/line_iterator.h b/nav2_controller/dwb_critics/include/dwb_critics/line_iterator.h
similarity index 100%
rename from src/control/dwb_critics/include/dwb_critics/line_iterator.h
rename to nav2_controller/dwb_critics/include/dwb_critics/line_iterator.h
diff --git a/src/control/dwb_critics/include/dwb_critics/map_grid.h b/nav2_controller/dwb_critics/include/dwb_critics/map_grid.h
similarity index 97%
rename from src/control/dwb_critics/include/dwb_critics/map_grid.h
rename to nav2_controller/dwb_critics/include/dwb_critics/map_grid.h
index c512c103..541812d6 100644
--- a/src/control/dwb_critics/include/dwb_critics/map_grid.h
+++ b/nav2_controller/dwb_critics/include/dwb_critics/map_grid.h
@@ -107,7 +107,7 @@ protected:
class MapGridQueue : public costmap_queue::CostmapQueue
{
public:
- MapGridQueue(costmap_2d::Costmap2D & costmap, MapGridCritic & parent)
+ MapGridQueue(nav2_costmap_2d::Costmap2D & costmap, MapGridCritic & parent)
: costmap_queue::CostmapQueue(costmap, true), parent_(parent) {}
bool validCellToQueue(const costmap_queue::CellData & cell) override;
@@ -126,7 +126,7 @@ protected:
void propogateManhattanDistances();
std::shared_ptr<MapGridQueue> queue_;
- costmap_2d::Costmap2D * costmap_;
+ nav2_costmap_2d::Costmap2D * costmap_;
std::vector<double> cell_values_;
double obstacle_score_, unreachable_score_; ///< Special cell_values
bool stop_on_failure_;
diff --git a/src/control/dwb_critics/include/dwb_critics/obstacle_footprint.h b/nav2_controller/dwb_critics/include/dwb_critics/obstacle_footprint.h
similarity index 100%
rename from src/control/dwb_critics/include/dwb_critics/obstacle_footprint.h
rename to nav2_controller/dwb_critics/include/dwb_critics/obstacle_footprint.h
diff --git a/src/control/dwb_critics/include/dwb_critics/oscillation.h b/nav2_controller/dwb_critics/include/dwb_critics/oscillation.h
similarity index 100%
rename from src/control/dwb_critics/include/dwb_critics/oscillation.h
rename to nav2_controller/dwb_critics/include/dwb_critics/oscillation.h
diff --git a/src/control/dwb_critics/include/dwb_critics/path_align.h b/nav2_controller/dwb_critics/include/dwb_critics/path_align.h
similarity index 100%
rename from src/control/dwb_critics/include/dwb_critics/path_align.h
rename to nav2_controller/dwb_critics/include/dwb_critics/path_align.h
diff --git a/src/control/dwb_critics/include/dwb_critics/path_dist.h b/nav2_controller/dwb_critics/include/dwb_critics/path_dist.h
similarity index 100%
rename from src/control/dwb_critics/include/dwb_critics/path_dist.h
rename to nav2_controller/dwb_critics/include/dwb_critics/path_dist.h
diff --git a/src/control/dwb_critics/include/dwb_critics/prefer_forward.h b/nav2_controller/dwb_critics/include/dwb_critics/prefer_forward.h
similarity index 100%
rename from src/control/dwb_critics/include/dwb_critics/prefer_forward.h
rename to nav2_controller/dwb_critics/include/dwb_critics/prefer_forward.h
diff --git a/src/control/dwb_critics/include/dwb_critics/rotate_to_goal.h b/nav2_controller/dwb_critics/include/dwb_critics/rotate_to_goal.h
similarity index 100%
rename from src/control/dwb_critics/include/dwb_critics/rotate_to_goal.h
rename to nav2_controller/dwb_critics/include/dwb_critics/rotate_to_goal.h
diff --git a/src/control/dwb_critics/include/dwb_critics/twirling.h b/nav2_controller/dwb_critics/include/dwb_critics/twirling.h
similarity index 100%
rename from src/control/dwb_critics/include/dwb_critics/twirling.h
rename to nav2_controller/dwb_critics/include/dwb_critics/twirling.h
diff --git a/src/control/dwb_critics/package.xml b/nav2_controller/dwb_critics/package.xml
similarity index 96%
rename from src/control/dwb_critics/package.xml
rename to nav2_controller/dwb_critics/package.xml
index 9bb4e289..2e7a34d1 100644
--- a/src/control/dwb_critics/package.xml
+++ b/nav2_controller/dwb_critics/package.xml
@@ -11,7 +11,7 @@
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>angles</depend>
- <depend>costmap_2d</depend>
+ <depend>nav2_costmap_2d</depend>
<depend>costmap_queue</depend>
<depend>dwb_core</depend>
<depend>geometry_msgs</depend>
diff --git a/src/control/dwb_critics/src/alignment_util.cpp b/nav2_controller/dwb_critics/src/alignment_util.cpp
similarity index 100%
rename from src/control/dwb_critics/src/alignment_util.cpp
rename to nav2_controller/dwb_critics/src/alignment_util.cpp
diff --git a/src/control/dwb_critics/src/base_obstacle.cpp b/nav2_controller/dwb_critics/src/base_obstacle.cpp
similarity index 94%
rename from src/control/dwb_critics/src/base_obstacle.cpp
rename to nav2_controller/dwb_critics/src/base_obstacle.cpp
index 2fc6b3b1..eaf43c53 100644
--- a/src/control/dwb_critics/src/base_obstacle.cpp
+++ b/nav2_controller/dwb_critics/src/base_obstacle.cpp
@@ -35,7 +35,7 @@
#include "dwb_critics/base_obstacle.h"
#include "dwb_core/exceptions.h"
#include "pluginlib/class_list_macros.hpp"
-#include "costmap_2d/cost_values.h"
+#include "nav2_costmap_2d/cost_values.h"
PLUGINLIB_EXPORT_CLASS(dwb_critics::BaseObstacleCritic, dwb_core::TrajectoryCritic)
@@ -75,8 +75,8 @@ double BaseObstacleCritic::scorePose(const geometry_msgs::msg::Pose2D & pose)
bool BaseObstacleCritic::isValidCost(const unsigned char cost)
{
- return cost != costmap_2d::LETHAL_OBSTACLE && cost != costmap_2d::INSCRIBED_INFLATED_OBSTACLE &&
- cost != costmap_2d::NO_INFORMATION;
+ return cost != nav2_costmap_2d::LETHAL_OBSTACLE && cost != nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE &&
+ cost != nav2_costmap_2d::NO_INFORMATION;
}
void BaseObstacleCritic::addGridScores(sensor_msgs::msg::PointCloud & pc)
diff --git a/src/control/dwb_critics/src/goal_align.cpp b/nav2_controller/dwb_critics/src/goal_align.cpp
similarity index 100%
rename from src/control/dwb_critics/src/goal_align.cpp
rename to nav2_controller/dwb_critics/src/goal_align.cpp
diff --git a/src/control/dwb_critics/src/goal_dist.cpp b/nav2_controller/dwb_critics/src/goal_dist.cpp
similarity index 96%
rename from src/control/dwb_critics/src/goal_dist.cpp
rename to nav2_controller/dwb_critics/src/goal_dist.cpp
index 38ae9772..857177d7 100644
--- a/src/control/dwb_critics/src/goal_dist.cpp
+++ b/nav2_controller/dwb_critics/src/goal_dist.cpp
@@ -36,7 +36,7 @@
#include <vector>
#include "pluginlib/class_list_macros.hpp"
#include "nav_2d_utils/path_ops.h"
-#include "costmap_2d/cost_values.h"
+#include "nav2_costmap_2d/cost_values.h"
namespace dwb_critics
{
@@ -76,7 +76,7 @@ bool GoalDistCritic::getLastPoseOnCostmap(
double g_y = adjusted_global_plan.poses[i].y;
unsigned int map_x, map_y;
if (costmap_->worldToMap(g_x, g_y, map_x,
- map_y) && costmap_->getCost(map_x, map_y) != costmap_2d::NO_INFORMATION)
+ map_y) && costmap_->getCost(map_x, map_y) != nav2_costmap_2d::NO_INFORMATION)
{
// Still on the costmap. Continue.
x = map_x;
diff --git a/src/control/dwb_critics/src/map_grid.cpp b/nav2_controller/dwb_critics/src/map_grid.cpp
similarity index 95%
rename from src/control/dwb_critics/src/map_grid.cpp
rename to nav2_controller/dwb_critics/src/map_grid.cpp
index 3509598f..83720908 100644
--- a/src/control/dwb_critics/src/map_grid.cpp
+++ b/nav2_controller/dwb_critics/src/map_grid.cpp
@@ -38,7 +38,7 @@
#include <algorithm>
#include <memory>
#include "dwb_core/exceptions.h"
-#include "costmap_2d/cost_values.h"
+#include "nav2_costmap_2d/cost_values.h"
using std::abs;
using costmap_queue::CellData;
@@ -50,8 +50,8 @@ namespace dwb_critics
bool MapGridCritic::MapGridQueue::validCellToQueue(const costmap_queue::CellData & cell)
{
unsigned char cost = costmap_.getCost(cell.x_, cell.y_);
- if (cost == costmap_2d::LETHAL_OBSTACLE || cost == costmap_2d::INSCRIBED_INFLATED_OBSTACLE ||
- cost == costmap_2d::NO_INFORMATION)
+ if (cost == nav2_costmap_2d::LETHAL_OBSTACLE || cost == nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE ||
+ cost == nav2_costmap_2d::NO_INFORMATION)
{
parent_.setAsObstacle(cell.index_);
return false;
@@ -162,7 +162,7 @@ void MapGridCritic::addGridScores(sensor_msgs::msg::PointCloud & pc)
sensor_msgs::msg::ChannelFloat32 grid_scores;
grid_scores.name = name_;
- costmap_2d::Costmap2D * costmap = costmap_ros_->getCostmap();
+ nav2_costmap_2d::Costmap2D * costmap = costmap_ros_->getCostmap();
unsigned int size_x = costmap->getSizeInCellsX();
unsigned int size_y = costmap->getSizeInCellsY();
grid_scores.values.resize(size_x * size_y);
diff --git a/src/control/dwb_critics/src/obstacle_footprint.cpp b/nav2_controller/dwb_critics/src/obstacle_footprint.cpp
similarity index 97%
rename from src/control/dwb_critics/src/obstacle_footprint.cpp
rename to nav2_controller/dwb_critics/src/obstacle_footprint.cpp
index 03c46e2e..3e0ecc59 100644
--- a/src/control/dwb_critics/src/obstacle_footprint.cpp
+++ b/nav2_controller/dwb_critics/src/obstacle_footprint.cpp
@@ -38,7 +38,7 @@
#include "dwb_critics/line_iterator.h"
#include "dwb_core/exceptions.h"
#include "pluginlib/class_list_macros.hpp"
-#include "costmap_2d/cost_values.h"
+#include "nav2_costmap_2d/cost_values.h"
PLUGINLIB_EXPORT_CLASS(dwb_critics::ObstacleFootprintCritic, dwb_core::TrajectoryCritic)
@@ -145,9 +145,9 @@ double ObstacleFootprintCritic::pointCost(int x, int y)
{
unsigned char cost = costmap_->getCost(x, y);
// if the cell is in an obstacle the path is invalid or unknown
- if (cost == costmap_2d::LETHAL_OBSTACLE) {
+ if (cost == nav2_costmap_2d::LETHAL_OBSTACLE) {
throw nav_core2::IllegalTrajectoryException(name_, "Trajectory Hits Obstacle.");
- } else if (cost == costmap_2d::NO_INFORMATION) {
+ } else if (cost == nav2_costmap_2d::NO_INFORMATION) {
throw nav_core2::IllegalTrajectoryException(name_, "Trajectory Hits Unknown Region.");
}
diff --git a/src/control/dwb_critics/src/oscillation.cpp b/nav2_controller/dwb_critics/src/oscillation.cpp
similarity index 100%
rename from src/control/dwb_critics/src/oscillation.cpp
rename to nav2_controller/dwb_critics/src/oscillation.cpp
diff --git a/src/control/dwb_critics/src/path_align.cpp b/nav2_controller/dwb_critics/src/path_align.cpp
similarity index 100%
rename from src/control/dwb_critics/src/path_align.cpp
rename to nav2_controller/dwb_critics/src/path_align.cpp
diff --git a/src/control/dwb_critics/src/path_dist.cpp b/nav2_controller/dwb_critics/src/path_dist.cpp
similarity index 96%
rename from src/control/dwb_critics/src/path_dist.cpp
rename to nav2_controller/dwb_critics/src/path_dist.cpp
index a0137187..597fdec0 100644
--- a/src/control/dwb_critics/src/path_dist.cpp
+++ b/nav2_controller/dwb_critics/src/path_dist.cpp
@@ -36,7 +36,7 @@
#include <vector>
#include "pluginlib/class_list_macros.hpp"
#include "nav_2d_utils/path_ops.h"
-#include "costmap_2d/cost_values.h"
+#include "nav2_costmap_2d/cost_values.h"
namespace dwb_critics
{
@@ -64,7 +64,7 @@ bool PathDistCritic::prepare(
double g_y = adjusted_global_plan.poses[i].y;
unsigned int map_x, map_y;
if (costmap_->worldToMap(g_x, g_y, map_x,
- map_y) && costmap_->getCost(map_x, map_y) != costmap_2d::NO_INFORMATION)
+ map_y) && costmap_->getCost(map_x, map_y) != nav2_costmap_2d::NO_INFORMATION)
{
int index = costmap_->getIndex(map_x, map_y);
cell_values_[index] = 0.0;
diff --git a/src/control/dwb_critics/src/prefer_forward.cpp b/nav2_controller/dwb_critics/src/prefer_forward.cpp
similarity index 100%
rename from src/control/dwb_critics/src/prefer_forward.cpp
rename to nav2_controller/dwb_critics/src/prefer_forward.cpp
diff --git a/src/control/dwb_critics/src/rotate_to_goal.cpp b/nav2_controller/dwb_critics/src/rotate_to_goal.cpp
similarity index 100%
rename from src/control/dwb_critics/src/rotate_to_goal.cpp
rename to nav2_controller/dwb_critics/src/rotate_to_goal.cpp
diff --git a/src/control/dwb_critics/src/twirling.cpp b/nav2_controller/dwb_critics/src/twirling.cpp
similarity index 100%
rename from src/control/dwb_critics/src/twirling.cpp
rename to nav2_controller/dwb_critics/src/twirling.cpp
diff --git a/src/control/dwb_msgs/CMakeLists.txt b/nav2_controller/dwb_msgs/CMakeLists.txt
similarity index 100%
rename from src/control/dwb_msgs/CMakeLists.txt
rename to nav2_controller/dwb_msgs/CMakeLists.txt
diff --git a/src/control/dwb_msgs/msg/CriticScore.msg b/nav2_controller/dwb_msgs/msg/CriticScore.msg
similarity index 100%
rename from src/control/dwb_msgs/msg/CriticScore.msg
rename to nav2_controller/dwb_msgs/msg/CriticScore.msg
diff --git a/src/control/dwb_msgs/msg/LocalPlanEvaluation.msg b/nav2_controller/dwb_msgs/msg/LocalPlanEvaluation.msg
similarity index 100%
rename from src/control/dwb_msgs/msg/LocalPlanEvaluation.msg
rename to nav2_controller/dwb_msgs/msg/LocalPlanEvaluation.msg
diff --git a/src/control/dwb_msgs/msg/Trajectory2D.msg b/nav2_controller/dwb_msgs/msg/Trajectory2D.msg
similarity index 100%
rename from src/control/dwb_msgs/msg/Trajectory2D.msg
rename to nav2_controller/dwb_msgs/msg/Trajectory2D.msg
diff --git a/src/control/dwb_msgs/msg/TrajectoryScore.msg b/nav2_controller/dwb_msgs/msg/TrajectoryScore.msg
similarity index 100%
rename from src/control/dwb_msgs/msg/TrajectoryScore.msg
rename to nav2_controller/dwb_msgs/msg/TrajectoryScore.msg
diff --git a/src/control/dwb_msgs/package.xml b/nav2_controller/dwb_msgs/package.xml
similarity index 100%
rename from src/control/dwb_msgs/package.xml
rename to nav2_controller/dwb_msgs/package.xml
diff --git a/src/control/dwb_msgs/srv/DebugLocalPlan.srv b/nav2_controller/dwb_msgs/srv/DebugLocalPlan.srv
similarity index 100%
rename from src/control/dwb_msgs/srv/DebugLocalPlan.srv
rename to nav2_controller/dwb_msgs/srv/DebugLocalPlan.srv
diff --git a/src/control/dwb_msgs/srv/GenerateTrajectory.srv b/nav2_controller/dwb_msgs/srv/GenerateTrajectory.srv
similarity index 100%
rename from src/control/dwb_msgs/srv/GenerateTrajectory.srv
rename to nav2_controller/dwb_msgs/srv/GenerateTrajectory.srv
diff --git a/src/control/dwb_msgs/srv/GenerateTwists.srv b/nav2_controller/dwb_msgs/srv/GenerateTwists.srv
similarity index 100%
rename from src/control/dwb_msgs/srv/GenerateTwists.srv
rename to nav2_controller/dwb_msgs/srv/GenerateTwists.srv
diff --git a/src/control/dwb_msgs/srv/GetCriticScore.srv b/nav2_controller/dwb_msgs/srv/GetCriticScore.srv
similarity index 100%
rename from src/control/dwb_msgs/srv/GetCriticScore.srv
rename to nav2_controller/dwb_msgs/srv/GetCriticScore.srv
diff --git a/src/control/dwb_msgs/srv/ScoreTrajectory.srv b/nav2_controller/dwb_msgs/srv/ScoreTrajectory.srv
similarity index 100%
rename from src/control/dwb_msgs/srv/ScoreTrajectory.srv
rename to nav2_controller/dwb_msgs/srv/ScoreTrajectory.srv
diff --git a/src/control/dwb_plugins/CMakeLists.txt b/nav2_controller/dwb_plugins/CMakeLists.txt
similarity index 100%
rename from src/control/dwb_plugins/CMakeLists.txt
rename to nav2_controller/dwb_plugins/CMakeLists.txt
diff --git a/src/control/dwb_plugins/cfg/KinematicParams.cfg b/nav2_controller/dwb_plugins/cfg/KinematicParams.cfg
similarity index 100%
rename from src/control/dwb_plugins/cfg/KinematicParams.cfg
rename to nav2_controller/dwb_plugins/cfg/KinematicParams.cfg
diff --git a/src/control/dwb_plugins/include/dwb_plugins/kinematic_parameters.h b/nav2_controller/dwb_plugins/include/dwb_plugins/kinematic_parameters.h
similarity index 100%
rename from src/control/dwb_plugins/include/dwb_plugins/kinematic_parameters.h
rename to nav2_controller/dwb_plugins/include/dwb_plugins/kinematic_parameters.h
diff --git a/src/control/dwb_plugins/include/dwb_plugins/limited_accel_generator.h b/nav2_controller/dwb_plugins/include/dwb_plugins/limited_accel_generator.h
similarity index 100%
rename from src/control/dwb_plugins/include/dwb_plugins/limited_accel_generator.h
rename to nav2_controller/dwb_plugins/include/dwb_plugins/limited_accel_generator.h
diff --git a/src/control/dwb_plugins/include/dwb_plugins/one_d_velocity_iterator.h b/nav2_controller/dwb_plugins/include/dwb_plugins/one_d_velocity_iterator.h
similarity index 100%
rename from src/control/dwb_plugins/include/dwb_plugins/one_d_velocity_iterator.h
rename to nav2_controller/dwb_plugins/include/dwb_plugins/one_d_velocity_iterator.h
diff --git a/src/control/dwb_plugins/include/dwb_plugins/simple_goal_checker.h b/nav2_controller/dwb_plugins/include/dwb_plugins/simple_goal_checker.h
similarity index 100%
rename from src/control/dwb_plugins/include/dwb_plugins/simple_goal_checker.h
rename to nav2_controller/dwb_plugins/include/dwb_plugins/simple_goal_checker.h
diff --git a/src/control/dwb_plugins/include/dwb_plugins/standard_traj_generator.h b/nav2_controller/dwb_plugins/include/dwb_plugins/standard_traj_generator.h
similarity index 100%
rename from src/control/dwb_plugins/include/dwb_plugins/standard_traj_generator.h
rename to nav2_controller/dwb_plugins/include/dwb_plugins/standard_traj_generator.h
diff --git a/src/control/dwb_plugins/include/dwb_plugins/stopped_goal_checker.h b/nav2_controller/dwb_plugins/include/dwb_plugins/stopped_goal_checker.h
similarity index 100%
rename from src/control/dwb_plugins/include/dwb_plugins/stopped_goal_checker.h
rename to nav2_controller/dwb_plugins/include/dwb_plugins/stopped_goal_checker.h
diff --git a/src/control/dwb_plugins/include/dwb_plugins/velocity_iterator.h b/nav2_controller/dwb_plugins/include/dwb_plugins/velocity_iterator.h
similarity index 100%
rename from src/control/dwb_plugins/include/dwb_plugins/velocity_iterator.h
rename to nav2_controller/dwb_plugins/include/dwb_plugins/velocity_iterator.h
diff --git a/src/control/dwb_plugins/include/dwb_plugins/xy_theta_iterator.h b/nav2_controller/dwb_plugins/include/dwb_plugins/xy_theta_iterator.h
similarity index 100%
rename from src/control/dwb_plugins/include/dwb_plugins/xy_theta_iterator.h
rename to nav2_controller/dwb_plugins/include/dwb_plugins/xy_theta_iterator.h
diff --git a/src/control/dwb_plugins/package.xml b/nav2_controller/dwb_plugins/package.xml
similarity index 100%
rename from src/control/dwb_plugins/package.xml
rename to nav2_controller/dwb_plugins/package.xml
diff --git a/src/control/dwb_plugins/plugins.xml b/nav2_controller/dwb_plugins/plugins.xml
similarity index 100%
rename from src/control/dwb_plugins/plugins.xml
rename to nav2_controller/dwb_plugins/plugins.xml
diff --git a/src/control/dwb_plugins/src/kinematic_parameters.cpp b/nav2_controller/dwb_plugins/src/kinematic_parameters.cpp
similarity index 100%
rename from src/control/dwb_plugins/src/kinematic_parameters.cpp
rename to nav2_controller/dwb_plugins/src/kinematic_parameters.cpp
diff --git a/src/control/dwb_plugins/src/limited_accel_generator.cpp b/nav2_controller/dwb_plugins/src/limited_accel_generator.cpp
similarity index 100%
rename from src/control/dwb_plugins/src/limited_accel_generator.cpp
rename to nav2_controller/dwb_plugins/src/limited_accel_generator.cpp
diff --git a/src/control/dwb_plugins/src/simple_goal_checker.cpp b/nav2_controller/dwb_plugins/src/simple_goal_checker.cpp
similarity index 100%
rename from src/control/dwb_plugins/src/simple_goal_checker.cpp
rename to nav2_controller/dwb_plugins/src/simple_goal_checker.cpp
diff --git a/src/control/dwb_plugins/src/standard_traj_generator.cpp b/nav2_controller/dwb_plugins/src/standard_traj_generator.cpp
similarity index 100%
rename from src/control/dwb_plugins/src/standard_traj_generator.cpp
rename to nav2_controller/dwb_plugins/src/standard_traj_generator.cpp
diff --git a/src/control/dwb_plugins/src/stopped_goal_checker.cpp b/nav2_controller/dwb_plugins/src/stopped_goal_checker.cpp
similarity index 100%
rename from src/control/dwb_plugins/src/stopped_goal_checker.cpp
rename to nav2_controller/dwb_plugins/src/stopped_goal_checker.cpp
diff --git a/src/control/dwb_plugins/src/xy_theta_iterator.cpp b/nav2_controller/dwb_plugins/src/xy_theta_iterator.cpp
similarity index 100%
rename from src/control/dwb_plugins/src/xy_theta_iterator.cpp
rename to nav2_controller/dwb_plugins/src/xy_theta_iterator.cpp
diff --git a/src/control/dwb_plugins/test/goal_checker.cpp b/nav2_controller/dwb_plugins/test/goal_checker.cpp
similarity index 100%
rename from src/control/dwb_plugins/test/goal_checker.cpp
rename to nav2_controller/dwb_plugins/test/goal_checker.cpp
diff --git a/src/control/dwb_plugins/test/goal_checker.launch b/nav2_controller/dwb_plugins/test/goal_checker.launch
similarity index 100%
rename from src/control/dwb_plugins/test/goal_checker.launch
rename to nav2_controller/dwb_plugins/test/goal_checker.launch
diff --git a/src/control/dwb_plugins/test/twist_gen.cpp b/nav2_controller/dwb_plugins/test/twist_gen.cpp
similarity index 100%
rename from src/control/dwb_plugins/test/twist_gen.cpp
rename to nav2_controller/dwb_plugins/test/twist_gen.cpp
diff --git a/src/control/dwb_plugins/test/twist_gen.launch b/nav2_controller/dwb_plugins/test/twist_gen.launch
similarity index 100%
rename from src/control/dwb_plugins/test/twist_gen.launch
rename to nav2_controller/dwb_plugins/test/twist_gen.launch
diff --git a/src/control/dwb_plugins/test/velocity_iterator_test.cpp b/nav2_controller/dwb_plugins/test/velocity_iterator_test.cpp
similarity index 100%
rename from src/control/dwb_plugins/test/velocity_iterator_test.cpp
rename to nav2_controller/dwb_plugins/test/velocity_iterator_test.cpp
diff --git a/src/localization/nav2_amcl/CHANGELOG.rst b/nav2_controller/nav2_controller/CHANGELOG.rst
similarity index 100%
rename from src/localization/nav2_amcl/CHANGELOG.rst
rename to nav2_controller/nav2_controller/CHANGELOG.rst
diff --git a/nav2_controller/nav2_controller/CMakeLists.txt b/nav2_controller/nav2_controller/CMakeLists.txt
new file mode 100644
index 00000000..545b593d
--- /dev/null
+++ b/nav2_controller/nav2_controller/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.5)
+project(nav2_controller)
+
+if(NOT CMAKE_CXX_STANDARD)
+ set(CMAKE_CXX_STANDARD 14)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+ament_package()
diff --git a/nav2_controller/nav2_controller/package.xml b/nav2_controller/nav2_controller/package.xml
new file mode 100644
index 00000000..ad6b0070
--- /dev/null
+++ b/nav2_controller/nav2_controller/package.xml
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+ <name>nav2_controller</name>
+ <version>0.0.1</version>
+ <description>
+ ROS2 controller (DWB) metapackage
+ </description>
+ <maintainer email="oregon.robotics.team@intel.com">Oregon Robotics Team</maintainer>
+ <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
+ <license>Apache License 2.0</license>
+
+ <buildtool_depend>ament_cmake</buildtool_depend>
+
+ <depend>costmap_queue</depend>
+ <depend>dwb_core</depend>
+ <depend>dwb_critics</depend>
+ <depend>dwb_msgs</depend>
+ <depend>dwb_plugins</depend>
+ <depend>nav2_controller_dwb</depend>
+ <depend>nav_2d_msgs</depend>
+ <depend>nav_2d_utils</depend>
+
+ <export>
+ <build_type>ament_cmake</build_type>
+ </export>
+
+</package>
diff --git a/src/control/nav2_controller_dwb/CMakeLists.txt b/nav2_controller/nav2_controller_dwb/CMakeLists.txt
similarity index 95%
rename from src/control/nav2_controller_dwb/CMakeLists.txt
rename to nav2_controller/nav2_controller_dwb/CMakeLists.txt
index 303f0d45..b4b3cfef 100644
--- a/src/control/nav2_controller_dwb/CMakeLists.txt
+++ b/nav2_controller/nav2_controller_dwb/CMakeLists.txt
@@ -15,7 +15,7 @@ find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(nav2_tasks REQUIRED)
find_package(nav2_robot REQUIRED)
-find_package(nav2_planning_msgs REQUIRED)
+find_package(nav2_msgs REQUIRED)
find_package(dwb_core REQUIRED)
find_package(Boost REQUIRED COMPONENTS system thread)
@@ -41,7 +41,7 @@ set(dependencies
std_msgs
nav2_tasks
nav2_robot
- nav2_planning_msgs
+ nav2_msgs
dwb_core
)
diff --git a/src/control/nav2_controller_dwb/include/nav2_controller_dwb/dwb_controller.hpp b/nav2_controller/nav2_controller_dwb/include/nav2_controller_dwb/dwb_controller.hpp
similarity index 100%
rename from src/control/nav2_controller_dwb/include/nav2_controller_dwb/dwb_controller.hpp
rename to nav2_controller/nav2_controller_dwb/include/nav2_controller_dwb/dwb_controller.hpp
diff --git a/src/control/nav2_controller_dwb/package.xml b/nav2_controller/nav2_controller_dwb/package.xml
similarity index 89%
rename from src/control/nav2_controller_dwb/package.xml
rename to nav2_controller/nav2_controller_dwb/package.xml
index 308e242e..cedb1e9d 100644
--- a/src/control/nav2_controller_dwb/package.xml
+++ b/nav2_controller/nav2_controller_dwb/package.xml
@@ -13,12 +13,12 @@
<build_depend>std_msgs</build_depend>
<build_depend>nav2_tasks</build_depend>
<build_depend>nav2_robot</build_depend>
- <build_depend>nav2_planning_msgs</build_depend>
+ <build_depend>nav2_msgs</build_depend>
<build_depend>dwb_core</build_depend>
<exec_depend>rclcpp</exec_depend>
<exec_depend>std_msgs</exec_depend>
- <exec_depend>nav2_planning_msgs</exec_depend>
+ <exec_depend>nav2_msgs</exec_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>ament_lint_auto</test_depend>
diff --git a/src/control/nav2_controller_dwb/src/dwb_controller.cpp b/nav2_controller/nav2_controller_dwb/src/dwb_controller.cpp
similarity index 97%
rename from src/control/nav2_controller_dwb/src/dwb_controller.cpp
rename to nav2_controller/nav2_controller_dwb/src/dwb_controller.cpp
index e1907149..73346991 100644
--- a/src/control/nav2_controller_dwb/src/dwb_controller.cpp
+++ b/nav2_controller/nav2_controller_dwb/src/dwb_controller.cpp
@@ -45,7 +45,7 @@ DwbController::execute(const nav2_tasks::FollowPathCommand::SharedPtr /*command*
// get path from command
tf2_ros::Buffer tfBuffer;
tf2_ros::TransformListener tfListener(tfBuffer);
- cm_ = std::make_shared<costmap_2d::Costmap2DROS>("local_costmap", tfBuffer);
+ cm_ = std::make_shared<nav2_costmap_2d::Costmap2DROS>("local_costmap", tfBuffer);
auto nh = shared_from_this();
odom_sub_ = std::make_shared<nav_2d_utils::OdomSubscriber>(*this);
vel_pub_ = this->create_publisher<geometry_msgs::msg::Twist>("cmd_vel", 1);
diff --git a/src/control/nav2_controller_dwb/src/main.cpp b/nav2_controller/nav2_controller_dwb/src/main.cpp
similarity index 100%
rename from src/control/nav2_controller_dwb/src/main.cpp
rename to nav2_controller/nav2_controller_dwb/src/main.cpp
diff --git a/src/mapping/nav2_map_server/CHANGELOG.rst b/nav2_controller/nav2_controller_example/CHANGELOG.rst
similarity index 100%
rename from src/mapping/nav2_map_server/CHANGELOG.rst
rename to nav2_controller/nav2_controller_example/CHANGELOG.rst
diff --git a/src/control/nav2_controller_example/CMakeLists.txt b/nav2_controller/nav2_controller_example/CMakeLists.txt
similarity index 95%
rename from src/control/nav2_controller_example/CMakeLists.txt
rename to nav2_controller/nav2_controller_example/CMakeLists.txt
index 93a30c10..8f5a1d96 100644
--- a/src/control/nav2_controller_example/CMakeLists.txt
+++ b/nav2_controller/nav2_controller_example/CMakeLists.txt
@@ -15,7 +15,7 @@ find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(nav2_tasks REQUIRED)
find_package(nav2_robot REQUIRED)
-find_package(nav2_planning_msgs REQUIRED)
+find_package(nav2_msgs REQUIRED)
include_directories(
include
@@ -38,7 +38,7 @@ set(dependencies
std_msgs
nav2_tasks
nav2_robot
- nav2_planning_msgs
+ nav2_msgs
)
ament_target_dependencies(${executable_name}
diff --git a/src/localization/nav2_amcl/README.md b/nav2_controller/nav2_controller_example/README.md
similarity index 100%
rename from src/localization/nav2_amcl/README.md
rename to nav2_controller/nav2_controller_example/README.md
diff --git a/src/mapping/nav2_map_server/README.md b/nav2_controller/nav2_controller_example/doc/.gitignore
similarity index 100%
rename from src/mapping/nav2_map_server/README.md
rename to nav2_controller/nav2_controller_example/doc/.gitignore
diff --git a/src/control/nav2_controller_example/include/nav2_controller_example/dwa_controller.hpp b/nav2_controller/nav2_controller_example/include/nav2_controller_example/dwa_controller.hpp
similarity index 100%
rename from src/control/nav2_controller_example/include/nav2_controller_example/dwa_controller.hpp
rename to nav2_controller/nav2_controller_example/include/nav2_controller_example/dwa_controller.hpp
diff --git a/src/control/nav2_controller_example/package.xml b/nav2_controller/nav2_controller_example/package.xml
similarity index 89%
rename from src/control/nav2_controller_example/package.xml
rename to nav2_controller/nav2_controller_example/package.xml
index 9234e295..546f99f6 100644
--- a/src/control/nav2_controller_example/package.xml
+++ b/nav2_controller/nav2_controller_example/package.xml
@@ -13,11 +13,11 @@
<build_depend>std_msgs</build_depend>
<build_depend>nav2_tasks</build_depend>
<build_depend>nav2_robot</build_depend>
- <build_depend>nav2_planning_msgs</build_depend>
+ <build_depend>nav2_msgs</build_depend>
<exec_depend>rclcpp</exec_depend>
<exec_depend>std_msgs</exec_depend>
- <exec_depend>nav2_planning_msgs</exec_depend>
+ <exec_depend>nav2_msgs</exec_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>ament_lint_auto</test_depend>
diff --git a/src/control/nav2_controller_example/src/dwa_controller.cpp b/nav2_controller/nav2_controller_example/src/dwa_controller.cpp
similarity index 100%
rename from src/control/nav2_controller_example/src/dwa_controller.cpp
rename to nav2_controller/nav2_controller_example/src/dwa_controller.cpp
diff --git a/src/control/nav2_controller_example/src/main.cpp b/nav2_controller/nav2_controller_example/src/main.cpp
similarity index 100%
rename from src/control/nav2_controller_example/src/main.cpp
rename to nav2_controller/nav2_controller_example/src/main.cpp
diff --git a/src/mission_execution/nav2_mission_execution_msgs/CHANGELOG.rst b/nav2_controller/nav2_controller_example/test/.gitignore
similarity index 100%
rename from src/mission_execution/nav2_mission_execution_msgs/CHANGELOG.rst
rename to nav2_controller/nav2_controller_example/test/.gitignore
diff --git a/src/control/nav_2d_msgs/CMakeLists.txt b/nav2_controller/nav_2d_msgs/CMakeLists.txt
similarity index 100%
rename from src/control/nav_2d_msgs/CMakeLists.txt
rename to nav2_controller/nav_2d_msgs/CMakeLists.txt
diff --git a/src/control/nav_2d_msgs/msg/Path2D.msg b/nav2_controller/nav_2d_msgs/msg/Path2D.msg
similarity index 100%
rename from src/control/nav_2d_msgs/msg/Path2D.msg
rename to nav2_controller/nav_2d_msgs/msg/Path2D.msg
diff --git a/src/control/nav_2d_msgs/msg/Pose2D32.msg b/nav2_controller/nav_2d_msgs/msg/Pose2D32.msg
similarity index 100%
rename from src/control/nav_2d_msgs/msg/Pose2D32.msg
rename to nav2_controller/nav_2d_msgs/msg/Pose2D32.msg
diff --git a/src/control/nav_2d_msgs/msg/Pose2DStamped.msg b/nav2_controller/nav_2d_msgs/msg/Pose2DStamped.msg
similarity index 100%
rename from src/control/nav_2d_msgs/msg/Pose2DStamped.msg
rename to nav2_controller/nav_2d_msgs/msg/Pose2DStamped.msg
diff --git a/src/control/nav_2d_msgs/msg/Twist2D.msg b/nav2_controller/nav_2d_msgs/msg/Twist2D.msg
similarity index 100%
rename from src/control/nav_2d_msgs/msg/Twist2D.msg
rename to nav2_controller/nav_2d_msgs/msg/Twist2D.msg
diff --git a/src/control/nav_2d_msgs/msg/Twist2D32.msg b/nav2_controller/nav_2d_msgs/msg/Twist2D32.msg
similarity index 100%
rename from src/control/nav_2d_msgs/msg/Twist2D32.msg
rename to nav2_controller/nav_2d_msgs/msg/Twist2D32.msg
diff --git a/src/control/nav_2d_msgs/msg/Twist2DStamped.msg b/nav2_controller/nav_2d_msgs/msg/Twist2DStamped.msg
similarity index 100%
rename from src/control/nav_2d_msgs/msg/Twist2DStamped.msg
rename to nav2_controller/nav_2d_msgs/msg/Twist2DStamped.msg
diff --git a/src/control/nav_2d_msgs/package.xml b/nav2_controller/nav_2d_msgs/package.xml
similarity index 100%
rename from src/control/nav_2d_msgs/package.xml
rename to nav2_controller/nav_2d_msgs/package.xml
diff --git a/src/control/nav_2d_utils/CMakeLists.txt b/nav2_controller/nav_2d_utils/CMakeLists.txt
similarity index 100%
rename from src/control/nav_2d_utils/CMakeLists.txt
rename to nav2_controller/nav_2d_utils/CMakeLists.txt
diff --git a/src/control/nav_2d_utils/include/nav_2d_utils/conversions.h b/nav2_controller/nav_2d_utils/include/nav_2d_utils/conversions.h
similarity index 100%
rename from src/control/nav_2d_utils/include/nav_2d_utils/conversions.h
rename to nav2_controller/nav_2d_utils/include/nav_2d_utils/conversions.h
diff --git a/src/control/nav_2d_utils/include/nav_2d_utils/odom_subscriber.h b/nav2_controller/nav_2d_utils/include/nav_2d_utils/odom_subscriber.h
similarity index 100%
rename from src/control/nav_2d_utils/include/nav_2d_utils/odom_subscriber.h
rename to nav2_controller/nav_2d_utils/include/nav_2d_utils/odom_subscriber.h
diff --git a/src/control/nav_2d_utils/include/nav_2d_utils/parameters.h b/nav2_controller/nav_2d_utils/include/nav_2d_utils/parameters.h
similarity index 100%
rename from src/control/nav_2d_utils/include/nav_2d_utils/parameters.h
rename to nav2_controller/nav_2d_utils/include/nav_2d_utils/parameters.h
diff --git a/src/control/nav_2d_utils/include/nav_2d_utils/path_ops.h b/nav2_controller/nav_2d_utils/include/nav_2d_utils/path_ops.h
similarity index 100%
rename from src/control/nav_2d_utils/include/nav_2d_utils/path_ops.h
rename to nav2_controller/nav_2d_utils/include/nav_2d_utils/path_ops.h
diff --git a/src/control/nav_2d_utils/include/nav_2d_utils/tf_help.h b/nav2_controller/nav_2d_utils/include/nav_2d_utils/tf_help.h
similarity index 100%
rename from src/control/nav_2d_utils/include/nav_2d_utils/tf_help.h
rename to nav2_controller/nav_2d_utils/include/nav_2d_utils/tf_help.h
diff --git a/src/control/nav_2d_utils/package.xml b/nav2_controller/nav_2d_utils/package.xml
similarity index 100%
rename from src/control/nav_2d_utils/package.xml
rename to nav2_controller/nav_2d_utils/package.xml
diff --git a/src/control/nav_2d_utils/src/conversions.cpp b/nav2_controller/nav_2d_utils/src/conversions.cpp
similarity index 100%
rename from src/control/nav_2d_utils/src/conversions.cpp
rename to nav2_controller/nav_2d_utils/src/conversions.cpp
diff --git a/src/control/nav_2d_utils/src/path_ops.cpp b/nav2_controller/nav_2d_utils/src/path_ops.cpp
similarity index 100%
rename from src/control/nav_2d_utils/src/path_ops.cpp
rename to nav2_controller/nav_2d_utils/src/path_ops.cpp
diff --git a/nav2_costmap_2d/CHANGELOG.rst b/nav2_costmap_2d/CHANGELOG.rst
new file mode 100644
index 00000000..7bab0fce
--- /dev/null
+++ b/nav2_costmap_2d/CHANGELOG.rst
@@ -0,0 +1,7 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package nav2_costmap_2d
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+(2018-10-9)
+-------------------
+* Port nav2_costmap_2d from costmap_2d version 1.16.2 (2018-07-31)
diff --git a/src/libs/costmap_2d/CMakeLists.txt b/nav2_costmap_2d/CMakeLists.txt
similarity index 78%
rename from src/libs/costmap_2d/CMakeLists.txt
rename to nav2_costmap_2d/CMakeLists.txt
index 899f7595..35b9f6d4 100644
--- a/src/libs/costmap_2d/CMakeLists.txt
+++ b/nav2_costmap_2d/CMakeLists.txt
@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.5)
-project(costmap_2d)
+project(nav2_costmap_2d)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
@@ -99,30 +99,30 @@ ament_target_dependencies(layers
nav2_costmap_2d
)
-# TODO(bpwilcox): port costmap_2d_markers
-#add_executable(costmap_2d_markers src/costmap_2d_markers.cpp)
-#ament_target_dependencies(costmap_2d_markers ${${PROJECT_NAME}_EXPORTED_TARGETS} ${ament_EXPORTED_TARGETS})
-#target_link_libraries(costmap_2d_markers
- #costmap_2d
+# TODO(bpwilcox): port nav2_costmap_2d_markers
+#add_executable(nav2_costmap_2d_markers src/costmap_2d_markers.cpp)
+#ament_target_dependencies(nav2_costmap_2d_markers ${${PROJECT_NAME}_EXPORTED_TARGETS} ${ament_EXPORTED_TARGETS})
+#target_link_libraries(nav2_costmap_2d_markers
+ #nav2_costmap_2d
#)
-# TODO(bpwilcox): port costmap_2d_cloud
-#add_executable(costmap_2d_cloud src/costmap_2d_cloud.cpp)
-#ament_target_dependencies(costmap_2d_cloud ${${PROJECT_NAME}_EXPORTED_TARGETS} ${ament_EXPORTED_TARGETS})
-#target_link_libraries(costmap_2d_cloud
- #costmap_2d
+# TODO(bpwilcox): port nav2_costmap_2d_cloud
+#add_executable(nav2_costmap_2d_cloud src/costmap_2d_cloud.cpp)
+#ament_target_dependencies(nav2_costmap_2d_cloud ${${PROJECT_NAME}_EXPORTED_TARGETS} ${ament_EXPORTED_TARGETS})
+#target_link_libraries(nav2_costmap_2d_cloud
+ #nav2_costmap_2d
#)
-add_executable(costmap_2d_node src/costmap_2d_node.cpp)
-ament_target_dependencies(costmap_2d_node
+add_executable(nav2_costmap_2d_node src/costmap_2d_node.cpp)
+ament_target_dependencies(nav2_costmap_2d_node
${dependencies}
)
-target_link_libraries(costmap_2d_node
+target_link_libraries(nav2_costmap_2d_node
nav2_costmap_2d
)
-install(TARGETS nav2_costmap_2d layers costmap_2d_node
+install(TARGETS nav2_costmap_2d layers nav2_costmap_2d_node
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib/${PROJECT_NAME}
diff --git a/src/libs/costmap_2d/cfg/Costmap2D.cfg b/nav2_costmap_2d/cfg/Costmap2D.cfg
similarity index 95%
rename from src/libs/costmap_2d/cfg/Costmap2D.cfg
rename to nav2_costmap_2d/cfg/Costmap2D.cfg
index 772eb1cd..07c4a162 100755
--- a/src/libs/costmap_2d/cfg/Costmap2D.cfg
+++ b/nav2_costmap_2d/cfg/Costmap2D.cfg
@@ -20,4 +20,4 @@ gen.add("footprint", str_t, 0, "The footprint of the robot specified in the robo
gen.add("robot_radius", double_t, 0, 'The radius of the robot in meters, this parameter should only be set for circular robots, all others should use the footprint parameter described above.', 0.46, 0, 10)
gen.add("footprint_padding", double_t, 0, "How much to pad (increase the size of) the footprint, in meters.", 0.01)
-exit(gen.generate("costmap_2d", "costmap_2d", "Costmap2D"))
+exit(gen.generate("nav2_costmap_2d", "nav2_costmap_2d", "Costmap2D"))
diff --git a/src/libs/costmap_2d/cfg/GenericPlugin.cfg b/nav2_costmap_2d/cfg/GenericPlugin.cfg
similarity index 74%
rename from src/libs/costmap_2d/cfg/GenericPlugin.cfg
rename to nav2_costmap_2d/cfg/GenericPlugin.cfg
index 11cd4d14..555e2b54 100755
--- a/src/libs/costmap_2d/cfg/GenericPlugin.cfg
+++ b/nav2_costmap_2d/cfg/GenericPlugin.cfg
@@ -4,4 +4,4 @@ from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator, b
gen = ParameterGenerator()
gen.add("enabled", bool_t, 0, "Whether to apply this plugin or not", True)
-exit(gen.generate("costmap_2d", "costmap_2d", "GenericPlugin"))
+exit(gen.generate("nav2_costmap_2d", "nav2_costmap_2d", "GenericPlugin"))
diff --git a/src/libs/costmap_2d/cfg/InflationPlugin.cfg b/nav2_costmap_2d/cfg/InflationPlugin.cfg
similarity index 87%
rename from src/libs/costmap_2d/cfg/InflationPlugin.cfg
rename to nav2_costmap_2d/cfg/InflationPlugin.cfg
index c1515258..5c11eaf7 100755
--- a/src/libs/costmap_2d/cfg/InflationPlugin.cfg
+++ b/nav2_costmap_2d/cfg/InflationPlugin.cfg
@@ -9,4 +9,4 @@ gen.add("cost_scaling_factor", double_t, 0, "A scaling factor to apply to cost v
gen.add("inflation_radius", double_t, 0, "The radius in meters to which the map inflates obstacle cost values.", 0.55, 0, 50)
gen.add("inflate_unknown", bool_t, 0, "Whether to inflate unknown cells.", False)
-exit(gen.generate("costmap_2d", "costmap_2d", "InflationPlugin"))
+exit(gen.generate("nav2_costmap_2d", "nav2_costmap_2d", "InflationPlugin"))
diff --git a/src/libs/costmap_2d/cfg/ObstaclePlugin.cfg b/nav2_costmap_2d/cfg/ObstaclePlugin.cfg
similarity index 94%
rename from src/libs/costmap_2d/cfg/ObstaclePlugin.cfg
rename to nav2_costmap_2d/cfg/ObstaclePlugin.cfg
index 7b434a8e..0337e412 100755
--- a/src/libs/costmap_2d/cfg/ObstaclePlugin.cfg
+++ b/nav2_costmap_2d/cfg/ObstaclePlugin.cfg
@@ -17,4 +17,4 @@ gen.add("combination_method", int_t, 0, "Method for combining two layers", 1, ed
#gen.add("max_obstacle_range", double_t, 0, "The default maximum distance from the robot at which an obstacle will be inserted into the cost map in meters.", 2.5, 0, 50)
#gen.add("raytrace_range", double_t, 0, "The default range in meters at which to raytrace out obstacles from the map using sensor data.", 3, 0, 50)
-exit(gen.generate("costmap_2d", "costmap_2d", "ObstaclePlugin"))
+exit(gen.generate("nav2_costmap_2d", "nav2_costmap_2d", "ObstaclePlugin"))
diff --git a/src/libs/costmap_2d/cfg/VoxelPlugin.cfg b/nav2_costmap_2d/cfg/VoxelPlugin.cfg
similarity index 94%
rename from src/libs/costmap_2d/cfg/VoxelPlugin.cfg
rename to nav2_costmap_2d/cfg/VoxelPlugin.cfg
index ec621c5a..977fcb99 100755
--- a/src/libs/costmap_2d/cfg/VoxelPlugin.cfg
+++ b/nav2_costmap_2d/cfg/VoxelPlugin.cfg
@@ -19,4 +19,4 @@ combo_enum = gen.enum([gen.const("Overwrite", int_t, 0, "Overwrite values"),
"Method for combining layers enum")
gen.add("combination_method", int_t, 0, "Method for combining two layers", 1, 0, 2, edit_method=combo_enum)
-exit(gen.generate("costmap_2d", "costmap_2d", "VoxelPlugin"))
+exit(gen.generate("nav2_costmap_2d", "nav2_costmap_2d", "VoxelPlugin"))
diff --git a/src/libs/costmap_2d/costmap_plugins.xml b/nav2_costmap_2d/costmap_plugins.xml
similarity index 61%
rename from src/libs/costmap_2d/costmap_plugins.xml
rename to nav2_costmap_2d/costmap_plugins.xml
index 800f0288..754c56d1 100644
--- a/src/libs/costmap_2d/costmap_plugins.xml
+++ b/nav2_costmap_2d/costmap_plugins.xml
@@ -1,15 +1,15 @@
<class_libraries>
<library path="liblayers">
- <class type="costmap_2d::InflationLayer" base_class_type="costmap_2d::Layer">
+ <class type="nav2_costmap_2d::InflationLayer" base_class_type="nav2_costmap_2d::Layer">
<description>Inflates obstacles to speed collision checking and to make robot prefer to stay away from obstacles.</description>
</class>
- <class type="costmap_2d::ObstacleLayer" base_class_type="costmap_2d::Layer">
+ <class type="nav2_costmap_2d::ObstacleLayer" base_class_type="nav2_costmap_2d::Layer">
<description>Listens to laser scan and point cloud messages and marks and clears grid cells.</description>
</class>
- <class type="costmap_2d::StaticLayer" base_class_type="costmap_2d::Layer">
+ <class type="nav2_costmap_2d::StaticLayer" base_class_type="nav2_costmap_2d::Layer">
<description>Listens to OccupancyGrid messages and copies them in, like from map_server.</description>
</class>
- <class type="costmap_2d::VoxelLayer" base_class_type="costmap_2d::Layer">
+ <class type="nav2_costmap_2d::VoxelLayer" base_class_type="nav2_costmap_2d::Layer">
<description>Similar to obstacle costmap, but uses 3D voxel grid to store data.</description>
</class>
</library>
diff --git a/src/libs/costmap_2d/include/costmap_2d/array_parser.h b/nav2_costmap_2d/include/nav2_costmap_2d/array_parser.h
similarity index 92%
rename from src/libs/costmap_2d/include/costmap_2d/array_parser.h
rename to nav2_costmap_2d/include/nav2_costmap_2d/array_parser.h
index 8d2ecf35..7acc55bb 100644
--- a/src/libs/costmap_2d/include/costmap_2d/array_parser.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/array_parser.h
@@ -28,13 +28,13 @@
*
* author: Dave Hershberger
*/
-#ifndef COSTMAP_2D_ARRAY_PARSER_H
-#define COSTMAP_2D_ARRAY_PARSER_H
+#ifndef nav2_costmap_2d_ARRAY_PARSER_H
+#define nav2_costmap_2d_ARRAY_PARSER_H
#include <vector>
#include <string>
-namespace costmap_2d
+namespace nav2_costmap_2d
{
/** @brief Parse a vector of vectors of floats from a string.
@@ -46,6 +46,6 @@ namespace costmap_2d
* anything, like part of a successful parse. */
std::vector<std::vector<float> > parseVVF(const std::string & input, std::string & error_return);
-} // end namespace costmap_2d
+} // end namespace nav2_costmap_2d
-#endif // COSTMAP_2D_ARRAY_PARSER_H
+#endif // nav2_costmap_2d_ARRAY_PARSER_H
diff --git a/src/libs/costmap_2d/include/costmap_2d/cost_values.h b/nav2_costmap_2d/include/nav2_costmap_2d/cost_values.h
similarity index 93%
rename from src/libs/costmap_2d/include/costmap_2d/cost_values.h
rename to nav2_costmap_2d/include/nav2_costmap_2d/cost_values.h
index 7f042ff4..6703f8af 100644
--- a/src/libs/costmap_2d/include/costmap_2d/cost_values.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/cost_values.h
@@ -34,14 +34,14 @@
*
* Author: Eitan Marder-Eppstein
*********************************************************************/
-#ifndef COSTMAP_2D_COST_VALUES_H_
-#define COSTMAP_2D_COST_VALUES_H_
+#ifndef nav2_costmap_2d_COST_VALUES_H_
+#define nav2_costmap_2d_COST_VALUES_H_
/** Provides a mapping for often used cost values */
-namespace costmap_2d
+namespace nav2_costmap_2d
{
static const unsigned char NO_INFORMATION = 255;
static const unsigned char LETHAL_OBSTACLE = 254;
static const unsigned char INSCRIBED_INFLATED_OBSTACLE = 253;
static const unsigned char FREE_SPACE = 0;
}
-#endif // COSTMAP_2D_COST_VALUES_H_
+#endif // nav2_costmap_2d_COST_VALUES_H_
diff --git a/src/libs/costmap_2d/include/costmap_2d/costmap_2d.h b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d.h
similarity index 98%
rename from src/libs/costmap_2d/include/costmap_2d/costmap_2d.h
rename to nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d.h
index 26fe0b3b..6d21696e 100644
--- a/src/libs/costmap_2d/include/costmap_2d/costmap_2d.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d.h
@@ -35,8 +35,8 @@
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
-#ifndef COSTMAP_2D_COSTMAP_2D_H_
-#define COSTMAP_2D_COSTMAP_2D_H_
+#ifndef nav2_costmap_2d_nav2_costmap_2d_H_
+#define nav2_costmap_2d_nav2_costmap_2d_H_
#include <vector>
#include <queue>
@@ -46,7 +46,7 @@
#include <string.h>
#include <geometry_msgs/msg/point.hpp>
-namespace costmap_2d
+namespace nav2_costmap_2d
{
// convenient for storing x/y point pairs
@@ -477,6 +477,6 @@ private:
std::vector<MapLocation> & cells_;
};
};
-} // namespace costmap_2d
+} // namespace nav2_costmap_2d
-#endif // COSTMAP_2D_COSTMAP_2D_H
+#endif // nav2_costmap_2d_nav2_costmap_2d_H
diff --git a/src/libs/costmap_2d/include/costmap_2d/costmap_2d_publisher.h b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.h
similarity index 93%
rename from src/libs/costmap_2d/include/costmap_2d/costmap_2d_publisher.h
rename to nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.h
index a29727f0..306b3348 100644
--- a/src/libs/costmap_2d/include/costmap_2d/costmap_2d_publisher.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.h
@@ -35,16 +35,16 @@
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
-#ifndef COSTMAP_2D_COSTMAP_2D_PUBLISHER_H_
-#define COSTMAP_2D_COSTMAP_2D_PUBLISHER_H_
+#ifndef nav2_costmap_2d_nav2_costmap_2d_PUBLISHER_H_
+#define nav2_costmap_2d_nav2_costmap_2d_PUBLISHER_H_
#include "rclcpp/rclcpp.hpp"
-#include <costmap_2d/costmap_2d.h>
+#include <nav2_costmap_2d/costmap_2d.h>
#include <nav_msgs/msg/occupancy_grid.hpp>
#include <map_msgs/msg/occupancy_grid_update.hpp>
#include <tf2/transform_datatypes.h>
-namespace costmap_2d
+namespace nav2_costmap_2d
{
/**
* @class Costmap2DPublisher
@@ -109,5 +109,5 @@ private:
nav_msgs::msg::OccupancyGrid grid_;
static char * cost_translation_table_; ///< Translate from 0-255 values in costmap to -1 to 100 values in message.
};
-} // namespace costmap_2d
-#endif // COSTMAP_2D_COSTMAP_2D_PUBLISHER_H
+} // namespace nav2_costmap_2d
+#endif // nav2_costmap_2d_nav2_costmap_2d_PUBLISHER_H
diff --git a/src/libs/costmap_2d/include/costmap_2d/costmap_2d_ros.h b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.h
similarity index 91%
rename from src/libs/costmap_2d/include/costmap_2d/costmap_2d_ros.h
rename to nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.h
index 74152cb6..53ec7d25 100644
--- a/src/libs/costmap_2d/include/costmap_2d/costmap_2d_ros.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.h
@@ -35,14 +35,14 @@
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
-#ifndef COSTMAP_2D_COSTMAP_2D_ROS_H_
-#define COSTMAP_2D_COSTMAP_2D_ROS_H_
-
-#include <costmap_2d/layered_costmap.h>
-#include <costmap_2d/layer.h>
-#include <costmap_2d/costmap_2d_publisher.h>
-//#include <costmap_2d/Costmap2DConfig.h>
-#include <costmap_2d/footprint.h>
+#ifndef nav2_costmap_2d_nav2_costmap_2d_ROS_H_
+#define nav2_costmap_2d_nav2_costmap_2d_ROS_H_
+
+#include <nav2_costmap_2d/layered_costmap.h>
+#include <nav2_costmap_2d/layer.h>
+#include <nav2_costmap_2d/costmap_2d_publisher.h>
+//#include <nav2_costmap_2d/Costmap2DConfig.h>
+#include <nav2_costmap_2d/footprint.h>
#include <geometry_msgs/msg/polygon.h>
#include <geometry_msgs/msg/polygon_stamped.h>
// TODO(bpwilcox): Resolve dynamic reconfigure dependencies
@@ -75,7 +75,7 @@ public:
}
};
-namespace costmap_2d
+namespace nav2_costmap_2d
{
/** @brief A ROS wrapper for a 2D Costmap. Handles subscribing to
@@ -179,7 +179,7 @@ public:
/** @brief Returns the current padded footprint as a geometry_msgs::msg::Polygon. */
geometry_msgs::msg::Polygon getRobotFootprintPolygon()
{
- return costmap_2d::toPolygon(padded_footprint_);
+ return nav2_costmap_2d::toPolygon(padded_footprint_);
}
/** @brief Return the current footprint of the robot as a vector of points.
@@ -250,13 +250,13 @@ private:
*
* If the values of footprint and robot_radius are the same in
* new_config and old_config, nothing is changed. */
- //void readFootprintFromConfig(const costmap_2d::Costmap2DConfig &new_config,
- // const costmap_2d::Costmap2DConfig &old_config);
+ //void readFootprintFromConfig(const nav2_costmap_2d::Costmap2DConfig &new_config,
+ // const nav2_costmap_2d::Costmap2DConfig &old_config);
void resetOldParameters(rclcpp::Node::SharedPtr nh);
// TODO(bpwilcox): Resolve dynamic reconfigure dependencies
- //void reconfigureCB(costmap_2d::Costmap2DConfig &config, uint32_t level);
+ //void reconfigureCB(nav2_costmap_2d::Costmap2DConfig &config, uint32_t level);
void movementCB();
void mapUpdateLoop(double frequency);
@@ -271,8 +271,8 @@ private:
Costmap2DPublisher * publisher_;
// TODO(bpwilcox): Resolve dynamic reconfigure dependencies
- //dynamic_reconfigure::Server<costmap_2d::Costmap2DConfig> *dsrv_;
- //costmap_2d::Costmap2DConfig old_config_;
+ //dynamic_reconfigure::Server<nav2_costmap_2d::Costmap2DConfig> *dsrv_;
+ //nav2_costmap_2d::Costmap2DConfig old_config_;
std::recursive_mutex configuration_mutex_;
@@ -284,6 +284,6 @@ private:
float footprint_padding_;
};
// class Costmap2DROS
-} // namespace costmap_2d
+} // namespace nav2_costmap_2d
-#endif // COSTMAP_2D_COSTMAP_2D_ROS_H
+#endif // nav2_costmap_2d_nav2_costmap_2d_ROS_H
diff --git a/src/libs/costmap_2d/include/costmap_2d/costmap_layer.h b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_layer.h
similarity index 89%
rename from src/libs/costmap_2d/include/costmap_2d/costmap_layer.h
rename to nav2_costmap_2d/include/nav2_costmap_2d/costmap_layer.h
index 2f7d7abf..fc55145f 100644
--- a/src/libs/costmap_2d/include/costmap_2d/costmap_layer.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_layer.h
@@ -35,14 +35,14 @@
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
-#ifndef COSTMAP_2D_COSTMAP_LAYER_H_
-#define COSTMAP_2D_COSTMAP_LAYER_H_
+#ifndef nav2_costmap_2d_COSTMAP_LAYER_H_
+#define nav2_costmap_2d_COSTMAP_LAYER_H_
#include <rclcpp/rclcpp.hpp>
-#include <costmap_2d/layer.h>
-#include <costmap_2d/layered_costmap.h>
+#include <nav2_costmap_2d/layer.h>
+#include <nav2_costmap_2d/layered_costmap.h>
-namespace costmap_2d
+namespace nav2_costmap_2d
{
class CostmapLayer : public Layer, public Costmap2D
@@ -78,7 +78,7 @@ protected:
* TrueOverwrite means every value from this layer
* is written into the master grid.
*/
- void updateWithTrueOverwrite(costmap_2d::Costmap2D & master_grid, int min_i, int min_j, int max_i,
+ void updateWithTrueOverwrite(nav2_costmap_2d::Costmap2D & master_grid, int min_i, int min_j, int max_i,
int max_j);
/*
@@ -88,7 +88,7 @@ protected:
* Overwrite means every valid value from this layer
* is written into the master grid (does not copy NO_INFORMATION)
*/
- void updateWithOverwrite(costmap_2d::Costmap2D & master_grid, int min_i, int min_j, int max_i,
+ void updateWithOverwrite(nav2_costmap_2d::Costmap2D & master_grid, int min_i, int min_j, int max_i,
int max_j);
/*
@@ -100,7 +100,7 @@ protected:
* it is overwritten. If the layer's value is NO_INFORMATION,
* the master value does not change.
*/
- void updateWithMax(costmap_2d::Costmap2D & master_grid, int min_i, int min_j, int max_i,
+ void updateWithMax(nav2_costmap_2d::Costmap2D & master_grid, int min_i, int min_j, int max_i,
int max_j);
/*
@@ -115,7 +115,7 @@ protected:
* If the sum value is larger than INSCRIBED_INFLATED_OBSTACLE,
* the master value is set to (INSCRIBED_INFLATED_OBSTACLE - 1).
*/
- void updateWithAddition(costmap_2d::Costmap2D & master_grid, int min_i, int min_j, int max_i,
+ void updateWithAddition(nav2_costmap_2d::Costmap2D & master_grid, int min_i, int min_j, int max_i,
int max_j);
/**
@@ -150,5 +150,5 @@ private:
double extra_min_x_, extra_max_x_, extra_min_y_, extra_max_y_;
};
-} // namespace costmap_2d
-#endif // COSTMAP_2D_COSTMAP_LAYER_H_
+} // namespace nav2_costmap_2d
+#endif // nav2_costmap_2d_COSTMAP_LAYER_H_
diff --git a/src/libs/costmap_2d/include/costmap_2d/costmap_math.h b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_math.h
similarity index 95%
rename from src/libs/costmap_2d/include/costmap_2d/costmap_math.h
rename to nav2_costmap_2d/include/nav2_costmap_2d/costmap_math.h
index d893edbe..8fee35ca 100644
--- a/src/libs/costmap_2d/include/costmap_2d/costmap_math.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/costmap_math.h
@@ -35,8 +35,8 @@
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
-#ifndef COSTMAP_2D_COSTMAP_MATH_H_
-#define COSTMAP_2D_COSTMAP_MATH_H_
+#ifndef nav2_costmap_2d_COSTMAP_MATH_H_
+#define nav2_costmap_2d_COSTMAP_MATH_H_
#include <math.h>
#include <algorithm>
@@ -67,4 +67,4 @@ bool intersects(std::vector<geometry_msgs::msg::Point> & polygon, float testx, f
bool intersects(std::vector<geometry_msgs::msg::Point> & polygon1,
std::vector<geometry_msgs::msg::Point> & polygon2);
-#endif // COSTMAP_2D_COSTMAP_MATH_H_
+#endif // nav2_costmap_2d_COSTMAP_MATH_H_
diff --git a/src/libs/costmap_2d/include/costmap_2d/footprint.h b/nav2_costmap_2d/include/nav2_costmap_2d/footprint.h
similarity index 97%
rename from src/libs/costmap_2d/include/costmap_2d/footprint.h
rename to nav2_costmap_2d/include/nav2_costmap_2d/footprint.h
index eb87c7d5..7ed44b0b 100644
--- a/src/libs/costmap_2d/include/costmap_2d/footprint.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/footprint.h
@@ -35,8 +35,8 @@
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
-#ifndef COSTMAP_2D_FOOTPRINT_H
-#define COSTMAP_2D_FOOTPRINT_H
+#ifndef nav2_costmap_2d_FOOTPRINT_H
+#define nav2_costmap_2d_FOOTPRINT_H
#include "rclcpp/rclcpp.hpp"
#include <geometry_msgs/msg/polygon.hpp>
@@ -45,7 +45,7 @@
#include <geometry_msgs/msg/point32.hpp>
#include <xmlrpcpp/XmlRpcValue.h>
-namespace costmap_2d
+namespace nav2_costmap_2d
{
/**
@@ -148,6 +148,6 @@ std::vector<geometry_msgs::msg::Point> makeFootprintFromXMLRPC(
void writeFootprintToParam(rclcpp::Node::SharedPtr nh,
const std::vector<geometry_msgs::msg::Point> & footprint);
-} // end namespace costmap_2d
+} // end namespace nav2_costmap_2d
-#endif // COSTMAP_2D_FOOTPRINT_H
+#endif // nav2_costmap_2d_FOOTPRINT_H
diff --git a/src/libs/costmap_2d/include/costmap_2d/inflation_layer.h b/nav2_costmap_2d/include/nav2_costmap_2d/inflation_layer.h
similarity index 91%
rename from src/libs/costmap_2d/include/costmap_2d/inflation_layer.h
rename to nav2_costmap_2d/include/nav2_costmap_2d/inflation_layer.h
index 71809c46..f62171f9 100644
--- a/src/libs/costmap_2d/include/costmap_2d/inflation_layer.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/inflation_layer.h
@@ -35,17 +35,17 @@
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
-#ifndef COSTMAP_2D_INFLATION_LAYER_H_
-#define COSTMAP_2D_INFLATION_LAYER_H_
+#ifndef nav2_costmap_2d_INFLATION_LAYER_H_
+#define nav2_costmap_2d_INFLATION_LAYER_H_
#include <rclcpp/rclcpp.hpp>
-#include <costmap_2d/layer.h>
-#include <costmap_2d/layered_costmap.h>
+#include <nav2_costmap_2d/layer.h>
+#include <nav2_costmap_2d/layered_costmap.h>
// TODO(bpwilcox): Resolve dynamic reconfigure dependencies
-//#include <costmap_2d/InflationPluginConfig.h>
+//#include <nav2_costmap_2d/InflationPluginConfig.h>
//#include <dynamic_reconfigure/server.h>
-namespace costmap_2d
+namespace nav2_costmap_2d
{
/**
* @class CellData
@@ -90,7 +90,7 @@ public:
double * min_y,
double * max_x,
double * max_y);
- virtual void updateCosts(costmap_2d::Costmap2D & master_grid, int min_i, int min_j, int max_i,
+ virtual void updateCosts(nav2_costmap_2d::Costmap2D & master_grid, int min_i, int min_j, int max_i,
int max_j);
virtual bool isDiscretized()
{
@@ -189,12 +189,12 @@ private:
double last_min_x_, last_min_y_, last_max_x_, last_max_y_;
// TODO(bpwilcox): Resolve dynamic reconfigure dependencies
- //dynamic_reconfigure::Server<costmap_2d::InflationPluginConfig> *dsrv_;
- //void reconfigureCB(costmap_2d::InflationPluginConfig &config, uint32_t level);
+ //dynamic_reconfigure::Server<nav2_costmap_2d::InflationPluginConfig> *dsrv_;
+ //void reconfigureCB(nav2_costmap_2d::InflationPluginConfig &config, uint32_t level);
bool need_reinflation_; ///< Indicates that the entire costmap should be reinflated next time around.
};
-} // namespace costmap_2d
+} // namespace nav2_costmap_2d
-#endif // COSTMAP_2D_INFLATION_LAYER_H_
+#endif // nav2_costmap_2d_INFLATION_LAYER_H_
diff --git a/src/libs/costmap_2d/include/costmap_2d/layer.h b/nav2_costmap_2d/include/nav2_costmap_2d/layer.h
similarity index 94%
rename from src/libs/costmap_2d/include/costmap_2d/layer.h
rename to nav2_costmap_2d/include/nav2_costmap_2d/layer.h
index a18930dd..4d1d6271 100644
--- a/src/libs/costmap_2d/include/costmap_2d/layer.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/layer.h
@@ -34,15 +34,15 @@
*
* Author: David V. Lu!!
*********************************************************************/
-#ifndef COSTMAP_2D_LAYER_H_
-#define COSTMAP_2D_LAYER_H_
+#ifndef nav2_costmap_2d_LAYER_H_
+#define nav2_costmap_2d_LAYER_H_
-#include <costmap_2d/costmap_2d.h>
-#include <costmap_2d/layered_costmap.h>
+#include <nav2_costmap_2d/costmap_2d.h>
+#include <nav2_costmap_2d/layered_costmap.h>
#include <string>
#include <tf2_ros/buffer.h>
-namespace costmap_2d
+namespace nav2_costmap_2d
{
class LayeredCostmap;
@@ -130,6 +130,6 @@ private:
std::vector<geometry_msgs::msg::Point> footprint_spec_;
};
-} // namespace costmap_2d
+} // namespace nav2_costmap_2d
-#endif // COSTMAP_2D_LAYER_H_
+#endif // nav2_costmap_2d_LAYER_H_
diff --git a/src/libs/costmap_2d/include/costmap_2d/layered_costmap.h b/nav2_costmap_2d/include/nav2_costmap_2d/layered_costmap.h
similarity index 92%
rename from src/libs/costmap_2d/include/costmap_2d/layered_costmap.h
rename to nav2_costmap_2d/include/nav2_costmap_2d/layered_costmap.h
index 6fb412af..12d7faa8 100644
--- a/src/libs/costmap_2d/include/costmap_2d/layered_costmap.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/layered_costmap.h
@@ -35,16 +35,16 @@
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
-#ifndef COSTMAP_2D_LAYERED_COSTMAP_H_
-#define COSTMAP_2D_LAYERED_COSTMAP_H_
+#ifndef nav2_costmap_2d_LAYERED_COSTMAP_H_
+#define nav2_costmap_2d_LAYERED_COSTMAP_H_
-#include <costmap_2d/cost_values.h>
-#include <costmap_2d/layer.h>
-#include <costmap_2d/costmap_2d.h>
+#include <nav2_costmap_2d/cost_values.h>
+#include <nav2_costmap_2d/layer.h>
+#include <nav2_costmap_2d/costmap_2d.h>
#include <vector>
#include <string>
-namespace costmap_2d
+namespace nav2_costmap_2d
{
class Layer;
@@ -102,7 +102,7 @@ public:
bool isTrackingUnknown()
{
- return costmap_.getDefaultValue() == costmap_2d::NO_INFORMATION;
+ return costmap_.getDefaultValue() == nav2_costmap_2d::NO_INFORMATION;
}
std::vector<std::shared_ptr<Layer> > * getPlugins()
@@ -173,6 +173,6 @@ private:
std::vector<geometry_msgs::msg::Point> footprint_;
};
-} // namespace costmap_2d
+} // namespace nav2_costmap_2d
-#endif // COSTMAP_2D_LAYERED_COSTMAP_H_
+#endif // nav2_costmap_2d_LAYERED_COSTMAP_H_
diff --git a/src/libs/costmap_2d/include/costmap_2d/observation.h b/nav2_costmap_2d/include/nav2_costmap_2d/observation.h
similarity index 95%
rename from src/libs/costmap_2d/include/costmap_2d/observation.h
rename to nav2_costmap_2d/include/nav2_costmap_2d/observation.h
index 8963c067..f1445bf4 100644
--- a/src/libs/costmap_2d/include/costmap_2d/observation.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/observation.h
@@ -29,13 +29,13 @@
* Authors: Conor McGann
*/
-#ifndef COSTMAP_2D_OBSERVATION_H_
-#define COSTMAP_2D_OBSERVATION_H_
+#ifndef nav2_costmap_2d_OBSERVATION_H_
+#define nav2_costmap_2d_OBSERVATION_H_
#include <geometry_msgs/msg/point.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
-namespace costmap_2d
+namespace nav2_costmap_2d
{
/**
@@ -99,5 +99,5 @@ public:
double obstacle_range_, raytrace_range_;
};
-} // namespace costmap_2d
-#endif // COSTMAP_2D_OBSERVATION_H_
+} // namespace nav2_costmap_2d
+#endif // nav2_costmap_2d_OBSERVATION_H_
diff --git a/src/libs/costmap_2d/include/costmap_2d/observation_buffer.h b/nav2_costmap_2d/include/nav2_costmap_2d/observation_buffer.h
similarity index 95%
rename from src/libs/costmap_2d/include/costmap_2d/observation_buffer.h
rename to nav2_costmap_2d/include/nav2_costmap_2d/observation_buffer.h
index b7beebe8..98d24f0e 100644
--- a/src/libs/costmap_2d/include/costmap_2d/observation_buffer.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/observation_buffer.h
@@ -34,20 +34,20 @@
*
* Author: Eitan Marder-Eppstein
*********************************************************************/
-#ifndef COSTMAP_2D_OBSERVATION_BUFFER_H_
-#define COSTMAP_2D_OBSERVATION_BUFFER_H_
+#ifndef nav2_costmap_2d_OBSERVATION_BUFFER_H_
+#define nav2_costmap_2d_OBSERVATION_BUFFER_H_
#include <vector>
#include <list>
#include <string>
#include "rclcpp/time.hpp"
-#include <costmap_2d/observation.h>
+#include <nav2_costmap_2d/observation.h>
#include <tf2_ros/buffer.h>
#include <sensor_msgs/msg/point_cloud2.hpp>
-namespace costmap_2d
+namespace nav2_costmap_2d
{
/**
* @class ObservationBuffer
@@ -151,5 +151,5 @@ private:
double obstacle_range_, raytrace_range_;
double tf_tolerance_;
};
-} // namespace costmap_2d
-#endif // COSTMAP_2D_OBSERVATION_BUFFER_H_
+} // namespace nav2_costmap_2d
+#endif // nav2_costmap_2d_OBSERVATION_BUFFER_H_
diff --git a/src/libs/costmap_2d/include/costmap_2d/obstacle_layer.h b/nav2_costmap_2d/include/nav2_costmap_2d/obstacle_layer.h
similarity index 76%
rename from src/libs/costmap_2d/include/costmap_2d/obstacle_layer.h
rename to nav2_costmap_2d/include/nav2_costmap_2d/obstacle_layer.h
index 9b64ba1c..1b11d164 100644
--- a/src/libs/costmap_2d/include/costmap_2d/obstacle_layer.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/obstacle_layer.h
@@ -35,13 +35,13 @@
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
-#ifndef COSTMAP_2D_OBSTACLE_LAYER_H_
-#define COSTMAP_2D_OBSTACLE_LAYER_H_
+#ifndef nav2_costmap_2d_OBSTACLE_LAYER_H_
+#define nav2_costmap_2d_OBSTACLE_LAYER_H_
#include <ros/ros.h>
-#include <costmap_2d/costmap_layer.h>
-#include <costmap_2d/layered_costmap.h>
-#include <costmap_2d/observation_buffer.h>
+#include <nav2_costmap_2d/costmap_layer.h>
+#include <nav2_costmap_2d/layered_costmap.h>
+#include <nav2_costmap_2d/observation_buffer.h>
#include <nav_msgs/OccupancyGrid.h>
@@ -53,10 +53,10 @@
#include <tf2_ros/message_filter.h>
#include <message_filters/subscriber.h>
#include <dynamic_reconfigure/server.h>
-#include <costmap_2d/ObstaclePluginConfig.h>
-#include <costmap_2d/footprint.h>
+#include <nav2_costmap_2d/ObstaclePluginConfig.h>
+#include <nav2_costmap_2d/footprint.h>
-namespace costmap_2d
+namespace nav2_costmap_2d
{
class ObstacleLayer : public CostmapLayer
@@ -73,7 +73,7 @@ public:
double * min_y,
double * max_x,
double * max_y);
- virtual void updateCosts(costmap_2d::Costmap2D & master_grid, int min_i, int min_j, int max_i,
+ virtual void updateCosts(nav2_costmap_2d::Costmap2D & master_grid, int min_i, int min_j, int max_i,
int max_j);
virtual void activate();
@@ -86,7 +86,7 @@ public:
* @param buffer A pointer to the observation buffer to update
*/
void laserScanCallback(const sensor_msgs::LaserScanConstPtr & message,
- const std::shared_ptr<costmap_2d::ObservationBuffer> & buffer);
+ const std::shared_ptr<nav2_costmap_2d::ObservationBuffer> & buffer);
/**
* @brief A callback to handle buffering LaserScan messages which need filtering to turn Inf values into range_max.
@@ -102,7 +102,7 @@ public:
* @param buffer A pointer to the observation buffer to update
*/
void pointCloudCallback(const sensor_msgs::PointCloudConstPtr & message,
- const std::shared_ptr<costmap_2d::ObservationBuffer> & buffer);
+ const std::shared_ptr<nav2_costmap_2d::ObservationBuffer> & buffer);
/**
* @brief A callback to handle buffering PointCloud2 messages
@@ -110,10 +110,10 @@ public:
* @param buffer A pointer to the observation buffer to update
*/
void pointCloud2Callback(const sensor_msgs::PointCloud2ConstPtr & message,
- const std::shared_ptr<costmap_2d::ObservationBuffer> & buffer);
+ const std::shared_ptr<nav2_costmap_2d::ObservationBuffer> & buffer);
// for testing purposes
- void addStaticObservation(costmap_2d::Observation & obs, bool marking, bool clearing);
+ void addStaticObservation(nav2_costmap_2d::Observation & obs, bool marking, bool clearing);
void clearStaticObservations(bool marking, bool clearing);
protected:
@@ -124,14 +124,14 @@ protected:
* @param marking_observations A reference to a vector that will be populated with the observations
* @return True if all the observation buffers are current, false otherwise
*/
- bool getMarkingObservations(std::vector<costmap_2d::Observation> & marking_observations) const;
+ bool getMarkingObservations(std::vector<nav2_costmap_2d::Observation> & marking_observations) const;
/**
* @brief Get the observations used to clear space
* @param clearing_observations A reference to a vector that will be populated with the observations
* @return True if all the observation buffers are current, false otherwise
*/
- bool getClearingObservations(std::vector<costmap_2d::Observation> & clearing_observations) const;
+ bool getClearingObservations(std::vector<nav2_costmap_2d::Observation> & clearing_observations) const;
/**
* @brief Clear freespace based on one observation
@@ -141,7 +141,7 @@ protected:
* @param max_x
* @param max_y
*/
- virtual void raytraceFreespace(const costmap_2d::Observation & clearing_observation,
+ virtual void raytraceFreespace(const nav2_costmap_2d::Observation & clearing_observation,
double * min_x, double * min_y,
double * max_x,
double * max_y);
@@ -165,22 +165,22 @@ protected:
std::vector<std::shared_ptr<message_filters::SubscriberBase> > observation_subscribers_; ///< @brief Used for the observation message filters
std::vector<std::shared_ptr<tf2_ros::MessageFilterBase> > observation_notifiers_; ///< @brief Used to make sure that transforms are available for each sensor
- std::vector<std::shared_ptr<costmap_2d::ObservationBuffer> > observation_buffers_; ///< @brief Used to store observations from various sensors
- std::vector<std::shared_ptr<costmap_2d::ObservationBuffer> > marking_buffers_; ///< @brief Used to store observation buffers used for marking obstacles
- std::vector<std::shared_ptr<costmap_2d::ObservationBuffer> > clearing_buffers_; ///< @brief Used to store observation buffers used for clearing obstacles
+ std::vector<std::shared_ptr<nav2_costmap_2d::ObservationBuffer> > observation_buffers_; ///< @brief Used to store observations from various sensors
+ std::vector<std::shared_ptr<nav2_costmap_2d::ObservationBuffer> > marking_buffers_; ///< @brief Used to store observation buffers used for marking obstacles
+ std::vector<std::shared_ptr<nav2_costmap_2d::ObservationBuffer> > clearing_buffers_; ///< @brief Used to store observation buffers used for clearing obstacles
// Used only for testing purposes
- std::vector<costmap_2d::Observation> static_clearing_observations_, static_marking_observations_;
+ std::vector<nav2_costmap_2d::Observation> static_clearing_observations_, static_marking_observations_;
bool rolling_window_;
- dynamic_reconfigure::Server<costmap_2d::ObstaclePluginConfig> * dsrv_;
+ dynamic_reconfigure::Server<nav2_costmap_2d::ObstaclePluginConfig> * dsrv_;
int combination_method_;
private:
- void reconfigureCB(costmap_2d::ObstaclePluginConfig & config, uint32_t level);
+ void reconfigureCB(nav2_costmap_2d::ObstaclePluginConfig & config, uint32_t level);
};
-} // namespace costmap_2d
+} // namespace nav2_costmap_2d
-#endif // COSTMAP_2D_OBSTACLE_LAYER_H_
+#endif // nav2_costmap_2d_OBSTACLE_LAYER_H_
diff --git a/src/libs/costmap_2d/include/costmap_2d/static_layer.h b/nav2_costmap_2d/include/nav2_costmap_2d/static_layer.h
similarity index 86%
rename from src/libs/costmap_2d/include/costmap_2d/static_layer.h
rename to nav2_costmap_2d/include/nav2_costmap_2d/static_layer.h
index f81f7996..aacd2c48 100644
--- a/src/libs/costmap_2d/include/costmap_2d/static_layer.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/static_layer.h
@@ -35,19 +35,19 @@
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
-#ifndef COSTMAP_2D_STATIC_LAYER_H_
-#define COSTMAP_2D_STATIC_LAYER_H_
+#ifndef nav2_costmap_2d_STATIC_LAYER_H_
+#define nav2_costmap_2d_STATIC_LAYER_H_
#include <rclcpp/rclcpp.hpp>
-#include <costmap_2d/costmap_layer.h>
-#include <costmap_2d/layered_costmap.h>
-//#include <costmap_2d/GenericPluginConfig.h>
+#include <nav2_costmap_2d/costmap_layer.h>
+#include <nav2_costmap_2d/layered_costmap.h>
+//#include <nav2_costmap_2d/GenericPluginConfig.h>
//#include <dynamic_reconfigure/server.h>
#include <nav_msgs/msg/occupancy_grid.hpp>
#include <map_msgs/msg/occupancy_grid_update.hpp>
#include <message_filters/subscriber.h>
-namespace costmap_2d
+namespace nav2_costmap_2d
{
class StaticLayer : public CostmapLayer
@@ -64,7 +64,7 @@ public:
double * min_y,
double * max_x,
double * max_y);
- virtual void updateCosts(costmap_2d::Costmap2D & master_grid, int min_i, int min_j, int max_i,
+ virtual void updateCosts(nav2_costmap_2d::Costmap2D & master_grid, int min_i, int min_j, int max_i,
int max_j);
virtual void matchSize();
@@ -80,7 +80,7 @@ private:
void incomingUpdate(map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr update);
//TODO(bpwilcox): Replace dynamic_reconfigure functionality
- //void reconfigureCB(costmap_2d::GenericPluginConfig & config, uint32_t level);
+ //void reconfigureCB(nav2_costmap_2d::GenericPluginConfig & config, uint32_t level);
unsigned char interpretValue(unsigned char value);
@@ -99,9 +99,9 @@ private:
unsigned char lethal_threshold_, unknown_cost_value_;
//TODO(bpwilcox): Replace dynamic_reconfigure functionality
- //dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig> * dsrv_;
+ //dynamic_reconfigure::Server<nav2_costmap_2d::GenericPluginConfig> * dsrv_;
};
-} // namespace costmap_2d
+} // namespace nav2_costmap_2d
-#endif // COSTMAP_2D_STATIC_LAYER_H_
+#endif // nav2_costmap_2d_STATIC_LAYER_H_
diff --git a/src/libs/costmap_2d/include/costmap_2d/testing_helper.h b/nav2_costmap_2d/include/nav2_costmap_2d/testing_helper.h
similarity index 50%
rename from src/libs/costmap_2d/include/costmap_2d/testing_helper.h
rename to nav2_costmap_2d/include/nav2_costmap_2d/testing_helper.h
index 957808a8..759ec536 100644
--- a/src/libs/costmap_2d/include/costmap_2d/testing_helper.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/testing_helper.h
@@ -1,18 +1,18 @@
-#ifndef COSTMAP_2D_TESTING_HELPER_H
-#define COSTMAP_2D_TESTING_HELPER_H
+#ifndef nav2_costmap_2d_TESTING_HELPER_H
+#define nav2_costmap_2d_TESTING_HELPER_H
#include "rclcpp/rclcpp.hpp"
-#include <costmap_2d/cost_values.h>
-#include <costmap_2d/costmap_2d.h>
-#include <costmap_2d/static_layer.h>
-#include <costmap_2d/obstacle_layer.h>
-#include <costmap_2d/inflation_layer.h>
+#include <nav2_costmap_2d/cost_values.h>
+#include <nav2_costmap_2d/costmap_2d.h>
+#include <nav2_costmap_2d/static_layer.h>
+#include <nav2_costmap_2d/obstacle_layer.h>
+#include <nav2_costmap_2d/inflation_layer.h>
#include <sensor_msgs/point_cloud2_iterator.hpp>
const double MAX_Z(1.0);
-void setValues(costmap_2d::Costmap2D & costmap, const unsigned char * map)
+void setValues(nav2_costmap_2d::Costmap2D & costmap, const unsigned char * map)
{
int index = 0;
for (int i = 0; i < costmap.getSizeInCellsY(); i++) {
@@ -25,15 +25,15 @@ void setValues(costmap_2d::Costmap2D & costmap, const unsigned char * map)
char printableCost(unsigned char cost)
{
switch (cost) {
- case costmap_2d::NO_INFORMATION: return '?';
- case costmap_2d::LETHAL_OBSTACLE: return 'L';
- case costmap_2d::INSCRIBED_INFLATED_OBSTACLE: return 'I';
- case costmap_2d::FREE_SPACE: return '.';
+ case nav2_costmap_2d::NO_INFORMATION: return '?';
+ case nav2_costmap_2d::LETHAL_OBSTACLE: return 'L';
+ case nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE: return 'I';
+ case nav2_costmap_2d::FREE_SPACE: return '.';
default: return '0' + (unsigned char) (10 * cost / 255);
}
}
-void printMap(costmap_2d::Costmap2D & costmap)
+void printMap(nav2_costmap_2d::Costmap2D & costmap)
{
printf("map:\n");
for (int i = 0; i < costmap.getSizeInCellsY(); i++) {
@@ -44,7 +44,7 @@ void printMap(costmap_2d::Costmap2D & costmap)
}
}
-unsigned int countValues(costmap_2d::Costmap2D & costmap, unsigned char value, bool equal = true)
+unsigned int countValues(nav2_costmap_2d::Costmap2D & costmap, unsigned char value, bool equal = true)
{
unsigned int count = 0;
for (int i = 0; i < costmap.getSizeInCellsY(); i++) {
@@ -58,23 +58,23 @@ unsigned int countValues(costmap_2d::Costmap2D & costmap, unsigned char value, b
return count;
}
-void addStaticLayer(costmap_2d::LayeredCostmap & layers, tf2_ros::Buffer & tf)
+void addStaticLayer(nav2_costmap_2d::LayeredCostmap & layers, tf2_ros::Buffer & tf)
{
- costmap_2d::StaticLayer * slayer = new costmap_2d::StaticLayer();
- layers.addPlugin(std::shared_ptr<costmap_2d::Layer>(slayer));
+ nav2_costmap_2d::StaticLayer * slayer = new nav2_costmap_2d::StaticLayer();
+ layers.addPlugin(std::shared_ptr<nav2_costmap_2d::Layer>(slayer));
slayer->initialize(&layers, "static", &tf);
}
-costmap_2d::ObstacleLayer * addObstacleLayer(costmap_2d::LayeredCostmap & layers,
+nav2_costmap_2d::ObstacleLayer * addObstacleLayer(nav2_costmap_2d::LayeredCostmap & layers,
tf2_ros::Buffer & tf)
{
- costmap_2d::ObstacleLayer * olayer = new costmap_2d::ObstacleLayer();
+ nav2_costmap_2d::ObstacleLayer * olayer = new nav2_costmap_2d::ObstacleLayer();
olayer->initialize(&layers, "obstacles", &tf);
- layers.addPlugin(std::shared_ptr<costmap_2d::Layer>(olayer));
+ layers.addPlugin(std::shared_ptr<nav2_costmap_2d::Layer>(olayer));
return olayer;
}
-void addObservation(costmap_2d::ObstacleLayer * olayer, double x, double y, double z = 0.0,
+void addObservation(nav2_costmap_2d::ObstacleLayer * olayer, double x, double y, double z = 0.0,
double ox = 0.0, double oy = 0.0, double oz = MAX_Z)
{
sensor_msgs::PointCloud2 cloud;
@@ -93,19 +93,19 @@ void addObservation(costmap_2d::ObstacleLayer * olayer, double x, double y, doub
p.y = oy;
p.z = oz;
- costmap_2d::Observation obs(p, cloud, 100.0, 100.0); // obstacle range = raytrace range = 100.0
+ nav2_costmap_2d::Observation obs(p, cloud, 100.0, 100.0); // obstacle range = raytrace range = 100.0
olayer->addStaticObservation(obs, true, true);
}
-costmap_2d::InflationLayer * addInflationLayer(costmap_2d::LayeredCostmap & layers,
+nav2_costmap_2d::InflationLayer * addInflationLayer(nav2_costmap_2d::LayeredCostmap & layers,
tf2_ros::Buffer & tf)
{
- costmap_2d::InflationLayer * ilayer = new costmap_2d::InflationLayer();
+ nav2_costmap_2d::InflationLayer * ilayer = new nav2_costmap_2d::InflationLayer();
ilayer->initialize(&layers, "inflation", &tf);
- std::shared_ptr<costmap_2d::Layer> ipointer(ilayer);
+ std::shared_ptr<nav2_costmap_2d::Layer> ipointer(ilayer);
layers.addPlugin(ipointer);
return ilayer;
}
-#endif // COSTMAP_2D_TESTING_HELPER_H
+#endif // nav2_costmap_2d_TESTING_HELPER_H
diff --git a/src/libs/costmap_2d/include/costmap_2d/voxel_layer.h b/nav2_costmap_2d/include/nav2_costmap_2d/voxel_layer.h
similarity index 87%
rename from src/libs/costmap_2d/include/costmap_2d/voxel_layer.h
rename to nav2_costmap_2d/include/nav2_costmap_2d/voxel_layer.h
index 70257682..5b6a04cc 100644
--- a/src/libs/costmap_2d/include/costmap_2d/voxel_layer.h
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/voxel_layer.h
@@ -35,14 +35,14 @@
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
-#ifndef COSTMAP_2D_VOXEL_LAYER_H_
-#define COSTMAP_2D_VOXEL_LAYER_H_
+#ifndef nav2_costmap_2d_VOXEL_LAYER_H_
+#define nav2_costmap_2d_VOXEL_LAYER_H_
#include <ros/ros.h>
-#include <costmap_2d/layer.h>
-#include <costmap_2d/layered_costmap.h>
-#include <costmap_2d/observation_buffer.h>
-#include <costmap_2d/VoxelGrid.h>
+#include <nav2_costmap_2d/layer.h>
+#include <nav2_costmap_2d/layered_costmap.h>
+#include <nav2_costmap_2d/observation_buffer.h>
+#include <nav2_costmap_2d/VoxelGrid.h>
#include <nav_msgs/OccupancyGrid.h>
#include <sensor_msgs/LaserScan.h>
#include <laser_geometry/laser_geometry.h>
@@ -51,11 +51,11 @@
#include <sensor_msgs/point_cloud_conversion.h>
#include <message_filters/subscriber.h>
#include <dynamic_reconfigure/server.h>
-#include <costmap_2d/VoxelPluginConfig.h>
-#include <costmap_2d/obstacle_layer.h>
+#include <nav2_costmap_2d/VoxelPluginConfig.h>
+#include <nav2_costmap_2d/obstacle_layer.h>
#include <voxel_grid/voxel_grid.h>
-namespace costmap_2d
+namespace nav2_costmap_2d
{
class VoxelLayer : public ObstacleLayer
@@ -89,14 +89,14 @@ protected:
virtual void resetMaps();
private:
- void reconfigureCB(costmap_2d::VoxelPluginConfig & config, uint32_t level);
+ void reconfigureCB(nav2_costmap_2d::VoxelPluginConfig & config, uint32_t level);
void clearNonLethal(double wx, double wy, double w_size_x, double w_size_y, bool clear_no_info);
- virtual void raytraceFreespace(const costmap_2d::Observation & clearing_observation,
+ virtual void raytraceFreespace(const nav2_costmap_2d::Observation & clearing_observation,
double * min_x, double * min_y,
double * max_x,
double * max_y);
- dynamic_reconfigure::Server<costmap_2d::VoxelPluginConfig> * voxel_dsrv_;
+ dynamic_reconfigure::Server<nav2_costmap_2d::VoxelPluginConfig> * voxel_dsrv_;
bool publish_voxel_;
ros::Publisher voxel_pub_;
@@ -156,6 +156,6 @@ private:
}
};
-} // namespace costmap_2d
+} // namespace nav2_costmap_2d
-#endif // COSTMAP_2D_VOXEL_LAYER_H_
+#endif // nav2_costmap_2d_VOXEL_LAYER_H_
diff --git a/src/libs/costmap_2d/launch/example.launch b/nav2_costmap_2d/launch/example.launch
similarity index 67%
rename from src/libs/costmap_2d/launch/example.launch
rename to nav2_costmap_2d/launch/example.launch
index 87cd2ea1..ac089abf 100644
--- a/src/libs/costmap_2d/launch/example.launch
+++ b/nav2_costmap_2d/launch/example.launch
@@ -9,13 +9,13 @@
<param name="/use_sim_time" value="true"/>
<!-- Publishes the voxel grid to rviz for display -->
- <node pkg="costmap_2d" type="costmap_2d_markers" name="voxel_visualizer">
+ <node pkg="nav2_costmap_2d" type="nav2_costmap_2d_markers" name="voxel_visualizer">
<remap from="voxel_grid" to="costmap/voxel_grid"/>
</node>
<!-- Run the costmap node -->
- <node name="costmap_node" pkg="costmap_2d" type="costmap_2d_node" >
- <rosparam file="$(find costmap_2d)/launch/example_params.yaml" command="load" ns="costmap" />
+ <node name="costmap_node" pkg="nav2_costmap_2d" type="nav2_costmap_2d_node" >
+ <rosparam file="$(find nav2_costmap_2d)/launch/example_params.yaml" command="load" ns="costmap" />
</node>
</launch>
diff --git a/src/libs/costmap_2d/launch/example_params.yaml b/nav2_costmap_2d/launch/example_params.yaml
similarity index 100%
rename from src/libs/costmap_2d/launch/example_params.yaml
rename to nav2_costmap_2d/launch/example_params.yaml
diff --git a/src/libs/costmap_2d/msg/VoxelGrid.msg b/nav2_costmap_2d/msg/VoxelGrid.msg
similarity index 100%
rename from src/libs/costmap_2d/msg/VoxelGrid.msg
rename to nav2_costmap_2d/msg/VoxelGrid.msg
diff --git a/src/libs/costmap_2d/package.xml b/nav2_costmap_2d/package.xml
similarity index 82%
rename from src/libs/costmap_2d/package.xml
rename to nav2_costmap_2d/package.xml
index 5f09f45c..6f0aa3f4 100644
--- a/src/libs/costmap_2d/package.xml
+++ b/nav2_costmap_2d/package.xml
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format ="3">
- <name>costmap_2d</name>
+ <name>nav2_costmap_2d</name>
<version>0.1.0</version>
<description>
This package provides an implementation of a 2D costmap that takes in sensor
@@ -12,17 +12,11 @@
costmap, rolling window based costmaps, and parameter based subscription to
and configuration of sensor topics.
</description>
- <author>Eitan Marder-Eppstein</author>
- <author>David V. Lu!!</author>
- <author>Dave Hershberger</author>
- <author>contradict@gmail.com</author>
<maintainer email="davidvlu@gmail.com">David V. Lu!!</maintainer>
<maintainer email="mfergs7@gmail.com">Michael Ferguson</maintainer>
<maintainer email="ahoy@fetchrobotics.com">Aaron Hoy</maintainer>
- <author>email="oregon.robotics.team@intel.com">Oregon Robotics Team</author>
- <maintainer email="oregon.robotics.team@intel.com">Oregon Robotics Team</maintainer>
+ <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
<license>BSD</license>
- <url>http://wiki.ros.org/costmap_2d</url>
<buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>rosidl_default_generators</buildtool_depend>
diff --git a/src/libs/costmap_2d/plugins/inflation_layer.cpp b/nav2_costmap_2d/plugins/inflation_layer.cpp
similarity index 91%
rename from src/libs/costmap_2d/plugins/inflation_layer.cpp
rename to nav2_costmap_2d/plugins/inflation_layer.cpp
index ac58e749..a2cbbc35 100644
--- a/src/libs/costmap_2d/plugins/inflation_layer.cpp
+++ b/nav2_costmap_2d/plugins/inflation_layer.cpp
@@ -36,18 +36,18 @@
* David V. Lu!!
*********************************************************************/
#include <algorithm>
-#include <costmap_2d/inflation_layer.h>
-#include <costmap_2d/costmap_math.h>
-#include <costmap_2d/footprint.h>
+#include <nav2_costmap_2d/inflation_layer.h>
+#include <nav2_costmap_2d/costmap_math.h>
+#include <nav2_costmap_2d/footprint.h>
#include <pluginlib/class_list_macros.hpp>
-PLUGINLIB_EXPORT_CLASS(costmap_2d::InflationLayer, costmap_2d::Layer)
+PLUGINLIB_EXPORT_CLASS(nav2_costmap_2d::InflationLayer, nav2_costmap_2d::Layer)
-using costmap_2d::LETHAL_OBSTACLE;
-using costmap_2d::INSCRIBED_INFLATED_OBSTACLE;
-using costmap_2d::NO_INFORMATION;
+using nav2_costmap_2d::LETHAL_OBSTACLE;
+using nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE;
+using nav2_costmap_2d::NO_INFORMATION;
-namespace costmap_2d
+namespace nav2_costmap_2d
{
InflationLayer::InflationLayer()
@@ -87,7 +87,7 @@ void InflationLayer::onInitialize()
// TODO(bpwilcox): Resolve dynamic reconfigure dependencies
/*
- dynamic_reconfigure::Server<costmap_2d::InflationPluginConfig>::CallbackType cb = std::bind(
+ dynamic_reconfigure::Server<nav2_costmap_2d::InflationPluginConfig>::CallbackType cb = std::bind(
&InflationLayer::reconfigureCB, this, _1, _2);
if (dsrv_ != NULL){
@@ -96,7 +96,7 @@ void InflationLayer::onInitialize()
}
else
{
- dsrv_ = new dynamic_reconfigure::Server<costmap_2d::InflationPluginConfig>(ros::NodeHandle("~/" + name_));
+ dsrv_ = new dynamic_reconfigure::Server<nav2_costmap_2d::InflationPluginConfig>(ros::NodeHandle("~/" + name_));
dsrv_->setCallback(cb);
} */
}
@@ -108,7 +108,7 @@ void InflationLayer::onInitialize()
}
// TODO(bpwilcox): Resolve dynamic reconfigure dependencies
/*
-void InflationLayer::reconfigureCB(costmap_2d::InflationPluginConfig &config, uint32_t level)
+void InflationLayer::reconfigureCB(nav2_costmap_2d::InflationPluginConfig &config, uint32_t level)
{
setInflationParameters(config.inflation_radius, config.cost_scaling_factor);
@@ -122,7 +122,7 @@ void InflationLayer::reconfigureCB(costmap_2d::InflationPluginConfig &config, ui
void InflationLayer::matchSize()
{
std::unique_lock<std::recursive_mutex> lock(*inflation_access_);
- costmap_2d::Costmap2D * costmap = layered_costmap_->getCostmap();
+ nav2_costmap_2d::Costmap2D * costmap = layered_costmap_->getCostmap();
resolution_ = costmap->getResolution();
cell_inflation_radius_ = cellDistance(inflation_radius_);
computeCaches();
@@ -175,12 +175,12 @@ void InflationLayer::onFootprintChanged()
need_reinflation_ = true;
RCLCPP_DEBUG(rclcpp::get_logger(
- "costmap_2d"), "InflationLayer::onFootprintChanged(): num footprint points: %lu,"
+ "nav2_costmap_2d"), "InflationLayer::onFootprintChanged(): num footprint points: %lu,"
" inscribed_radius_ = %.3f, inflation_radius_ = %.3f",
layered_costmap_->getFootprint().size(), inscribed_radius_, inflation_radius_);
}
-void InflationLayer::updateCosts(costmap_2d::Costmap2D & master_grid, int min_i, int min_j,
+void InflationLayer::updateCosts(nav2_costmap_2d::Costmap2D & master_grid, int min_i, int min_j,
int max_i,
int max_j)
{
@@ -190,7 +190,7 @@ void InflationLayer::updateCosts(costmap_2d::Costmap2D & master_grid, int min_i,
}
// make sure the inflation list is empty at the beginning of the cycle (should always be true)
- RCLCPP_FATAL_EXPRESSION(rclcpp::get_logger("costmap_2d"),
+ RCLCPP_FATAL_EXPRESSION(rclcpp::get_logger("nav2_costmap_2d"),
!inflation_cells_.empty(), "The inflation list must be empty at the beginning of inflation");
unsigned char * master_array = master_grid.getCharMap();
@@ -198,12 +198,12 @@ void InflationLayer::updateCosts(costmap_2d::Costmap2D & master_grid, int min_i,
if (seen_ == NULL) {
RCLCPP_WARN(rclcpp::get_logger(
- "costmap_2d"), "InflationLayer::updateCosts(): seen_ array is NULL");
+ "nav2_costmap_2d"), "InflationLayer::updateCosts(): seen_ array is NULL");
seen_size_ = size_x * size_y;
seen_ = new bool[seen_size_];
} else if (seen_size_ != size_x * size_y) {
RCLCPP_WARN(rclcpp::get_logger(
- "costmap_2d"), "InflationLayer::updateCosts(): seen_ array size is wrong");
+ "nav2_costmap_2d"), "InflationLayer::updateCosts(): seen_ array size is wrong");
delete[] seen_;
seen_size_ = size_x * size_y;
seen_ = new bool[seen_size_];
@@ -388,4 +388,4 @@ void InflationLayer::setInflationParameters(double inflation_radius, double cost
}
}
-} // namespace costmap_2d
+} // namespace nav2_costmap_2d
diff --git a/src/libs/costmap_2d/plugins/obstacle_layer.cpp b/nav2_costmap_2d/plugins/obstacle_layer.cpp
similarity index 95%
rename from src/libs/costmap_2d/plugins/obstacle_layer.cpp
rename to nav2_costmap_2d/plugins/obstacle_layer.cpp
index bba20ef3..6054e4c4 100644
--- a/src/libs/costmap_2d/plugins/obstacle_layer.cpp
+++ b/nav2_costmap_2d/plugins/obstacle_layer.cpp
@@ -35,23 +35,23 @@
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
-#include <costmap_2d/obstacle_layer.h>
-#include <costmap_2d/costmap_math.h>
+#include <nav2_costmap_2d/obstacle_layer.h>
+#include <nav2_costmap_2d/costmap_math.h>
#include <tf2_ros/message_filter.h>
#include <pluginlib/class_list_macros.h>
#include <sensor_msgs/point_cloud2_iterator.h>
-PLUGINLIB_EXPORT_CLASS(costmap_2d::ObstacleLayer, costmap_2d::Layer)
+PLUGINLIB_EXPORT_CLASS(nav2_costmap_2d::ObstacleLayer, nav2_costmap_2d::Layer)
-using costmap_2d::NO_INFORMATION;
-using costmap_2d::LETHAL_OBSTACLE;
-using costmap_2d::FREE_SPACE;
+using nav2_costmap_2d::NO_INFORMATION;
+using nav2_costmap_2d::LETHAL_OBSTACLE;
+using nav2_costmap_2d::FREE_SPACE;
-using costmap_2d::ObservationBuffer;
-using costmap_2d::Observation;
+using nav2_costmap_2d::ObservationBuffer;
+using nav2_costmap_2d::Observation;
-namespace costmap_2d
+namespace nav2_costmap_2d
{
void ObstacleLayer::onInitialize()
@@ -220,8 +220,8 @@ void ObstacleLayer::onInitialize()
void ObstacleLayer::setupDynamicReconfigure(ros::NodeHandle & nh)
{
- dsrv_ = new dynamic_reconfigure::Server<costmap_2d::ObstaclePluginConfig>(nh);
- dynamic_reconfigure::Server<costmap_2d::ObstaclePluginConfig>::CallbackType cb = std::bind(
+ dsrv_ = new dynamic_reconfigure::Server<nav2_costmap_2d::ObstaclePluginConfig>(nh);
+ dynamic_reconfigure::Server<nav2_costmap_2d::ObstaclePluginConfig>::CallbackType cb = std::bind(
&ObstacleLayer::reconfigureCB, this, _1, _2);
dsrv_->setCallback(cb);
}
@@ -232,7 +232,7 @@ ObstacleLayer::~ObstacleLayer()
delete dsrv_;
}
}
-void ObstacleLayer::reconfigureCB(costmap_2d::ObstaclePluginConfig & config, uint32_t level)
+void ObstacleLayer::reconfigureCB(nav2_costmap_2d::ObstaclePluginConfig & config, uint32_t level)
{
enabled_ = config.enabled;
footprint_clearing_enabled_ = config.footprint_clearing_enabled;
@@ -412,7 +412,7 @@ void ObstacleLayer::updateFootprint(double robot_x, double robot_y, double robot
}
}
-void ObstacleLayer::updateCosts(costmap_2d::Costmap2D & master_grid, int min_i, int min_j,
+void ObstacleLayer::updateCosts(nav2_costmap_2d::Costmap2D & master_grid, int min_i, int min_j,
int max_i,
int max_j)
{
@@ -421,7 +421,7 @@ void ObstacleLayer::updateCosts(costmap_2d::Costmap2D & master_grid, int min_i,
}
if (footprint_clearing_enabled_) {
- setConvexPolygonCost(transformed_footprint_, costmap_2d::FREE_SPACE);
+ setConvexPolygonCost(transformed_footprint_, nav2_costmap_2d::FREE_SPACE);
}
switch (combination_method_) {
@@ -436,7 +436,7 @@ void ObstacleLayer::updateCosts(costmap_2d::Costmap2D & master_grid, int min_i,
}
}
-void ObstacleLayer::addStaticObservation(costmap_2d::Observation & obs, bool marking, bool clearing)
+void ObstacleLayer::addStaticObservation(nav2_costmap_2d::Observation & obs, bool marking, bool clearing)
{
if (marking) {
static_marking_observations_.push_back(obs);
@@ -610,4 +610,4 @@ void ObstacleLayer::reset()
activate();
}
-} // namespace costmap_2d
+} // namespace nav2_costmap_2d
diff --git a/src/libs/costmap_2d/plugins/static_layer.cpp b/nav2_costmap_2d/plugins/static_layer.cpp
similarity index 88%
rename from src/libs/costmap_2d/plugins/static_layer.cpp
rename to nav2_costmap_2d/plugins/static_layer.cpp
index ccf2e5e0..b0613273 100644
--- a/src/libs/costmap_2d/plugins/static_layer.cpp
+++ b/nav2_costmap_2d/plugins/static_layer.cpp
@@ -36,20 +36,20 @@
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
-#include <costmap_2d/static_layer.h>
-#include <costmap_2d/costmap_math.h>
+#include <nav2_costmap_2d/static_layer.h>
+#include <nav2_costmap_2d/costmap_math.h>
#include <pluginlib/class_list_macros.hpp>
#include <tf2/convert.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-PLUGINLIB_EXPORT_CLASS(costmap_2d::StaticLayer, costmap_2d::Layer)
+PLUGINLIB_EXPORT_CLASS(nav2_costmap_2d::StaticLayer, nav2_costmap_2d::Layer)
-using costmap_2d::NO_INFORMATION;
-using costmap_2d::LETHAL_OBSTACLE;
-using costmap_2d::FREE_SPACE;
+using nav2_costmap_2d::NO_INFORMATION;
+using nav2_costmap_2d::LETHAL_OBSTACLE;
+using nav2_costmap_2d::FREE_SPACE;
-namespace costmap_2d
+namespace nav2_costmap_2d
{
StaticLayer::StaticLayer() {enabled_ = true;}
@@ -65,7 +65,7 @@ void StaticLayer::onInitialize()
{
auto nh = rclcpp::Node::make_shared(name_);
rclcpp::Node::SharedPtr g_nh;
- g_nh = rclcpp::Node::make_shared("costmap_2d_static");
+ g_nh = rclcpp::Node::make_shared("nav2_costmap_2d_static");
auto parameters_client = std::make_shared<rclcpp::SyncParametersClient>(nh);
current_ = true;
@@ -94,7 +94,7 @@ void StaticLayer::onInitialize()
//if (map_sub_.getTopic() != ros::names::resolve(map_topic)) {
// we'll subscribe to the latched topic that the map server uses
- RCLCPP_INFO(rclcpp::get_logger("costmap_2d"), "Requesting the map...");
+ RCLCPP_INFO(rclcpp::get_logger("nav2_costmap_2d"), "Requesting the map...");
rmw_qos_profile_t custom_qos_profile = rmw_qos_profile_default;
custom_qos_profile.depth = 1;
custom_qos_profile.durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL;
@@ -110,11 +110,11 @@ void StaticLayer::onInitialize()
}
RCLCPP_INFO(rclcpp::get_logger(
- "costmap_2d"), "Received a %d X %d map at %f m/pix", getSizeInCellsX(),
+ "nav2_costmap_2d"), "Received a %d X %d map at %f m/pix", getSizeInCellsX(),
getSizeInCellsY(), getResolution());
if (subscribe_to_updates_) {
- RCLCPP_INFO(rclcpp::get_logger("costmap_2d"), "Subscribing to updates");
+ RCLCPP_INFO(rclcpp::get_logger("nav2_costmap_2d"), "Subscribing to updates");
map_update_sub_ = g_nh->create_subscription<map_msgs::msg::OccupancyGridUpdate>(
map_topic + "_updates",
std::bind(&StaticLayer::incomingUpdate, this, std::placeholders::_1), custom_qos_profile);
@@ -128,13 +128,13 @@ void StaticLayer::onInitialize()
delete dsrv_;
} */
- //dsrv_ = new dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig>(nh);
- //dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig>::CallbackType cb = std::bind(
+ //dsrv_ = new dynamic_reconfigure::Server<nav2_costmap_2d::GenericPluginConfig>(nh);
+ //dynamic_reconfigure::Server<nav2_costmap_2d::GenericPluginConfig>::CallbackType cb = std::bind(
// &StaticLayer::reconfigureCB, this, _1, _2);
//dsrv_->setCallback(cb);
}
-/* void StaticLayer::reconfigureCB(costmap_2d::GenericPluginConfig & config, uint32_t level)
+/* void StaticLayer::reconfigureCB(nav2_costmap_2d::GenericPluginConfig & config, uint32_t level)
{
if (config.enabled != enabled_) {
enabled_ = config.enabled;
@@ -178,7 +178,7 @@ void StaticLayer::incomingMap(const nav_msgs::msg::OccupancyGrid::SharedPtr new_
unsigned int size_x = new_map->info.width, size_y = new_map->info.height;
RCLCPP_DEBUG(rclcpp::get_logger(
- "costmap_2d"), "Received a %d X %d map at %f m/pix", size_x, size_y,
+ "nav2_costmap_2d"), "Received a %d X %d map at %f m/pix", size_x, size_y,
new_map->info.resolution);
// resize costmap if size, resolution or origin do not match
@@ -192,7 +192,7 @@ void StaticLayer::incomingMap(const nav_msgs::msg::OccupancyGrid::SharedPtr new_
{
// Update the size of the layered costmap (and all layers, including this one)
RCLCPP_INFO(rclcpp::get_logger(
- "costmap_2d"), "Resizing costmap to %d X %d at %f m/pix", size_x, size_y,
+ "nav2_costmap_2d"), "Resizing costmap to %d X %d at %f m/pix", size_x, size_y,
new_map->info.resolution);
layered_costmap_->resizeMap(size_x, size_y, new_map->info.resolution,
new_map->info.origin.position.x,
@@ -205,7 +205,7 @@ void StaticLayer::incomingMap(const nav_msgs::msg::OccupancyGrid::SharedPtr new_
{
// only update the size of the costmap stored locally in this layer
RCLCPP_INFO(rclcpp::get_logger(
- "costmap_2d"), "Resizing static layer to %d X %d at %f m/pix", size_x, size_y,
+ "nav2_costmap_2d"), "Resizing static layer to %d X %d at %f m/pix", size_x, size_y,
new_map->info.resolution);
resizeMap(size_x, size_y, new_map->info.resolution,
new_map->info.origin.position.x, new_map->info.origin.position.y);
@@ -234,7 +234,7 @@ void StaticLayer::incomingMap(const nav_msgs::msg::OccupancyGrid::SharedPtr new_
// shutdown the map subscrber if firt_map_only_ flag is on
if (first_map_only_) {
RCLCPP_INFO(rclcpp::get_logger(
- "costmap_2d"), "Shutting down the map subscriber. first_map_only flag is on");
+ "nav2_costmap_2d"), "Shutting down the map subscriber. first_map_only flag is on");
// TODO(bpwilcox): Resolve shutdown of ros2 subscription
//map_sub_.shutdown();
}
@@ -307,7 +307,7 @@ void StaticLayer::updateBounds(double robot_x, double robot_y, double robot_yaw,
has_updated_data_ = false;
}
-void StaticLayer::updateCosts(costmap_2d::Costmap2D & master_grid, int min_i, int min_j, int max_i,
+void StaticLayer::updateCosts(nav2_costmap_2d::Costmap2D & master_grid, int min_i, int min_j, int max_i,
int max_j)
{
if (!map_received_) {
@@ -334,7 +334,7 @@ void StaticLayer::updateCosts(costmap_2d::Costmap2D & master_grid, int min_i, in
try {
transform = tf_->lookupTransform(map_frame_, global_frame_, tf2_ros::fromMsg(rclcpp::Time()));
} catch (tf2::TransformException ex) {
- RCLCPP_ERROR(rclcpp::get_logger("costmap_2d"), "%s", ex.what());
+ RCLCPP_ERROR(rclcpp::get_logger("nav2_costmap_2d"), "%s", ex.what());
return;
}
// Copy map data given proper transformations
@@ -361,4 +361,4 @@ void StaticLayer::updateCosts(costmap_2d::Costmap2D & master_grid, int min_i, in
}
}
-} // namespace costmap_2d
+} // namespace nav2_costmap_2d
diff --git a/src/libs/costmap_2d/plugins/voxel_layer.cpp b/nav2_costmap_2d/plugins/voxel_layer.cpp
similarity index 95%
rename from src/libs/costmap_2d/plugins/voxel_layer.cpp
rename to nav2_costmap_2d/plugins/voxel_layer.cpp
index 5070a1b8..411ebc92 100644
--- a/src/libs/costmap_2d/plugins/voxel_layer.cpp
+++ b/nav2_costmap_2d/plugins/voxel_layer.cpp
@@ -35,21 +35,21 @@
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
-#include <costmap_2d/voxel_layer.h>
+#include <nav2_costmap_2d/voxel_layer.h>
#include <pluginlib/class_list_macros.h>
#include <sensor_msgs/point_cloud2_iterator.h>
#define VOXEL_BITS 16
-PLUGINLIB_EXPORT_CLASS(costmap_2d::VoxelLayer, costmap_2d::Layer)
+PLUGINLIB_EXPORT_CLASS(nav2_costmap_2d::VoxelLayer, nav2_costmap_2d::Layer)
-using costmap_2d::NO_INFORMATION;
-using costmap_2d::LETHAL_OBSTACLE;
-using costmap_2d::FREE_SPACE;
+using nav2_costmap_2d::NO_INFORMATION;
+using nav2_costmap_2d::LETHAL_OBSTACLE;
+using nav2_costmap_2d::FREE_SPACE;
-using costmap_2d::ObservationBuffer;
-using costmap_2d::Observation;
+using nav2_costmap_2d::ObservationBuffer;
+using nav2_costmap_2d::Observation;
-namespace costmap_2d
+namespace nav2_costmap_2d
{
void VoxelLayer::onInitialize()
@@ -59,7 +59,7 @@ void VoxelLayer::onInitialize()
private_nh.param("publish_voxel_map", publish_voxel_, false);
if (publish_voxel_) {
- voxel_pub_ = private_nh.advertise<costmap_2d::VoxelGrid>("voxel_grid", 1);
+ voxel_pub_ = private_nh.advertise<nav2_costmap_2d::VoxelGrid>("voxel_grid", 1);
}
clearing_endpoints_pub_ = private_nh.advertise<sensor_msgs::PointCloud>("clearing_endpoints", 1);
@@ -67,8 +67,8 @@ void VoxelLayer::onInitialize()
void VoxelLayer::setupDynamicReconfigure(ros::NodeHandle & nh)
{
- voxel_dsrv_ = new dynamic_reconfigure::Server<costmap_2d::VoxelPluginConfig>(nh);
- dynamic_reconfigure::Server<costmap_2d::VoxelPluginConfig>::CallbackType cb = std::bind(
+ voxel_dsrv_ = new dynamic_reconfigure::Server<nav2_costmap_2d::VoxelPluginConfig>(nh);
+ dynamic_reconfigure::Server<nav2_costmap_2d::VoxelPluginConfig>::CallbackType cb = std::bind(
&VoxelLayer::reconfigureCB, this, _1, _2);
voxel_dsrv_->setCallback(cb);
}
@@ -80,7 +80,7 @@ VoxelLayer::~VoxelLayer()
}
}
-void VoxelLayer::reconfigureCB(costmap_2d::VoxelPluginConfig & config, uint32_t level)
+void VoxelLayer::reconfigureCB(nav2_costmap_2d::VoxelPluginConfig & config, uint32_t level)
{
enabled_ = config.enabled;
footprint_clearing_enabled_ = config.footprint_clearing_enabled;
@@ -194,7 +194,7 @@ void VoxelLayer::updateBounds(double robot_x, double robot_y, double robot_yaw,
}
if (publish_voxel_) {
- costmap_2d::VoxelGrid grid_msg;
+ nav2_costmap_2d::VoxelGrid grid_msg;
unsigned int size = voxel_grid_.sizeX() * voxel_grid_.sizeY();
grid_msg.size_x = voxel_grid_.sizeX();
grid_msg.size_y = voxel_grid_.sizeY();
@@ -449,4 +449,4 @@ void VoxelLayer::updateOrigin(double new_origin_x, double new_origin_y)
delete[] local_voxel_map;
}
-} // namespace costmap_2d
+} // namespace nav2_costmap_2d
diff --git a/src/libs/costmap_2d/src/array_parser.cpp b/nav2_costmap_2d/src/array_parser.cpp
similarity index 98%
rename from src/libs/costmap_2d/src/array_parser.cpp
rename to nav2_costmap_2d/src/array_parser.cpp
index 468e1670..4d5ef24b 100644
--- a/src/libs/costmap_2d/src/array_parser.cpp
+++ b/nav2_costmap_2d/src/array_parser.cpp
@@ -34,7 +34,7 @@
#include <sstream>
#include <vector>
-namespace costmap_2d
+namespace nav2_costmap_2d
{
/** @brief Parse a vector of vector of floats from a string.
@@ -102,4 +102,4 @@ std::vector<std::vector<float> > parseVVF(const std::string & input, std::string
return result;
}
-} // end namespace costmap_2d
+} // end namespace nav2_costmap_2d
diff --git a/src/libs/costmap_2d/src/costmap_2d.cpp b/nav2_costmap_2d/src/costmap_2d.cpp
similarity index 99%
rename from src/libs/costmap_2d/src/costmap_2d.cpp
rename to nav2_costmap_2d/src/costmap_2d.cpp
index fa5156bb..32e486c4 100644
--- a/src/libs/costmap_2d/src/costmap_2d.cpp
+++ b/nav2_costmap_2d/src/costmap_2d.cpp
@@ -35,12 +35,12 @@
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
-#include <costmap_2d/costmap_2d.h>
+#include <nav2_costmap_2d/costmap_2d.h>
#include <cstdio>
using namespace std;
-namespace costmap_2d
+namespace nav2_costmap_2d
{
Costmap2D::Costmap2D(unsigned int cells_size_x, unsigned int cells_size_y, double resolution,
double origin_x, double origin_y, unsigned char default_value)
@@ -473,4 +473,4 @@ bool Costmap2D::saveMap(std::string file_name)
return true;
}
-} // namespace costmap_2d
+} // namespace nav2_costmap_2d
diff --git a/src/libs/costmap_2d/src/costmap_2d_cloud.cpp b/nav2_costmap_2d/src/costmap_2d_cloud.cpp
similarity index 96%
rename from src/libs/costmap_2d/src/costmap_2d_cloud.cpp
rename to nav2_costmap_2d/src/costmap_2d_cloud.cpp
index 09c9dfe8..ca4b7708 100644
--- a/src/libs/costmap_2d/src/costmap_2d_cloud.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_cloud.cpp
@@ -27,7 +27,7 @@
#include <ros/ros.h>
#include <sensor_msgs/PointCloud.h>
-#include <costmap_2d/VoxelGrid.h>
+#include <nav2_costmap_2d/VoxelGrid.h>
#include <voxel_grid/voxel_grid.h>
static inline void mapToWorld3D(const unsigned int mx, const unsigned int my, const unsigned int mz,
@@ -58,7 +58,7 @@ float g_colors_a[] = {0.0f, 0.5f, 1.0f};
V_Cell g_marked;
V_Cell g_unknown;
void voxelCallback(const ros::Publisher & pub_marked, const ros::Publisher & pub_unknown,
- const costmap_2d::VoxelGridConstPtr & grid)
+ const nav2_costmap_2d::VoxelGridConstPtr & grid)
{
if (grid->data.empty()) {
ROS_ERROR("Received empty voxel grid");
@@ -183,14 +183,14 @@ void voxelCallback(const ros::Publisher & pub_marked, const ros::Publisher & pub
int main(int argc, char ** argv)
{
- ros::init(argc, argv, "costmap_2d_cloud");
+ ros::init(argc, argv, "nav2_costmap_2d_cloud");
ros::NodeHandle n;
ROS_DEBUG("Startup");
ros::Publisher pub_marked = n.advertise<sensor_msgs::PointCloud>("voxel_marked_cloud", 2);
ros::Publisher pub_unknown = n.advertise<sensor_msgs::PointCloud>("voxel_unknown_cloud", 2);
- ros::Subscriber sub = n.subscribe<costmap_2d::VoxelGrid
+ ros::Subscriber sub = n.subscribe<nav2_costmap_2d::VoxelGrid
>("voxel_grid", 1, std::bind(voxelCallback, pub_marked, pub_unknown, _1));
ros::spin();
diff --git a/src/libs/costmap_2d/src/costmap_2d_markers.cpp b/nav2_costmap_2d/src/costmap_2d_markers.cpp
similarity index 94%
rename from src/libs/costmap_2d/src/costmap_2d_markers.cpp
rename to nav2_costmap_2d/src/costmap_2d_markers.cpp
index 078be357..f57e71a3 100644
--- a/src/libs/costmap_2d/src/costmap_2d_markers.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_markers.cpp
@@ -38,7 +38,7 @@
#include <ros/ros.h>
#include <visualization_msgs/MarkerArray.h>
-#include <costmap_2d/VoxelGrid.h>
+#include <nav2_costmap_2d/VoxelGrid.h>
#include <voxel_grid/voxel_grid.h>
struct Cell
@@ -57,7 +57,7 @@ float g_colors_a[] = {0.0f, 0.5f, 1.0f};
std::string g_marker_ns;
V_Cell g_cells;
-void voxelCallback(const ros::Publisher & pub, const costmap_2d::VoxelGridConstPtr & grid)
+void voxelCallback(const ros::Publisher & pub, const nav2_costmap_2d::VoxelGridConstPtr & grid)
{
if (grid->data.empty()) {
ROS_ERROR("Received empty voxel grid");
@@ -135,14 +135,14 @@ void voxelCallback(const ros::Publisher & pub, const costmap_2d::VoxelGridConstP
int main(int argc, char ** argv)
{
- ros::init(argc, argv, "costmap_2d_markers");
+ ros::init(argc, argv, "nav2_costmap_2d_markers");
ros::NodeHandle n;
ROS_DEBUG("Startup");
ros::Publisher pub = n.advertise<visualization_msgs::Marker>("visualization_marker", 1);
ros::Subscriber sub =
- n.subscribe<costmap_2d::VoxelGrid>("voxel_grid", 1, std::bind(voxelCallback, pub, _1));
+ n.subscribe<nav2_costmap_2d::VoxelGrid>("voxel_grid", 1, std::bind(voxelCallback, pub, _1));
g_marker_ns = n.resolveName("voxel_grid");
ros::spin();
diff --git a/src/libs/costmap_2d/src/costmap_2d_node.cpp b/nav2_costmap_2d/src/costmap_2d_node.cpp
similarity index 95%
rename from src/libs/costmap_2d/src/costmap_2d_node.cpp
rename to nav2_costmap_2d/src/costmap_2d_node.cpp
index 4f4a5a17..cf90ff86 100644
--- a/src/libs/costmap_2d/src/costmap_2d_node.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_node.cpp
@@ -36,7 +36,7 @@
* David V. Lu!!
*********************************************************************/
#include <rclcpp/rclcpp.hpp>
-#include <costmap_2d/costmap_2d_ros.h>
+#include <nav2_costmap_2d/costmap_2d_ros.h>
#include <tf2_ros/transform_listener.h>
int main(int argc, char ** argv)
@@ -47,7 +47,7 @@ int main(int argc, char ** argv)
std::string name = "costmap";
tf2_ros::Buffer buffer(tf2::durationFromSec(10));
tf2_ros::TransformListener tf(buffer);
- costmap_2d::Costmap2DROS lcr(name, buffer);
+ nav2_costmap_2d::Costmap2DROS lcr(name, buffer);
rclcpp::spin(node);
diff --git a/src/libs/costmap_2d/src/costmap_2d_publisher.cpp b/nav2_costmap_2d/src/costmap_2d_publisher.cpp
similarity index 97%
rename from src/libs/costmap_2d/src/costmap_2d_publisher.cpp
rename to nav2_costmap_2d/src/costmap_2d_publisher.cpp
index df426fb3..0b452c2f 100644
--- a/src/libs/costmap_2d/src/costmap_2d_publisher.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_publisher.cpp
@@ -35,10 +35,10 @@
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
-#include <costmap_2d/costmap_2d_publisher.h>
-#include <costmap_2d/cost_values.h>
+#include <nav2_costmap_2d/costmap_2d_publisher.h>
+#include <nav2_costmap_2d/cost_values.h>
-namespace costmap_2d
+namespace nav2_costmap_2d
{
char * Costmap2DPublisher::cost_translation_table_ = NULL;
@@ -170,4 +170,4 @@ void Costmap2DPublisher::publishCostmap()
y0_ = costmap_->getSizeInCellsY();
}
-} // end namespace costmap_2d
+} // end namespace nav2_costmap_2d
diff --git a/src/libs/costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
similarity index 92%
rename from src/libs/costmap_2d/src/costmap_2d_ros.cpp
rename to nav2_costmap_2d/src/costmap_2d_ros.cpp
index 7530c445..28e26623 100644
--- a/src/libs/costmap_2d/src/costmap_2d_ros.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -35,8 +35,8 @@
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
-#include <costmap_2d/layered_costmap.h>
-#include <costmap_2d/costmap_2d_ros.h>
+#include <nav2_costmap_2d/layered_costmap.h>
+#include <nav2_costmap_2d/costmap_2d_ros.h>
#include <cstdio>
#include <string>
#include <sys/time.h>
@@ -46,7 +46,7 @@
using namespace std;
-namespace costmap_2d
+namespace nav2_costmap_2d
{
void move_parameter(rclcpp::Node::SharedPtr old_h, rclcpp::Node::SharedPtr new_h, std::string name,
@@ -78,7 +78,7 @@ Costmap2DROS::Costmap2DROS(const std::string & name, tf2_ros::Buffer & tf)
robot_stopped_(false),
map_update_thread_(NULL),
last_publish_(0),
- plugin_loader_("costmap_2d", "costmap_2d::Layer"),
+ plugin_loader_("nav2_costmap_2d", "nav2_costmap_2d::Layer"),
publisher_(NULL),
publish_cycle_(1),
footprint_padding_(0.0)
@@ -109,7 +109,7 @@ Costmap2DROS::Costmap2DROS(const std::string & name, tf2_ros::Buffer & tf)
rclcpp::spin_some(private_nh);
if (last_error + rclcpp::Duration(5.0) < clock.now()) {
RCLCPP_WARN(rclcpp::get_logger(
- "costmap_2d"),
+ "nav2_costmap_2d"),
"Timed out waiting for transform from %s to %s to become available before running costmap, tf error: %s",
robot_base_frame_.c_str(), global_frame_.c_str(), tf_error.c_str());
last_error = clock.now();
@@ -140,7 +140,7 @@ Costmap2DROS::Costmap2DROS(const std::string & name, tf2_ros::Buffer & tf)
for (int32_t i = 0; i < my_list.size(); ++i) {
std::string pname = static_cast<std::string>(my_list[i]["name"]);
std::string type = static_cast<std::string>(my_list[i]["type"]);
- RCLCPP_INFO(rclcpp::get_logger("costmap_2d"), "Using plugin \"%s\"", pname.c_str());
+ RCLCPP_INFO(rclcpp::get_logger("nav2_costmap_2d"), "Using plugin \"%s\"", pname.c_str());
std::shared_ptr<Layer> plugin = plugin_loader_.createSharedInstance(type);
layered_costmap_->addPlugin(plugin);
@@ -213,7 +213,7 @@ Costmap2DROS::~Costmap2DROS()
void Costmap2DROS::resetOldParameters(rclcpp::Node::SharedPtr nh)
{
- RCLCPP_INFO(rclcpp::get_logger("costmap_2d"), "Loading from pre-hydro parameter style");
+ RCLCPP_INFO(rclcpp::get_logger("nav2_costmap_2d"), "Loading from pre-hydro parameter style");
bool flag;
std::string s;
std::vector<XmlRpc::XmlRpcValue> plugins;
@@ -228,7 +228,7 @@ void Costmap2DROS::resetOldParameters(rclcpp::Node::SharedPtr nh)
flag = parameters_client->get_parameter<bool>("static_map");
if (flag) {
map["name"] = XmlRpc::XmlRpcValue("static_layer");
- map["type"] = XmlRpc::XmlRpcValue("costmap_2d::StaticLayer");
+ map["type"] = XmlRpc::XmlRpcValue("nav2_costmap_2d::StaticLayer");
super_map.setStruct(&map);
plugins.push_back(super_map);
@@ -247,7 +247,7 @@ void Costmap2DROS::resetOldParameters(rclcpp::Node::SharedPtr nh)
s = parameters_client->get_parameter<std::string>("map_type");
if (s == "voxel") {
map["name"] = XmlRpc::XmlRpcValue("obstacle_layer");
- map["type"] = XmlRpc::XmlRpcValue("costmap_2d::VoxelLayer");
+ map["type"] = XmlRpc::XmlRpcValue("nav2_costmap_2d::VoxelLayer");
super_map.setStruct(&map);
plugins.push_back(super_map);
@@ -260,7 +260,7 @@ void Costmap2DROS::resetOldParameters(rclcpp::Node::SharedPtr nh)
}
} else {
map["name"] = XmlRpc::XmlRpcValue("obstacle_layer");
- map["type"] = XmlRpc::XmlRpcValue("costmap_2d::ObstacleLayer");
+ map["type"] = XmlRpc::XmlRpcValue("nav2_costmap_2d::ObstacleLayer");
super_map.setStruct(&map);
plugins.push_back(super_map);
}
@@ -284,7 +284,7 @@ void Costmap2DROS::resetOldParameters(rclcpp::Node::SharedPtr nh)
move_parameter(nh, inflation, "cost_scaling_factor");
move_parameter(nh, inflation, "inflation_radius");
map["name"] = XmlRpc::XmlRpcValue("inflation_layer");
- map["type"] = XmlRpc::XmlRpcValue("costmap_2d::InflationLayer");
+ map["type"] = XmlRpc::XmlRpcValue("nav2_costmap_2d::InflationLayer");
super_map.setStruct(&map);
plugins.push_back(super_map);
@@ -298,7 +298,7 @@ void Costmap2DROS::resetOldParameters(rclcpp::Node::SharedPtr nh)
}
// TODO(bpwilcox): resolve dynamic reconfigure dependencies
/*
-void Costmap2DROS::reconfigureCB(costmap_2d::Costmap2DConfig &config, uint32_t level)
+void Costmap2DROS::reconfigureCB(nav2_costmap_2d::Costmap2DConfig &config, uint32_t level)
{
transform_tolerance_ = config.transform_tolerance;
if (map_update_thread_ != NULL)
@@ -344,8 +344,8 @@ void Costmap2DROS::reconfigureCB(costmap_2d::Costmap2DConfig &config, uint32_t l
// TODO(bpwilcox): resolve dynamic reconfigure dependencies
/*
-void Costmap2DROS::readFootprintFromConfig(const costmap_2d::Costmap2DConfig &new_config,
- const costmap_2d::Costmap2DConfig &old_config)
+void Costmap2DROS::readFootprintFromConfig(const nav2_costmap_2d::Costmap2DConfig &new_config,
+ const nav2_costmap_2d::Costmap2DConfig &old_config)
{
// Only change the footprint if footprint or robot_radius has
// changed. Otherwise we might overwrite a footprint sent on a
@@ -366,7 +366,7 @@ void Costmap2DROS::readFootprintFromConfig(const costmap_2d::Costmap2DConfig &ne
}
else
{
- RCLCPP_ERROR(rclcpp::get_logger("costmap_2d"),"Invalid footprint string from dynamic reconfigure");
+ RCLCPP_ERROR(rclcpp::get_logger("nav2_costmap_2d"),"Invalid footprint string from dynamic reconfigure");
}
}
else
@@ -396,7 +396,7 @@ void Costmap2DROS::movementCB()
geometry_msgs::msg::PoseStamped new_pose;
if (!getRobotPose(new_pose)) {
RCLCPP_WARN(rclcpp::get_logger(
- "costmap_2d"), "Could not get robot pose, cancelling reconfiguration");
+ "nav2_costmap_2d"), "Could not get robot pose, cancelling reconfiguration");
robot_stopped_ = false;
}
// make sure that the robot is not moving
@@ -436,7 +436,7 @@ void Costmap2DROS::mapUpdateLoop(double frequency)
start_t = start.tv_sec + double(start.tv_usec) / 1e6;
end_t = end.tv_sec + double(end.tv_usec) / 1e6;
t_diff = end_t - start_t;
- RCLCPP_DEBUG(rclcpp::get_logger("costmap_2d"), "Map update time: %.9f", t_diff);
+ RCLCPP_DEBUG(rclcpp::get_logger("nav2_costmap_2d"), "Map update time: %.9f", t_diff);
if (publish_cycle_.nanoseconds() > 0 && layered_costmap_->isInitialized()) {
unsigned int x0, y0, xn, yn;
layered_costmap_->getBounds(&x0, &xn, &y0, &yn);
@@ -453,7 +453,7 @@ void Costmap2DROS::mapUpdateLoop(double frequency)
if (r.period() > tf2::durationFromSec(1 / frequency)) {
RCLCPP_WARN(rclcpp::get_logger(
- "costmap_2d"),
+ "nav2_costmap_2d"),
"Map update loop missed its desired rate of %.4fHz... the loop actually took %.4f seconds",
frequency,
r.period());
@@ -570,15 +570,15 @@ bool Costmap2DROS::getRobotPose(geometry_msgs::msg::PoseStamped & global_pose) c
tf_.transform(robot_pose, global_pose, global_frame_);
} catch (tf2::LookupException & ex) {
RCLCPP_ERROR(rclcpp::get_logger(
- "costmap_2d"), "No Transform available Error looking up robot pose: %s\n", ex.what());
+ "nav2_costmap_2d"), "No Transform available Error looking up robot pose: %s\n", ex.what());
return false;
} catch (tf2::ConnectivityException & ex) {
RCLCPP_ERROR(rclcpp::get_logger(
- "costmap_2d"), "Connectivity Error looking up robot pose: %s\n", ex.what());
+ "nav2_costmap_2d"), "Connectivity Error looking up robot pose: %s\n", ex.what());
return false;
} catch (tf2::ExtrapolationException & ex) {
RCLCPP_ERROR(rclcpp::get_logger(
- "costmap_2d"), "Extrapolation Error looking up robot pose: %s\n", ex.what());
+ "nav2_costmap_2d"), "Extrapolation Error looking up robot pose: %s\n", ex.what());
return false;
}
// check global_pose timeout
@@ -588,7 +588,7 @@ bool Costmap2DROS::getRobotPose(geometry_msgs::msg::PoseStamped & global_pose) c
tf2::timeToSec(tf2_ros::fromMsg(global_pose.header.stamp)) > transform_tolerance_)
{
RCLCPP_WARN(rclcpp::get_logger(
- "costmap_2d"),
+ "nav2_costmap_2d"),
"Costmap2DROS transform timeout. Current time: %.4f, global_pose stamp: %.4f, tolerance: %.4f",
tf2::timeToSec(tf2_ros::fromMsg(current_time)),
tf2::timeToSec(tf2_ros::fromMsg(global_pose.header.stamp)), transform_tolerance_);
@@ -612,4 +612,4 @@ const
padded_footprint_, oriented_footprint);
}
-} // namespace costmap_2d
+} // namespace nav2_costmap_2d
diff --git a/src/libs/costmap_2d/src/costmap_layer.cpp b/nav2_costmap_2d/src/costmap_layer.cpp
similarity index 84%
rename from src/libs/costmap_2d/src/costmap_layer.cpp
rename to nav2_costmap_2d/src/costmap_layer.cpp
index 35c14c84..7947b19a 100644
--- a/src/libs/costmap_2d/src/costmap_layer.cpp
+++ b/nav2_costmap_2d/src/costmap_layer.cpp
@@ -1,6 +1,6 @@
-#include <costmap_2d/costmap_layer.h>
+#include <nav2_costmap_2d/costmap_layer.h>
-namespace costmap_2d
+namespace nav2_costmap_2d
{
void CostmapLayer::touch(double x, double y, double * min_x, double * min_y, double * max_x,
@@ -45,7 +45,7 @@ void CostmapLayer::useExtraBounds(double * min_x, double * min_y, double * max_x
has_extra_bounds_ = false;
}
-void CostmapLayer::updateWithMax(costmap_2d::Costmap2D & master_grid, int min_i, int min_j,
+void CostmapLayer::updateWithMax(nav2_costmap_2d::Costmap2D & master_grid, int min_i, int min_j,
int max_i,
int max_j)
{
@@ -73,7 +73,7 @@ void CostmapLayer::updateWithMax(costmap_2d::Costmap2D & master_grid, int min_i,
}
}
-void CostmapLayer::updateWithTrueOverwrite(costmap_2d::Costmap2D & master_grid, int min_i,
+void CostmapLayer::updateWithTrueOverwrite(nav2_costmap_2d::Costmap2D & master_grid, int min_i,
int min_j,
int max_i,
int max_j)
@@ -93,7 +93,7 @@ void CostmapLayer::updateWithTrueOverwrite(costmap_2d::Costmap2D & master_grid,
}
}
-void CostmapLayer::updateWithOverwrite(costmap_2d::Costmap2D & master_grid, int min_i, int min_j,
+void CostmapLayer::updateWithOverwrite(nav2_costmap_2d::Costmap2D & master_grid, int min_i, int min_j,
int max_i,
int max_j)
{
@@ -114,7 +114,7 @@ void CostmapLayer::updateWithOverwrite(costmap_2d::Costmap2D & master_grid, int
}
}
-void CostmapLayer::updateWithAddition(costmap_2d::Costmap2D & master_grid, int min_i, int min_j,
+void CostmapLayer::updateWithAddition(nav2_costmap_2d::Costmap2D & master_grid, int min_i, int min_j,
int max_i,
int max_j)
{
@@ -137,8 +137,8 @@ void CostmapLayer::updateWithAddition(costmap_2d::Costmap2D & master_grid, int m
master_array[it] = costmap_[it];
} else {
int sum = old_cost + costmap_[it];
- if (sum >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE) {
- master_array[it] = costmap_2d::INSCRIBED_INFLATED_OBSTACLE - 1;
+ if (sum >= nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE) {
+ master_array[it] = nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE - 1;
} else {
master_array[it] = sum;
}
@@ -147,4 +147,4 @@ void CostmapLayer::updateWithAddition(costmap_2d::Costmap2D & master_grid, int m
}
}
}
-} // namespace costmap_2d
+} // namespace nav2_costmap_2d
diff --git a/src/libs/costmap_2d/src/costmap_math.cpp b/nav2_costmap_2d/src/costmap_math.cpp
similarity index 98%
rename from src/libs/costmap_2d/src/costmap_math.cpp
rename to nav2_costmap_2d/src/costmap_math.cpp
index 9995d456..a9797e8f 100644
--- a/src/libs/costmap_2d/src/costmap_math.cpp
+++ b/nav2_costmap_2d/src/costmap_math.cpp
@@ -27,7 +27,7 @@
* POSSIBILITY OF SUCH DAMAGE.
*/
-#include <costmap_2d/costmap_math.h>
+#include <nav2_costmap_2d/costmap_math.h>
double distanceToLine(double pX, double pY, double x0, double y0, double x1, double y1)
{
diff --git a/src/libs/costmap_2d/src/footprint.cpp b/nav2_costmap_2d/src/footprint.cpp
similarity index 95%
rename from src/libs/costmap_2d/src/footprint.cpp
rename to nav2_costmap_2d/src/footprint.cpp
index f7d7b88b..54e77f4c 100644
--- a/src/libs/costmap_2d/src/footprint.cpp
+++ b/nav2_costmap_2d/src/footprint.cpp
@@ -28,12 +28,12 @@
*/
#include <string>
-#include <costmap_2d/costmap_math.h>
-#include <costmap_2d/footprint.h>
-#include <costmap_2d/array_parser.h>
+#include <nav2_costmap_2d/costmap_math.h>
+#include <nav2_costmap_2d/footprint.h>
+#include <nav2_costmap_2d/array_parser.h>
#include <geometry_msgs/msg/point32.hpp>
-namespace costmap_2d
+namespace nav2_costmap_2d
{
void calculateMinAndMaxDistances(const std::vector<geometry_msgs::msg::Point> & footprint,
@@ -170,16 +170,16 @@ bool makeFootprintFromString(const std::string & footprint_string,
if (error != "") {
RCLCPP_ERROR(rclcpp::get_logger(
- "costmap_2d"), "Error parsing footprint parameter: '%s'", error.c_str());
+ "nav2_costmap_2d"), "Error parsing footprint parameter: '%s'", error.c_str());
RCLCPP_ERROR(rclcpp::get_logger(
- "costmap_2d"), " Footprint string was '%s'.", footprint_string.c_str());
+ "nav2_costmap_2d"), " Footprint string was '%s'.", footprint_string.c_str());
return false;
}
// convert vvf into points.
if (vvf.size() < 3) {
RCLCPP_ERROR(rclcpp::get_logger(
- "costmap_2d"),
+ "nav2_costmap_2d"),
"You must specify at least three points for the robot footprint, reverting to previous footprint.");
return false;
}
@@ -193,7 +193,7 @@ bool makeFootprintFromString(const std::string & footprint_string,
footprint.push_back(point);
} else {
RCLCPP_ERROR(rclcpp::get_logger(
- "costmap_2d"),
+ "nav2_costmap_2d"),
"Points in the footprint specification must be pairs of numbers. Found a point with %d numbers.",
int(vvf[i].size()));
return false;
@@ -280,7 +280,7 @@ double getNumberFromXMLRPC(XmlRpc::XmlRpcValue & value, const std::string & full
{
std::string & value_string = value;
RCLCPP_FATAL(rclcpp::get_logger(
- "costmap_2d"),
+ "nav2_costmap_2d"),
"Values in the footprint specification (param %s) must be numbers. Found value %s.",
full_param_name.c_str(), value_string.c_str());
throw std::runtime_error("Values in the footprint specification must be numbers");
@@ -297,7 +297,7 @@ std::vector<geometry_msgs::msg::Point> makeFootprintFromXMLRPC(
footprint_xmlrpc.size() < 3)
{
RCLCPP_FATAL(rclcpp::get_logger(
- "costmap_2d"),
+ "nav2_costmap_2d"),
"The footprint must be specified as list of lists on the parameter server, %s was specified as %s",
full_param_name.c_str(), std::string(footprint_xmlrpc).c_str());
throw std::runtime_error(
@@ -315,7 +315,7 @@ std::vector<geometry_msgs::msg::Point> makeFootprintFromXMLRPC(
point.size() != 2)
{
RCLCPP_FATAL(rclcpp::get_logger(
- "costmap_2d"),
+ "nav2_costmap_2d"),
"The footprint (parameter %s) must be specified as list of lists on the parameter server eg: "
"[[x1, y1], [x2, y2], ..., [xn, yn]], but this spec is not of that form.",
full_param_name.c_str());
@@ -332,4 +332,4 @@ std::vector<geometry_msgs::msg::Point> makeFootprintFromXMLRPC(
return footprint;
}
-} // end namespace costmap_2d
+} // end namespace nav2_costmap_2d
diff --git a/src/libs/costmap_2d/src/layer.cpp b/nav2_costmap_2d/src/layer.cpp
similarity index 95%
rename from src/libs/costmap_2d/src/layer.cpp
rename to nav2_costmap_2d/src/layer.cpp
index 2aae2630..3f9f545a 100644
--- a/src/libs/costmap_2d/src/layer.cpp
+++ b/nav2_costmap_2d/src/layer.cpp
@@ -27,9 +27,9 @@
* POSSIBILITY OF SUCH DAMAGE.
*/
-#include "costmap_2d/layer.h"
+#include "nav2_costmap_2d/layer.h"
-namespace costmap_2d
+namespace nav2_costmap_2d
{
Layer::Layer()
@@ -53,4 +53,4 @@ const std::vector<geometry_msgs::msg::Point> & Layer::getFootprint() const
return layered_costmap_->getFootprint();
}
-} // end namespace costmap_2d
+} // end namespace nav2_costmap_2d
diff --git a/src/libs/costmap_2d/src/layered_costmap.cpp b/nav2_costmap_2d/src/layered_costmap.cpp
similarity index 92%
rename from src/libs/costmap_2d/src/layered_costmap.cpp
rename to nav2_costmap_2d/src/layered_costmap.cpp
index a6c9e89e..cb0a40cf 100644
--- a/src/libs/costmap_2d/src/layered_costmap.cpp
+++ b/nav2_costmap_2d/src/layered_costmap.cpp
@@ -35,8 +35,8 @@
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
-#include <costmap_2d/layered_costmap.h>
-#include <costmap_2d/footprint.h>
+#include <nav2_costmap_2d/layered_costmap.h>
+#include <nav2_costmap_2d/footprint.h>
#include <cstdio>
#include <string>
#include <algorithm>
@@ -44,7 +44,7 @@
using std::vector;
-namespace costmap_2d
+namespace nav2_costmap_2d
{
LayeredCostmap::LayeredCostmap(std::string global_frame, bool rolling_window, bool track_unknown)
@@ -124,7 +124,7 @@ void LayeredCostmap::updateMap(double robot_x, double robot_y, double robot_yaw)
(*plugin)->updateBounds(robot_x, robot_y, robot_yaw, &minx_, &miny_, &maxx_, &maxy_);
if (minx_ > prev_minx || miny_ > prev_miny || maxx_ < prev_maxx || maxy_ < prev_maxy) {
RCLCPP_WARN(rclcpp::get_logger(
- "costmap_2d"), "Illegal bounds change, was [tl: (%f, %f), br: (%f, %f)], but "
+ "nav2_costmap_2d"), "Illegal bounds change, was [tl: (%f, %f), br: (%f, %f)], but "
"is now [tl: (%f, %f), br: (%f, %f)]. The offending layer is %s",
prev_minx, prev_miny, prev_maxx, prev_maxy,
minx_, miny_, maxx_, maxy_,
@@ -142,7 +142,7 @@ void LayeredCostmap::updateMap(double robot_x, double robot_y, double robot_yaw)
yn = std::min(int(costmap_.getSizeInCellsY()), yn + 1);
RCLCPP_DEBUG(rclcpp::get_logger(
- "costmap_2d"), "Updating area x: [%d, %d] y: [%d, %d]", x0, xn, y0, yn);
+ "nav2_costmap_2d"), "Updating area x: [%d, %d] y: [%d, %d]", x0, xn, y0, yn);
if (xn < x0 || yn < y0) {
return;
@@ -177,7 +177,7 @@ bool LayeredCostmap::isCurrent()
void LayeredCostmap::setFootprint(const std::vector<geometry_msgs::msg::Point> & footprint_spec)
{
footprint_ = footprint_spec;
- costmap_2d::calculateMinAndMaxDistances(footprint_spec, inscribed_radius_, circumscribed_radius_);
+ nav2_costmap_2d::calculateMinAndMaxDistances(footprint_spec, inscribed_radius_, circumscribed_radius_);
for (vector<std::shared_ptr<Layer> >::iterator plugin = plugins_.begin(); plugin != plugins_.end();
++plugin)
@@ -186,4 +186,4 @@ void LayeredCostmap::setFootprint(const std::vector<geometry_msgs::msg::Point> &
}
}
-} // namespace costmap_2d
+} // namespace nav2_costmap_2d
diff --git a/src/libs/costmap_2d/src/observation_buffer.cpp b/nav2_costmap_2d/src/observation_buffer.cpp
similarity index 96%
rename from src/libs/costmap_2d/src/observation_buffer.cpp
rename to nav2_costmap_2d/src/observation_buffer.cpp
index df16aa51..c664bdd0 100644
--- a/src/libs/costmap_2d/src/observation_buffer.cpp
+++ b/nav2_costmap_2d/src/observation_buffer.cpp
@@ -34,7 +34,7 @@
*
* Author: Eitan Marder-Eppstein
*********************************************************************/
-#include <costmap_2d/observation_buffer.h>
+#include <nav2_costmap_2d/observation_buffer.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <tf2_sensor_msgs/tf2_sensor_msgs.h>
@@ -43,7 +43,7 @@
using namespace std;
using namespace tf2;
-namespace costmap_2d
+namespace nav2_costmap_2d
{
ObservationBuffer::ObservationBuffer(string topic_name, double observation_keep_time,
double expected_update_rate,
@@ -75,7 +75,7 @@ bool ObservationBuffer::setGlobalFrame(const std::string new_global_frame)
tf2::durationFromSec(tf_tolerance_), &tf_error))
{
RCLCPP_ERROR(rclcpp::get_logger(
- "costmap_2d"), "Transform between %s and %s with tolerance %.2f failed: %s.",
+ "nav2_costmap_2d"), "Transform between %s and %s with tolerance %.2f failed: %s.",
new_global_frame.c_str(),
global_frame_.c_str(), tf_tolerance_, tf_error.c_str());
return false;
@@ -99,7 +99,7 @@ bool ObservationBuffer::setGlobalFrame(const std::string new_global_frame)
tf2_buffer_.transform(*(obs.cloud_), *(obs.cloud_), new_global_frame);
} catch (TransformException & ex) {
RCLCPP_ERROR(rclcpp::get_logger(
- "costmap_2d"), "TF Error attempting to transform an observation from %s to %s: %s",
+ "nav2_costmap_2d"), "TF Error attempting to transform an observation from %s to %s: %s",
global_frame_.c_str(),
new_global_frame.c_str(), ex.what());
return false;
@@ -182,7 +182,7 @@ void ObservationBuffer::bufferCloud(const sensor_msgs::msg::PointCloud2 & cloud)
// if an exception occurs, we need to remove the empty observation from the list
observation_list_.pop_front();
RCLCPP_ERROR(rclcpp::get_logger(
- "costmap_2d"),
+ "nav2_costmap_2d"),
"TF Exception that should never happen for sensor frame: %s, cloud frame: %s, %s",
sensor_frame_.c_str(),
cloud.header.frame_id.c_str(), ex.what());
@@ -240,7 +240,7 @@ bool ObservationBuffer::isCurrent() const
bool current = (clock_.now() - last_updated_).toSec() <= expected_update_rate_.toSec();
if (!current) {
RCLCPP_WARN(rclcpp::get_logger(
- "costmap_2d"),
+ "nav2_costmap_2d"),
"The %s observation buffer has not been updated for %.2f seconds, and it should be updated every %.2f seconds.",
topic_name_.c_str(),
(clock_.now() - last_updated_).toSec(), expected_update_rate_.toSec());
@@ -252,4 +252,4 @@ void ObservationBuffer::resetLastUpdated()
{
last_updated_ = clock_.now();
}
-} // namespace costmap_2d
+} // namespace nav2_costmap_2d
diff --git a/src/libs/costmap_2d/test/TenByTen.pgm b/nav2_costmap_2d/test/TenByTen.pgm
similarity index 100%
rename from src/libs/costmap_2d/test/TenByTen.pgm
rename to nav2_costmap_2d/test/TenByTen.pgm
diff --git a/src/libs/costmap_2d/test/TenByTen.yaml b/nav2_costmap_2d/test/TenByTen.yaml
similarity index 100%
rename from src/libs/costmap_2d/test/TenByTen.yaml
rename to nav2_costmap_2d/test/TenByTen.yaml
diff --git a/src/libs/costmap_2d/test/array_parser_test.cpp b/nav2_costmap_2d/test/array_parser_test.cpp
similarity index 97%
rename from src/libs/costmap_2d/test/array_parser_test.cpp
rename to nav2_costmap_2d/test/array_parser_test.cpp
index 7ac2a390..cec4f136 100644
--- a/src/libs/costmap_2d/test/array_parser_test.cpp
+++ b/nav2_costmap_2d/test/array_parser_test.cpp
@@ -29,9 +29,9 @@
#include <gtest/gtest.h>
-#include "costmap_2d/array_parser.h"
+#include "nav2_costmap_2d/array_parser.h"
-using namespace costmap_2d;
+using namespace nav2_costmap_2d;
TEST(array_parser, basic_operation)
{
diff --git a/src/libs/costmap_2d/test/costmap_params.yaml b/nav2_costmap_2d/test/costmap_params.yaml
similarity index 100%
rename from src/libs/costmap_2d/test/costmap_params.yaml
rename to nav2_costmap_2d/test/costmap_params.yaml
diff --git a/src/libs/costmap_2d/test/costmap_tester.cpp b/nav2_costmap_2d/test/costmap_tester.cpp
similarity index 84%
rename from src/libs/costmap_2d/test/costmap_tester.cpp
rename to nav2_costmap_2d/test/costmap_tester.cpp
index c49a98c5..a334fc68 100644
--- a/src/libs/costmap_2d/test/costmap_tester.cpp
+++ b/nav2_costmap_2d/test/costmap_tester.cpp
@@ -36,29 +36,29 @@
*********************************************************************/
#include <gtest/gtest.h>
#include <ros/ros.h>
-#include <costmap_2d/costmap_2d_ros.h>
-#include <costmap_2d/cost_values.h>
+#include <nav2_costmap_2d/costmap_2d_ros.h>
+#include <nav2_costmap_2d/cost_values.h>
#include <tf2_ros/transform_listener.h>
-namespace costmap_2d {
+namespace nav2_costmap_2d {
class CostmapTester : public testing::Test {
public:
CostmapTester(tf2_ros::Buffer& tf);
void checkConsistentCosts();
- void compareCellToNeighbors(costmap_2d::Costmap2D& costmap, unsigned int x, unsigned int y);
- void compareCells(costmap_2d::Costmap2D& costmap,
+ void compareCellToNeighbors(nav2_costmap_2d::Costmap2D& costmap, unsigned int x, unsigned int y);
+ void compareCells(nav2_costmap_2d::Costmap2D& costmap,
unsigned int x, unsigned int y, unsigned int nx, unsigned int ny);
virtual void TestBody(){}
private:
- costmap_2d::Costmap2DROS costmap_ros_;
+ nav2_costmap_2d::Costmap2DROS costmap_ros_;
};
CostmapTester::CostmapTester(tf2_ros::Buffer& tf): costmap_ros_("test_costmap", tf){}
void CostmapTester::checkConsistentCosts(){
- costmap_2d::Costmap2D* costmap = costmap_ros_.getCostmap();
+ nav2_costmap_2d::Costmap2D* costmap = costmap_ros_.getCostmap();
//get a copy of the costmap contained by our ros wrapper
costmap->saveMap("costmap_test.pgm");
@@ -71,7 +71,7 @@ void CostmapTester::checkConsistentCosts(){
}
}
-void CostmapTester::compareCellToNeighbors(costmap_2d::Costmap2D& costmap, unsigned int x, unsigned int y){
+void CostmapTester::compareCellToNeighbors(nav2_costmap_2d::Costmap2D& costmap, unsigned int x, unsigned int y){
//we'll compare the cost of this cell with that of its eight neighbors to see if they're reasonable
for(int offset_x = -1; offset_x <= 1; ++offset_x){
for(int offset_y = -1; offset_y <= 1; ++offset_y){
@@ -87,18 +87,18 @@ void CostmapTester::compareCellToNeighbors(costmap_2d::Costmap2D& costmap, unsig
}
//for all lethal and inscribed costs, we'll make sure that their neighbors have the cost values we'd expect
-void CostmapTester::compareCells(costmap_2d::Costmap2D& costmap, unsigned int x, unsigned int y, unsigned int nx, unsigned int ny){
+void CostmapTester::compareCells(nav2_costmap_2d::Costmap2D& costmap, unsigned int x, unsigned int y, unsigned int nx, unsigned int ny){
double cell_distance = hypot(static_cast<int>(x-nx), static_cast<int>(y-ny));
unsigned char cell_cost = costmap.getCost(x, y);
unsigned char neighbor_cost = costmap.getCost(nx, ny);
- if(cell_cost == costmap_2d::LETHAL_OBSTACLE){
+ if(cell_cost == nav2_costmap_2d::LETHAL_OBSTACLE){
//if the cell is a lethal obstacle, then we know that all its neighbors should have equal or slighlty less cost
unsigned char expected_lowest_cost = 0; // ################costmap.computeCost(cell_distance);
- EXPECT_TRUE(neighbor_cost >= expected_lowest_cost || (cell_distance > 0 /*costmap.cell_inflation_radius_*/ && neighbor_cost == costmap_2d::FREE_SPACE));
+ EXPECT_TRUE(neighbor_cost >= expected_lowest_cost || (cell_distance > 0 /*costmap.cell_inflation_radius_*/ && neighbor_cost == nav2_costmap_2d::FREE_SPACE));
}
- else if(cell_cost == costmap_2d::INSCRIBED_INFLATED_OBSTACLE){
+ else if(cell_cost == nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE){
//the furthest valid distance from an obstacle is the inscribed radius plus the cell distance away
double furthest_valid_distance = 0; // ################costmap.cell_inscribed_radius_ + cell_distance + 1;
unsigned char expected_lowest_cost = 0; // ################costmap.computeCost(furthest_valid_distance);
@@ -108,12 +108,12 @@ void CostmapTester::compareCells(costmap_2d::Costmap2D& costmap, unsigned int x,
ROS_ERROR("Cell: (%d, %d), Neighbor: (%d, %d)", x, y, nx, ny);
costmap.saveMap("failing_costmap.pgm");
}
- EXPECT_TRUE(neighbor_cost >= expected_lowest_cost || (furthest_valid_distance > 0/* costmap.cell_inflation_radius_ */&& neighbor_cost == costmap_2d::FREE_SPACE));
+ EXPECT_TRUE(neighbor_cost >= expected_lowest_cost || (furthest_valid_distance > 0/* costmap.cell_inflation_radius_ */&& neighbor_cost == nav2_costmap_2d::FREE_SPACE));
}
}
};
-costmap_2d::CostmapTester* map_tester = NULL;
+nav2_costmap_2d::CostmapTester* map_tester = NULL;
TEST(CostmapTester, checkConsistentCosts){
map_tester->checkConsistentCosts();
@@ -134,7 +134,7 @@ int main(int argc, char** argv){
tf2_ros::Buffer tf(ros::Duration(10));
tf2_ros::TransformListener tfl(tf);
- map_tester = new costmap_2d::CostmapTester(tf);
+ map_tester = new nav2_costmap_2d::CostmapTester(tf);
double wait_time;
private_nh.param("wait_time", wait_time, 30.0);
diff --git a/src/libs/costmap_2d/test/footprint_tests.cpp b/nav2_costmap_2d/test/footprint_tests.cpp
similarity index 99%
rename from src/libs/costmap_2d/test/footprint_tests.cpp
rename to nav2_costmap_2d/test/footprint_tests.cpp
index 356b9b67..4c8ccfb5 100644
--- a/src/libs/costmap_2d/test/footprint_tests.cpp
+++ b/nav2_costmap_2d/test/footprint_tests.cpp
@@ -40,7 +40,7 @@
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <tf2_ros/transform_listener.h>
-using namespace costmap_2d;
+using namespace nav2_costmap_2d;
tf2_ros::TransformListener* tfl_;
tf2_ros::Buffer* tf_;
diff --git a/src/libs/costmap_2d/test/footprint_tests.launch b/nav2_costmap_2d/test/footprint_tests.launch
similarity index 91%
rename from src/libs/costmap_2d/test/footprint_tests.launch
rename to nav2_costmap_2d/test/footprint_tests.launch
index 30edbdd4..7a546e1c 100644
--- a/src/libs/costmap_2d/test/footprint_tests.launch
+++ b/nav2_costmap_2d/test/footprint_tests.launch
@@ -1,6 +1,6 @@
<launch>
- <test time-limit="10" test-name="footprint_test" pkg="costmap_2d" type="footprint_tests">
+ <test time-limit="10" test-name="footprint_test" pkg="nav2_costmap_2d" type="footprint_tests">
<param name="unpadded/string/footprint_padding" value="0" />
<param name="unpadded/footprint" value="[[1, 1], [-1, 1], [-1, -1]]" />
diff --git a/src/libs/costmap_2d/test/inflation_tests.cpp b/nav2_costmap_2d/test/inflation_tests.cpp
similarity index 90%
rename from src/libs/costmap_2d/test/inflation_tests.cpp
rename to nav2_costmap_2d/test/inflation_tests.cpp
index cd3d8d05..32a477ee 100644
--- a/src/libs/costmap_2d/test/inflation_tests.cpp
+++ b/nav2_costmap_2d/test/inflation_tests.cpp
@@ -34,15 +34,15 @@
#include <map>
#include <cmath>
-#include <costmap_2d/costmap_2d.h>
-#include <costmap_2d/layered_costmap.h>
-#include <costmap_2d/obstacle_layer.h>
-#include <costmap_2d/inflation_layer.h>
-#include <costmap_2d/observation_buffer.h>
-#include <costmap_2d/testing_helper.h>
+#include <nav2_costmap_2d/costmap_2d.h>
+#include <nav2_costmap_2d/layered_costmap.h>
+#include <nav2_costmap_2d/obstacle_layer.h>
+#include <nav2_costmap_2d/inflation_layer.h>
+#include <nav2_costmap_2d/observation_buffer.h>
+#include <nav2_costmap_2d/testing_helper.h>
#include <gtest/gtest.h>
-using namespace costmap_2d;
+using namespace nav2_costmap_2d;
using geometry_msgs::Point;
std::vector<Point> setRadii(LayeredCostmap& layers, double length, double width, double inflation_radius)
@@ -202,17 +202,17 @@ TEST(costmap, testCostFunctionCorrectness){
for(unsigned int i = 0; i <= (unsigned int)ceil(5.0); i++){
// To the right
- ASSERT_EQ(map->getCost(50 + i, 50) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
- ASSERT_EQ(map->getCost(50 + i, 50) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
+ ASSERT_EQ(map->getCost(50 + i, 50) >= nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
+ ASSERT_EQ(map->getCost(50 + i, 50) >= nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
// To the left
- ASSERT_EQ(map->getCost(50 - i, 50) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
- ASSERT_EQ(map->getCost(50 - i, 50) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
+ ASSERT_EQ(map->getCost(50 - i, 50) >= nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
+ ASSERT_EQ(map->getCost(50 - i, 50) >= nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
// Down
- ASSERT_EQ(map->getCost(50, 50 + i) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
- ASSERT_EQ(map->getCost(50, 50 + i) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
+ ASSERT_EQ(map->getCost(50, 50 + i) >= nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
+ ASSERT_EQ(map->getCost(50, 50 + i) >= nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
// Up
- ASSERT_EQ(map->getCost(50, 50 - i) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
- ASSERT_EQ(map->getCost(50, 50 - i) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
+ ASSERT_EQ(map->getCost(50, 50 - i) >= nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
+ ASSERT_EQ(map->getCost(50, 50 - i) >= nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
}
// Verify the normalized cost attenuates as expected
@@ -237,7 +237,7 @@ TEST(costmap, testCostFunctionCorrectness){
for(unsigned int i = 0; i < 100; i++)
for(unsigned int j = 0; j < 100; j++)
- ASSERT_EQ(map->getCost(i, j), costmap_2d::FREE_SPACE);*/
+ ASSERT_EQ(map->getCost(i, j), nav2_costmap_2d::FREE_SPACE);*/
}
/**
@@ -301,7 +301,7 @@ TEST(costmap, testInflation){
unsigned int x, y;
map.indexToCells(ind, x, y);
ASSERT_EQ(find(occupiedCells, map.getIndex(x, y)), true);
- ASSERT_EQ(map.getCost(x, y) == costmap_2d::LETHAL_OBSTACLE || map.getCost(x, y) == costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
+ ASSERT_EQ(map.getCost(x, y) == nav2_costmap_2d::LETHAL_OBSTACLE || map.getCost(x, y) == nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
}*/
addObservation(olayer, 0, 0, 0.4);
@@ -360,8 +360,8 @@ TEST(costmap, testInflation2){
Costmap2D* costmap = layers.getCostmap();
//printMap(*costmap);
- ASSERT_EQ(costmap->getCost(2, 3), costmap_2d::INSCRIBED_INFLATED_OBSTACLE);
- ASSERT_EQ(costmap->getCost(3, 3), costmap_2d::INSCRIBED_INFLATED_OBSTACLE);
+ ASSERT_EQ(costmap->getCost(2, 3), nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE);
+ ASSERT_EQ(costmap->getCost(3, 3), nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE);
}
/**
diff --git a/src/libs/costmap_2d/test/inflation_tests.launch b/nav2_costmap_2d/test/inflation_tests.launch
similarity index 52%
rename from src/libs/costmap_2d/test/inflation_tests.launch
rename to nav2_costmap_2d/test/inflation_tests.launch
index 1c2b2fe7..d08b67fb 100644
--- a/src/libs/costmap_2d/test/inflation_tests.launch
+++ b/nav2_costmap_2d/test/inflation_tests.launch
@@ -1,6 +1,6 @@
<launch>
- <node name="ms" pkg="map_server" type="map_server" args="$(find costmap_2d)/test/TenByTen.yaml"/>
- <test time-limit="300" test-name="inflation_tests" pkg="costmap_2d" type="inflation_tests">
+ <node name="ms" pkg="map_server" type="map_server" args="$(find nav2_costmap_2d)/test/TenByTen.yaml"/>
+ <test time-limit="300" test-name="inflation_tests" pkg="nav2_costmap_2d" type="inflation_tests">
<param name="inflation/cost_scaling_factor" value="1" />
</test>
</launch>
diff --git a/src/libs/costmap_2d/test/module_tests.cpp b/nav2_costmap_2d/test/module_tests.cpp
similarity index 91%
rename from src/libs/costmap_2d/test/module_tests.cpp
rename to nav2_costmap_2d/test/module_tests.cpp
index 52a7df94..c537b5a9 100644
--- a/src/libs/costmap_2d/test/module_tests.cpp
+++ b/nav2_costmap_2d/test/module_tests.cpp
@@ -32,12 +32,12 @@
* Test harness for Costmap2D
*/
-#include <costmap_2d/costmap_2d.h>
-#include <costmap_2d/observation_buffer.h>
+#include <nav2_costmap_2d/costmap_2d.h>
+#include <nav2_costmap_2d/observation_buffer.h>
#include <set>
#include <gtest/gtest.h>
-using namespace costmap_2d;
+using namespace nav2_costmap_2d;
const unsigned char MAP_10_BY_10_CHAR[] = {
0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
@@ -92,7 +92,7 @@ TEST(costmap, testResetForStaticMap){
std::vector<unsigned char> staticMap;
for(unsigned int i=0; i<10; i++){
for(unsigned int j=0; j<10; j++){
- staticMap.push_back(costmap_2d::LETHAL_OBSTACLE);
+ staticMap.push_back(nav2_costmap_2d::LETHAL_OBSTACLE);
}
}
@@ -148,7 +148,7 @@ TEST(costmap, testResetForStaticMap){
int hitCount = 0;
for(unsigned int i=0; i < 10; ++i){
for(unsigned int j=0; j < 10; ++j){
- if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){
+ if(map.getCost(i, j) == nav2_costmap_2d::LETHAL_OBSTACLE){
hitCount++;
}
}
@@ -159,7 +159,7 @@ TEST(costmap, testResetForStaticMap){
hitCount = 0;
for(unsigned int i=0; i < 10; ++i){
for(unsigned int j=0; j < 10; ++j){
- if(map.getCost(i, j) != costmap_2d::LETHAL_OBSTACLE)
+ if(map.getCost(i, j) != nav2_costmap_2d::LETHAL_OBSTACLE)
hitCount++;
}
}
@@ -172,7 +172,7 @@ TEST(costmap, testResetForStaticMap){
hitCount = 0;
for(unsigned int i=0; i < 10; ++i){
for(unsigned int j=0; j < 10; ++j){
- if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE)
+ if(map.getCost(i, j) == nav2_costmap_2d::LETHAL_OBSTACLE)
hitCount++;
}
}
@@ -211,17 +211,17 @@ TEST(costmap, testCostFunctionCorrectness){
for(unsigned int i = 0; i <= (unsigned int)ceil(ROBOT_RADIUS * 5.0); i++){
// To the right
- ASSERT_EQ(map.getCost(50 + i, 50) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
- ASSERT_EQ(map.getCost(50 + i, 50) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
+ ASSERT_EQ(map.getCost(50 + i, 50) >= nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
+ ASSERT_EQ(map.getCost(50 + i, 50) >= nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
// To the left
- ASSERT_EQ(map.getCost(50 - i, 50) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
- ASSERT_EQ(map.getCost(50 - i, 50) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
+ ASSERT_EQ(map.getCost(50 - i, 50) >= nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
+ ASSERT_EQ(map.getCost(50 - i, 50) >= nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
// Down
- ASSERT_EQ(map.getCost(50, 50 + i) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
- ASSERT_EQ(map.getCost(50, 50 + i) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
+ ASSERT_EQ(map.getCost(50, 50 + i) >= nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
+ ASSERT_EQ(map.getCost(50, 50 + i) >= nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
// Up
- ASSERT_EQ(map.getCost(50, 50 - i) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
- ASSERT_EQ(map.getCost(50, 50 - i) >= costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
+ ASSERT_EQ(map.getCost(50, 50 - i) >= nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
+ ASSERT_EQ(map.getCost(50, 50 - i) >= nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
}
// Verify the normalized cost attenuates as expected
@@ -246,7 +246,7 @@ TEST(costmap, testCostFunctionCorrectness){
for(unsigned int i = 0; i < 100; i++)
for(unsigned int j = 0; j < 100; j++)
- ASSERT_EQ(map.getCost(i, j), costmap_2d::FREE_SPACE);
+ ASSERT_EQ(map.getCost(i, j), nav2_costmap_2d::FREE_SPACE);
}
char printableCost( unsigned char cost )
@@ -299,7 +299,7 @@ TEST(costmap, testWaveInterference){
printf("map:\n");
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
- if(map.getCost(i, j) != costmap_2d::FREE_SPACE){
+ if(map.getCost(i, j) != nav2_costmap_2d::FREE_SPACE){
update_count++;
}
printf("%c", printableCost( map.getCost( i, j )));
@@ -452,7 +452,7 @@ TEST(costmap, testRaytracing){
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
- if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){
+ if(map.getCost(i, j) == nav2_costmap_2d::LETHAL_OBSTACLE){
lethal_count++;
}
}
@@ -514,7 +514,7 @@ TEST(costmap, testInflationShouldNotCreateUnknowns){
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
- if(map.getCost(i, j) == costmap_2d::NO_INFORMATION){
+ if(map.getCost(i, j) == nav2_costmap_2d::NO_INFORMATION){
unknown_count++;
}
}
@@ -546,7 +546,7 @@ TEST(costmap, testStaticMap){
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
- if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){
+ if(map.getCost(i, j) == nav2_costmap_2d::LETHAL_OBSTACLE){
occupiedCells.push_back(map.getIndex(i, j));
}
}
@@ -634,7 +634,7 @@ TEST(costmap, testDynamicObstacles){
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
- if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){
+ if(map.getCost(i, j) == nav2_costmap_2d::LETHAL_OBSTACLE){
ids.push_back(map.getIndex(i, j));
}
}
@@ -676,7 +676,7 @@ TEST(costmap, testMultipleAdditions){
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
- if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){
+ if(map.getCost(i, j) == nav2_costmap_2d::LETHAL_OBSTACLE){
ids.push_back(map.getIndex(i, j));
}
}
@@ -717,7 +717,7 @@ TEST(costmap, testZThreshold){
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
- if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){
+ if(map.getCost(i, j) == nav2_costmap_2d::LETHAL_OBSTACLE){
ids.push_back(map.getIndex(i, j));
}
}
@@ -739,7 +739,7 @@ TEST(costmap, testInflation){
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
- if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE || map.getCost(i, j) == costmap_2d::INSCRIBED_INFLATED_OBSTACLE){
+ if(map.getCost(i, j) == nav2_costmap_2d::LETHAL_OBSTACLE || map.getCost(i, j) == nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE){
occupiedCells.push_back(map.getIndex(i, j));
}
}
@@ -759,7 +759,7 @@ TEST(costmap, testInflation){
unsigned int x, y;
map.indexToCells(ind, x, y);
ASSERT_EQ(find(occupiedCells, map.getIndex(x, y)), true);
- ASSERT_EQ(map.getCost(x, y) == costmap_2d::LETHAL_OBSTACLE || map.getCost(x, y) == costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
+ ASSERT_EQ(map.getCost(x, y) == nav2_costmap_2d::LETHAL_OBSTACLE || map.getCost(x, y) == nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE, true);
}
// Set an obstacle at the origin and observe insertions for it and its neighbors
@@ -783,7 +783,7 @@ TEST(costmap, testInflation){
occupiedCells.clear();
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
- if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE || map.getCost(i, j) == costmap_2d::INSCRIBED_INFLATED_OBSTACLE){
+ if(map.getCost(i, j) == nav2_costmap_2d::LETHAL_OBSTACLE || map.getCost(i, j) == nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE){
occupiedCells.push_back(map.getIndex(i, j));
}
}
@@ -814,7 +814,7 @@ TEST(costmap, testInflation){
occupiedCells.clear();
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
- if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE || map.getCost(i, j) == costmap_2d::INSCRIBED_INFLATED_OBSTACLE){
+ if(map.getCost(i, j) == nav2_costmap_2d::LETHAL_OBSTACLE || map.getCost(i, j) == nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE){
occupiedCells.push_back(map.getIndex(i, j));
}
}
@@ -844,9 +844,9 @@ TEST(costmap, testInflation){
map.updateWorld(0, 0, obsBuf2, empty);
- ASSERT_EQ(map.getCost(1, 9), costmap_2d::LETHAL_OBSTACLE);
- ASSERT_EQ(map.getCost(0, 9), costmap_2d::INSCRIBED_INFLATED_OBSTACLE);
- ASSERT_EQ(map.getCost(2, 9), costmap_2d::INSCRIBED_INFLATED_OBSTACLE);
+ ASSERT_EQ(map.getCost(1, 9), nav2_costmap_2d::LETHAL_OBSTACLE);
+ ASSERT_EQ(map.getCost(0, 9), nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE);
+ ASSERT_EQ(map.getCost(2, 9), nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE);
// Add an obstacle and verify that it over-writes its inflated status
pcl::PointCloud<pcl::PointXYZ> c3;
@@ -866,7 +866,7 @@ TEST(costmap, testInflation){
map.updateWorld(0, 0, obsBuf3, empty);
- ASSERT_EQ(map.getCost(0, 9), costmap_2d::LETHAL_OBSTACLE);
+ ASSERT_EQ(map.getCost(0, 9), nav2_costmap_2d::LETHAL_OBSTACLE);
}
/**
@@ -900,8 +900,8 @@ TEST(costmap, testInflation2){
map.updateWorld(0, 0, obsBuf, obsBuf);
- ASSERT_EQ(map.getCost(3, 2), costmap_2d::INSCRIBED_INFLATED_OBSTACLE);
- ASSERT_EQ(map.getCost(3, 3), costmap_2d::INSCRIBED_INFLATED_OBSTACLE);
+ ASSERT_EQ(map.getCost(3, 2), nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE);
+ ASSERT_EQ(map.getCost(3, 3), nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE);
}
/**
@@ -923,7 +923,7 @@ TEST(costmap, testInflation3){
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
- if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE || map.getCost(i, j) == costmap_2d::INSCRIBED_INFLATED_OBSTACLE){
+ if(map.getCost(i, j) == nav2_costmap_2d::LETHAL_OBSTACLE || map.getCost(i, j) == nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE){
ids.push_back(map.getIndex(i, j));
}
}
@@ -951,7 +951,7 @@ TEST(costmap, testInflation3){
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
- if(map.getCost(i, j) != costmap_2d::FREE_SPACE){
+ if(map.getCost(i, j) != nav2_costmap_2d::FREE_SPACE){
ids.push_back(map.getIndex(i, j));
}
}
@@ -962,7 +962,7 @@ TEST(costmap, testInflation3){
ids.clear();
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
- if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE || map.getCost(i, j) == costmap_2d::INSCRIBED_INFLATED_OBSTACLE){
+ if(map.getCost(i, j) == nav2_costmap_2d::LETHAL_OBSTACLE || map.getCost(i, j) == nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE){
ids.push_back(map.getIndex(i, j));
}
}
@@ -976,7 +976,7 @@ TEST(costmap, testInflation3){
ids.clear();
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
- if(map.getCost(i, j) != costmap_2d::FREE_SPACE){
+ if(map.getCost(i, j) != nav2_costmap_2d::FREE_SPACE){
ids.push_back(map.getIndex(i, j));
}
}
@@ -1014,7 +1014,7 @@ TEST(costmap, testRaytracing2){
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
- if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){
+ if(map.getCost(i, j) == nav2_costmap_2d::LETHAL_OBSTACLE){
obstacles.push_back(map.getIndex(i, j));
}
}
@@ -1027,7 +1027,7 @@ TEST(costmap, testRaytracing2){
obstacles.clear();
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
- if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){
+ if(map.getCost(i, j) == nav2_costmap_2d::LETHAL_OBSTACLE){
obstacles.push_back(map.getIndex(i, j));
}
}
diff --git a/src/libs/costmap_2d/test/obstacle_tests.cpp b/nav2_costmap_2d/test/obstacle_tests.cpp
similarity index 90%
rename from src/libs/costmap_2d/test/obstacle_tests.cpp
rename to nav2_costmap_2d/test/obstacle_tests.cpp
index 2b2fe376..bd26bcb3 100644
--- a/src/libs/costmap_2d/test/obstacle_tests.cpp
+++ b/nav2_costmap_2d/test/obstacle_tests.cpp
@@ -32,14 +32,14 @@
* Test harness for ObstacleLayer for Costmap2D
*/
-#include <costmap_2d/costmap_2d.h>
-#include <costmap_2d/layered_costmap.h>
-#include <costmap_2d/observation_buffer.h>
-#include <costmap_2d/testing_helper.h>
+#include <nav2_costmap_2d/costmap_2d.h>
+#include <nav2_costmap_2d/layered_costmap.h>
+#include <nav2_costmap_2d/observation_buffer.h>
+#include <nav2_costmap_2d/testing_helper.h>
#include <set>
#include <gtest/gtest.h>
-using namespace costmap_2d;
+using namespace nav2_costmap_2d;
/*
* For reference, the static map looks like this:
@@ -143,7 +143,7 @@ TEST(costmap, testRaytracing2){
// Should thus be the same
ASSERT_EQ(with_static, obs_after);
// If 21 are filled, 79 should be free
- ASSERT_EQ(79, countValues(*(layers.getCostmap()), costmap_2d::FREE_SPACE));
+ ASSERT_EQ(79, countValues(*(layers.getCostmap()), nav2_costmap_2d::FREE_SPACE));
}
/**
@@ -170,9 +170,9 @@ TEST(costmap, testWaveInterference){
// 3 obstacle cells are filled, <1,1>,<2,2>,<4,4> and <6,6> are now free
// <0,0> is footprint and is free
//printMap(*costmap);
- ASSERT_EQ(3, countValues(*costmap, costmap_2d::LETHAL_OBSTACLE));
- ASSERT_EQ(92, countValues(*costmap, costmap_2d::NO_INFORMATION));
- ASSERT_EQ(5, countValues(*costmap, costmap_2d::FREE_SPACE));
+ ASSERT_EQ(3, countValues(*costmap, nav2_costmap_2d::LETHAL_OBSTACLE));
+ ASSERT_EQ(92, countValues(*costmap, nav2_costmap_2d::NO_INFORMATION));
+ ASSERT_EQ(5, countValues(*costmap, nav2_costmap_2d::FREE_SPACE));
}
/**
@@ -193,7 +193,7 @@ TEST(costmap, testZThreshold){
layers.updateMap(0,0,0);
Costmap2D* costmap = layers.getCostmap();
- ASSERT_EQ(countValues(*costmap, costmap_2d::LETHAL_OBSTACLE), 1);
+ ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::LETHAL_OBSTACLE), 1);
}
@@ -216,10 +216,10 @@ TEST(costmap, testDynamicObstacles){
Costmap2D* costmap = layers.getCostmap();
// Should now have 1 insertion and no deletions
- ASSERT_EQ(countValues(*costmap, costmap_2d::LETHAL_OBSTACLE), 21);
+ ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::LETHAL_OBSTACLE), 21);
// Repeating the call - we should see no insertions or deletions
- ASSERT_EQ(countValues(*costmap, costmap_2d::LETHAL_OBSTACLE), 21);
+ ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::LETHAL_OBSTACLE), 21);
}
@@ -239,7 +239,7 @@ TEST(costmap, testMultipleAdditions){
Costmap2D* costmap = layers.getCostmap();
//printMap(*costmap);
- ASSERT_EQ(countValues(*costmap, costmap_2d::LETHAL_OBSTACLE), 20);
+ ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::LETHAL_OBSTACLE), 20);
}
diff --git a/nav2_costmap_2d/test/obstacle_tests.launch b/nav2_costmap_2d/test/obstacle_tests.launch
new file mode 100644
index 00000000..4ddac24c
--- /dev/null
+++ b/nav2_costmap_2d/test/obstacle_tests.launch
@@ -0,0 +1,5 @@
+<launch>
+ <node name="ms" pkg="map_server" type="map_server" args="$(find nav2_costmap_2d)/test/TenByTen.yaml"/>
+ <test time-limit="300" test-name="obstacle_tests" pkg="nav2_costmap_2d" type="obstacle_tests" />
+
+</launch>
diff --git a/nav2_costmap_2d/test/simple_driving_test.xml b/nav2_costmap_2d/test/simple_driving_test.xml
new file mode 100644
index 00000000..5351f510
--- /dev/null
+++ b/nav2_costmap_2d/test/simple_driving_test.xml
@@ -0,0 +1,14 @@
+<launch>
+ <param name="/use_sim_time" value="true"/>
+
+ <node name="rosplay" pkg="rosbag" type="play"
+ args="-s 5 -r 1 --clock --hz=10 $(find nav2_costmap_2d)/test/simple_driving_test_indexed.bag" />
+
+ <node name="map_server" pkg="map_server" type="map_server" args="$(find nav2_costmap_2d)/test/willow-full-0.025.pgm 0.025" />
+
+ <rosparam file="$(find nav2_costmap_2d)/test/costmap_params.yaml" command="load" ns="simple_driving_test/test_costmap" />
+ <test time-limit="600" test-name="simple_driving_test" pkg="nav2_costmap_2d" type="costmap_tester">
+ <param name="wait_time" value="40.0" />
+ </test>
+
+</launch>
diff --git a/src/libs/costmap_2d/test/static_tests.cpp b/nav2_costmap_2d/test/static_tests.cpp
similarity index 94%
rename from src/libs/costmap_2d/test/static_tests.cpp
rename to nav2_costmap_2d/test/static_tests.cpp
index 714ceba8..8bde38c7 100644
--- a/src/libs/costmap_2d/test/static_tests.cpp
+++ b/nav2_costmap_2d/test/static_tests.cpp
@@ -32,16 +32,16 @@
* Test harness for StaticMap Layer for Costmap2D
*/
-#include <costmap_2d/costmap_2d.h>
-#include <costmap_2d/layered_costmap.h>
-#include <costmap_2d/obstacle_layer.h>
-#include <costmap_2d/static_layer.h>
-#include <costmap_2d/observation_buffer.h>
-#include <costmap_2d/testing_helper.h>
+#include <nav2_costmap_2d/costmap_2d.h>
+#include <nav2_costmap_2d/layered_costmap.h>
+#include <nav2_costmap_2d/obstacle_layer.h>
+#include <nav2_costmap_2d/static_layer.h>
+#include <nav2_costmap_2d/observation_buffer.h>
+#include <nav2_costmap_2d/testing_helper.h>
#include <set>
#include <gtest/gtest.h>
-using namespace costmap_2d;
+using namespace nav2_costmap_2d;
/**
@@ -52,7 +52,7 @@ TEST(costmap, testResetForStaticMap){
std::vector<unsigned char> staticMap;
for(unsigned int i=0; i<10; i++){
for(unsigned int j=0; j<10; j++){
- staticMap.push_back(costmap_2d::LETHAL_OBSTACLE);
+ staticMap.push_back(nav2_costmap_2d::LETHAL_OBSTACLE);
}
}
@@ -108,7 +108,7 @@ TEST(costmap, testResetForStaticMap){
int hitCount = 0;
for(unsigned int i=0; i < 10; ++i){
for(unsigned int j=0; j < 10; ++j){
- if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){
+ if(map.getCost(i, j) == nav2_costmap_2d::LETHAL_OBSTACLE){
hitCount++;
}
}
@@ -119,7 +119,7 @@ TEST(costmap, testResetForStaticMap){
hitCount = 0;
for(unsigned int i=0; i < 10; ++i){
for(unsigned int j=0; j < 10; ++j){
- if(map.getCost(i, j) != costmap_2d::LETHAL_OBSTACLE)
+ if(map.getCost(i, j) != nav2_costmap_2d::LETHAL_OBSTACLE)
hitCount++;
}
}
@@ -132,7 +132,7 @@ TEST(costmap, testResetForStaticMap){
hitCount = 0;
for(unsigned int i=0; i < 10; ++i){
for(unsigned int j=0; j < 10; ++j){
- if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE)
+ if(map.getCost(i, j) == nav2_costmap_2d::LETHAL_OBSTACLE)
hitCount++;
}
}
@@ -266,7 +266,7 @@ TEST(costmap, testStaticMap){
for(unsigned int i = 0; i < 10; ++i){
for(unsigned int j = 0; j < 10; ++j){
- if(map.getCost(i, j) == costmap_2d::LETHAL_OBSTACLE){
+ if(map.getCost(i, j) == nav2_costmap_2d::LETHAL_OBSTACLE){
occupiedCells.push_back(map.getIndex(i, j));
}
}
diff --git a/nav2_costmap_2d/test/static_tests.launch b/nav2_costmap_2d/test/static_tests.launch
new file mode 100644
index 00000000..f3f45891
--- /dev/null
+++ b/nav2_costmap_2d/test/static_tests.launch
@@ -0,0 +1,5 @@
+<launch>
+ <node name="ms" pkg="map_server" type="map_server" args="$(find nav2_costmap_2d)/test/TenByTen.yaml"/>
+ <test time-limit="300" test-name="static_tests" pkg="nav2_costmap_2d" type="static_tests" />
+
+</launch>
diff --git a/src/mission_execution/nav2_mission_executor/CHANGELOG.rst b/nav2_costmap_world_model/CHANGELOG.rst
similarity index 100%
rename from src/mission_execution/nav2_mission_executor/CHANGELOG.rst
rename to nav2_costmap_world_model/CHANGELOG.rst
diff --git a/src/world_model/nav2_costmap_world_model/CMakeLists.txt b/nav2_costmap_world_model/CMakeLists.txt
similarity index 92%
rename from src/world_model/nav2_costmap_world_model/CMakeLists.txt
rename to nav2_costmap_world_model/CMakeLists.txt
index 6dbbbde8..b582518b 100644
--- a/src/world_model/nav2_costmap_world_model/CMakeLists.txt
+++ b/nav2_costmap_world_model/CMakeLists.txt
@@ -16,8 +16,7 @@ find_package(geometry_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(nav2_tasks)
find_package(nav2_util)
-find_package(nav2_libs_msgs)
-find_package(nav2_world_model_msgs)
+find_package(nav2_msgs)
find_package(nav_msgs)
include_directories(
@@ -41,8 +40,7 @@ set(dependencies
std_msgs
nav2_tasks
nav2_util
- nav2_libs_msgs
- nav2_world_model_msgs
+ nav2_msgs
tf2_ros
tf2
nav_msgs
diff --git a/src/mission_execution/nav2_mission_execution_msgs/README.md b/nav2_costmap_world_model/README.md
similarity index 100%
rename from src/mission_execution/nav2_mission_execution_msgs/README.md
rename to nav2_costmap_world_model/README.md
diff --git a/src/mission_execution/nav2_mission_executor/README.md b/nav2_costmap_world_model/doc/.gitignore
similarity index 100%
rename from src/mission_execution/nav2_mission_executor/README.md
rename to nav2_costmap_world_model/doc/.gitignore
diff --git a/src/world_model/nav2_costmap_world_model/include/nav2_costmap_world_model/costmap_world_model.hpp b/nav2_costmap_world_model/include/nav2_costmap_world_model/costmap_world_model.hpp
similarity index 79%
rename from src/world_model/nav2_costmap_world_model/include/nav2_costmap_world_model/costmap_world_model.hpp
rename to nav2_costmap_world_model/include/nav2_costmap_world_model/costmap_world_model.hpp
index 6338f67a..848a74d0 100644
--- a/src/world_model/nav2_costmap_world_model/include/nav2_costmap_world_model/costmap_world_model.hpp
+++ b/nav2_costmap_world_model/include/nav2_costmap_world_model/costmap_world_model.hpp
@@ -20,8 +20,8 @@
#include <memory>
#include "rclcpp/rclcpp.hpp"
#include "nav2_util/costmap.hpp"
-#include "nav2_libs_msgs/msg/costmap.hpp"
-#include "nav2_world_model_msgs/srv/get_costmap.hpp"
+#include "nav2_msgs/msg/costmap.hpp"
+#include "nav2_msgs/srv/get_costmap.hpp"
#include "nav2_tasks/map_service_client.hpp"
namespace nav2_costmap_world_model
@@ -35,16 +35,16 @@ public:
private:
// Server for providing a costmap
- rclcpp::Service<nav2_world_model_msgs::srv::GetCostmap>::SharedPtr costmapServer_;
+ rclcpp::Service<nav2_msgs::srv::GetCostmap>::SharedPtr costmapServer_;
// TODO(orduno): Define a server for scoring trajectories
- // rclcpp::Service<nav2_world_model_msgs::srv::ScoreTrajectory>::SharedPtr scoringServer_;
+ // rclcpp::Service<nav2_msgs::srv::ScoreTrajectory>::SharedPtr scoringServer_;
// TODO(orduno): Define a client for getting the static map
- // rclcpp::Client<nav2_world_model_msgs::srv::GetMap>::SharedPtr mapClient_;
+ // rclcpp::Client<nav2_msgs::srv::GetMap>::SharedPtr mapClient_;
// TODO(orduno): Alternatively, obtain from a latched topic
- // rclcpp::Subscription<nav2_world_model_msgs::OccupancyGrid>::SharedPtr mapSub_;
+ // rclcpp::Subscription<nav2_msgs::OccupancyGrid>::SharedPtr mapSub_;
// TODO(orduno): Define a task for handling trajectory scoring
// std::unique_ptr<ScoreTrajectoryClient> scorer;
diff --git a/src/world_model/nav2_costmap_world_model/package.xml b/nav2_costmap_world_model/package.xml
similarity index 81%
rename from src/world_model/nav2_costmap_world_model/package.xml
rename to nav2_costmap_world_model/package.xml
index c390d560..d67f6716 100644
--- a/src/world_model/nav2_costmap_world_model/package.xml
+++ b/nav2_costmap_world_model/package.xml
@@ -13,14 +13,12 @@
<build_depend>nav2_tasks</build_depend>
<build_depend>nav2_tasks</build_depend>
<build_depend>nav2_util</build_depend>
- <build_depend>nav2_util_msgs</build_depend>
- <build_depend>nav2_world_model_msgs</build_depend>
+ <build_depend>nav2_msgs</build_depend>
<exec_depend>rclcpp</exec_depend>
<exec_depend>nav2_tasks</exec_depend>
+ <exec_depend>nav2_msgs</exec_depend>
<exec_depend>nav2_tasks</exec_depend>
- <exec_depend>nav2_util_msgs</exec_depend>
- <exec_depend>nav2_world_model_msgs</exec_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>ament_lint_auto</test_depend>
diff --git a/src/world_model/nav2_costmap_world_model/src/costmap_world_model.cpp b/nav2_costmap_world_model/src/costmap_world_model.cpp
similarity index 87%
rename from src/world_model/nav2_costmap_world_model/src/costmap_world_model.cpp
rename to nav2_costmap_world_model/src/costmap_world_model.cpp
index 3283d0b5..55abe712 100644
--- a/src/world_model/nav2_costmap_world_model/src/costmap_world_model.cpp
+++ b/nav2_costmap_world_model/src/costmap_world_model.cpp
@@ -31,8 +31,8 @@ CostmapWorldModel::CostmapWorldModel(const string & name)
auto costmap_service_callback = [this](
const std::shared_ptr<rmw_request_id_t>/*request_header*/,
- const std::shared_ptr<nav2_world_model_msgs::srv::GetCostmap::Request> request,
- const std::shared_ptr<nav2_world_model_msgs::srv::GetCostmap::Response> response) -> void
+ const std::shared_ptr<nav2_msgs::srv::GetCostmap::Request> request,
+ const std::shared_ptr<nav2_msgs::srv::GetCostmap::Response> response) -> void
{
RCLCPP_INFO(
this->get_logger(), "CostmapWorldModel::CostmapWorldModel:Incoming costmap request");
@@ -40,7 +40,7 @@ CostmapWorldModel::CostmapWorldModel(const string & name)
};
// Create a service that will use the callback function to handle requests.
- costmapServer_ = create_service<nav2_world_model_msgs::srv::GetCostmap>(name + "_GetCostmap",
+ costmapServer_ = create_service<nav2_msgs::srv::GetCostmap>(name + "_GetCostmap",
costmap_service_callback);
// Get the current map from the map server
diff --git a/src/world_model/nav2_costmap_world_model/src/main.cpp b/nav2_costmap_world_model/src/main.cpp
similarity index 100%
rename from src/world_model/nav2_costmap_world_model/src/main.cpp
rename to nav2_costmap_world_model/src/main.cpp
diff --git a/src/navigation/nav2_bt_navigator/CHANGELOG.rst b/nav2_costmap_world_model/test/.gitignore
similarity index 100%
rename from src/navigation/nav2_bt_navigator/CHANGELOG.rst
rename to nav2_costmap_world_model/test/.gitignore
diff --git a/src/navigation/nav2_simple_navigator/CHANGELOG.rst b/nav2_dijkstra_planner/CHANGELOG.rst
similarity index 100%
rename from src/navigation/nav2_simple_navigator/CHANGELOG.rst
rename to nav2_dijkstra_planner/CHANGELOG.rst
diff --git a/src/planning/nav2_dijkstra_planner/CMakeLists.txt b/nav2_dijkstra_planner/CMakeLists.txt
similarity index 88%
rename from src/planning/nav2_dijkstra_planner/CMakeLists.txt
rename to nav2_dijkstra_planner/CMakeLists.txt
index c5dd732b..70d7c385 100644
--- a/src/planning/nav2_dijkstra_planner/CMakeLists.txt
+++ b/nav2_dijkstra_planner/CMakeLists.txt
@@ -16,9 +16,7 @@ find_package(std_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(nav2_tasks REQUIRED)
find_package(nav2_util REQUIRED)
-find_package(nav2_planning_msgs REQUIRED)
-find_package(nav2_libs_msgs REQUIRED)
-find_package(nav2_world_model_msgs REQUIRED)
+find_package(nav2_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
include_directories(
@@ -44,9 +42,7 @@ set(dependencies
visualization_msgs
nav2_tasks
nav2_util
- nav2_planning_msgs
- nav2_libs_msgs
- nav2_world_model_msgs
+ nav2_msgs
nav_msgs
)
diff --git a/src/navigation/nav2_bt_navigator/README.md b/nav2_dijkstra_planner/README.md
similarity index 100%
rename from src/navigation/nav2_bt_navigator/README.md
rename to nav2_dijkstra_planner/README.md
diff --git a/src/planning/nav2_dijkstra_planner/doc/..gitignore b/nav2_dijkstra_planner/doc/..gitignore
similarity index 100%
rename from src/planning/nav2_dijkstra_planner/doc/..gitignore
rename to nav2_dijkstra_planner/doc/..gitignore
diff --git a/src/planning/nav2_dijkstra_planner/include/nav2_dijkstra_planner/dijkstra_planner.hpp b/nav2_dijkstra_planner/include/nav2_dijkstra_planner/dijkstra_planner.hpp
similarity index 91%
rename from src/planning/nav2_dijkstra_planner/include/nav2_dijkstra_planner/dijkstra_planner.hpp
rename to nav2_dijkstra_planner/include/nav2_dijkstra_planner/dijkstra_planner.hpp
index 41923f36..fe6e1f0f 100644
--- a/src/planning/nav2_dijkstra_planner/include/nav2_dijkstra_planner/dijkstra_planner.hpp
+++ b/nav2_dijkstra_planner/include/nav2_dijkstra_planner/dijkstra_planner.hpp
@@ -21,8 +21,8 @@
#include <chrono>
#include "nav2_tasks/compute_path_to_pose_task.hpp"
+#include "nav2_msgs/msg/costmap.hpp"
#include "nav2_tasks/costmap_service_client.hpp"
-#include "nav2_libs_msgs/msg/costmap.hpp"
#include "nav2_dijkstra_planner/navfn.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/point.hpp"
@@ -46,7 +46,7 @@ private:
bool makePlan(
const geometry_msgs::msg::Pose & start,
const geometry_msgs::msg::Pose & goal, double tolerance,
- nav2_planning_msgs::msg::Path & plan);
+ nav2_msgs::msg::Path & plan);
// Compute the navigation function given a seed point in the world to start from
bool computePotential(const geometry_msgs::msg::Point & world_point);
@@ -54,7 +54,7 @@ private:
// Compute a plan to a goal from a potential - must call computePotential first
bool getPlanFromPotential(
const geometry_msgs::msg::Pose & goal,
- nav2_planning_msgs::msg::Path & plan);
+ nav2_msgs::msg::Path & plan);
// Compute the potential, or navigation cost, at a given point in the world
// - must call computePotential first
@@ -86,14 +86,14 @@ private:
// Request costmap from world model
void getCostmap(
- nav2_libs_msgs::msg::Costmap & costmap, const std::string layer = "master",
+ nav2_msgs::msg::Costmap & costmap, const std::string layer = "master",
const std::chrono::milliseconds waitTime = std::chrono::milliseconds(100));
// Print costmap to terminal
- void printCostmap(const nav2_libs_msgs::msg::Costmap & costmap);
+ void printCostmap(const nav2_msgs::msg::Costmap & costmap);
// Publish a path for visualization purposes
- void publishPlan(const nav2_planning_msgs::msg::Path & path);
+ void publishPlan(const nav2_msgs::msg::Path & path);
void publishEndpoints(const nav2_tasks::ComputePathToPoseCommand::SharedPtr & endpoints);
// Planner based on ROS1 NavFn algorithm
@@ -107,7 +107,7 @@ private:
rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr plan_marker_publisher_;
// The costmap to use
- nav2_libs_msgs::msg::Costmap costmap_;
+ nav2_msgs::msg::Costmap costmap_;
// The global frame of the costmap
std::string global_frame_;
diff --git a/src/planning/nav2_dijkstra_planner/include/nav2_dijkstra_planner/navfn.hpp b/nav2_dijkstra_planner/include/nav2_dijkstra_planner/navfn.hpp
similarity index 100%
rename from src/planning/nav2_dijkstra_planner/include/nav2_dijkstra_planner/navfn.hpp
rename to nav2_dijkstra_planner/include/nav2_dijkstra_planner/navfn.hpp
diff --git a/src/planning/nav2_dijkstra_planner/package.xml b/nav2_dijkstra_planner/package.xml
similarity index 81%
rename from src/planning/nav2_dijkstra_planner/package.xml
rename to nav2_dijkstra_planner/package.xml
index 6c1fd1b4..c0ee5651 100644
--- a/src/planning/nav2_dijkstra_planner/package.xml
+++ b/nav2_dijkstra_planner/package.xml
@@ -13,17 +13,13 @@
<build_depend>visualization_msgs</build_depend>
<build_depend>nav2_tasks</build_depend>
<build_depend>nav2_util</build_depend>
- <build_depend>nav2_planning_msgs</build_depend>
- <build_depend>nav2_util_msgs</build_depend>
- <build_depend>nav2_world_model_msgs</build_depend>
+ <build_depend>nav2_msgs</build_depend>
<build_depend>nav_msgs</build_depend>
<exec_depend>rclcpp</exec_depend>
<exec_depend>visualization_msgs</exec_depend>
<exec_depend>nav2_tasks</exec_depend>
- <exec_depend>nav2_planning_msgs</exec_depend>
- <exec_depend>nav2_util_msgs</exec_depend>
- <exec_depend>nav2_world_model_msgs</exec_depend>
+ <exec_depend>nav2_msgs</exec_depend>
<exec_depend>nav_msgs</exec_depend>
<test_depend>ament_cmake_cppcheck</test_depend>
diff --git a/src/planning/nav2_dijkstra_planner/src/dijkstra_planner.cpp b/nav2_dijkstra_planner/src/dijkstra_planner.cpp
similarity index 97%
rename from src/planning/nav2_dijkstra_planner/src/dijkstra_planner.cpp
rename to nav2_dijkstra_planner/src/dijkstra_planner.cpp
index ab9385d6..dc8498ee 100644
--- a/src/planning/nav2_dijkstra_planner/src/dijkstra_planner.cpp
+++ b/nav2_dijkstra_planner/src/dijkstra_planner.cpp
@@ -30,12 +30,12 @@
#include "nav2_dijkstra_planner/dijkstra_planner.hpp"
#include "nav2_dijkstra_planner/navfn.hpp"
#include "nav2_util/costmap.hpp"
+#include "nav2_msgs/msg/costmap.hpp"
+#include "nav2_msgs/srv/get_costmap.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/point.hpp"
#include "visualization_msgs/msg/marker.hpp"
#include "builtin_interfaces/msg/duration.hpp"
-#include "nav2_libs_msgs/msg/costmap.hpp"
-#include "nav2_world_model_msgs/srv/get_costmap.hpp"
#include "nav_msgs/msg/path.hpp"
using namespace std::chrono_literals;
@@ -135,7 +135,7 @@ bool
DijkstraPlanner::makePlan(
const geometry_msgs::msg::Pose & start,
const geometry_msgs::msg::Pose & goal, double tolerance,
- nav2_planning_msgs::msg::Path & plan)
+ nav2_msgs::msg::Path & plan)
{
// clear the plan, just in case
plan.poses.clear();
@@ -269,7 +269,7 @@ DijkstraPlanner::computePotential(const geometry_msgs::msg::Point & world_point)
bool
DijkstraPlanner::getPlanFromPotential(
const geometry_msgs::msg::Pose & goal,
- nav2_planning_msgs::msg::Path & plan)
+ nav2_msgs::msg::Path & plan)
{
// clear the plan, just in case
plan.poses.clear();
@@ -404,8 +404,8 @@ DijkstraPlanner::clearRobotCell(unsigned int mx, unsigned int my)
void
DijkstraPlanner::getCostmap(
- nav2_libs_msgs::msg::Costmap & costmap, const std::string /*layer*/,
- const std::chrono::milliseconds /*waitTime*/)
+ nav2_msgs::msg::Costmap & costmap, const std::string /*layer*/,
+ const std::chrono::milliseconds /*waitTime*/)
{
// TODO(orduno): explicitly provide specifications for costmap using the costmap on the request,
// including master (aggreate) layer
@@ -418,7 +418,7 @@ DijkstraPlanner::getCostmap(
}
void
-DijkstraPlanner::printCostmap(const nav2_libs_msgs::msg::Costmap & costmap)
+DijkstraPlanner::printCostmap(const nav2_msgs::msg::Costmap & costmap)
{
std::cout << "Costmap" << std::endl;
std::cout << " size: " <<
@@ -512,7 +512,7 @@ DijkstraPlanner::publishEndpoints(const nav2_tasks::ComputePathToPoseCommand::Sh
}
void
-DijkstraPlanner::publishPlan(const nav2_planning_msgs::msg::Path & path)
+DijkstraPlanner::publishPlan(const nav2_msgs::msg::Path & path)
{
// Publish as a nav1 path msg
nav_msgs::msg::Path rviz_path;
diff --git a/src/planning/nav2_dijkstra_planner/src/main.cpp b/nav2_dijkstra_planner/src/main.cpp
similarity index 100%
rename from src/planning/nav2_dijkstra_planner/src/main.cpp
rename to nav2_dijkstra_planner/src/main.cpp
diff --git a/src/planning/nav2_dijkstra_planner/src/navfn.cpp b/nav2_dijkstra_planner/src/navfn.cpp
similarity index 100%
rename from src/planning/nav2_dijkstra_planner/src/navfn.cpp
rename to nav2_dijkstra_planner/src/navfn.cpp
diff --git a/src/navigation/nav2_simple_navigator/README.md b/nav2_dijkstra_planner/test/.gitignore
similarity index 100%
rename from src/navigation/nav2_simple_navigator/README.md
rename to nav2_dijkstra_planner/test/.gitignore
diff --git a/src/planning/nav2_astar_planner/CHANGELOG.rst b/nav2_gazebo_localizer/.gitignore
similarity index 100%
rename from src/planning/nav2_astar_planner/CHANGELOG.rst
rename to nav2_gazebo_localizer/.gitignore
diff --git a/src/planning/nav2_astar_planner/README.md b/nav2_map_server/.gitignore
similarity index 100%
rename from src/planning/nav2_astar_planner/README.md
rename to nav2_map_server/.gitignore
diff --git a/src/planning/nav2_dijkstra_planner/CHANGELOG.rst b/nav2_map_server/CHANGELOG.rst
similarity index 100%
rename from src/planning/nav2_dijkstra_planner/CHANGELOG.rst
rename to nav2_map_server/CHANGELOG.rst
diff --git a/src/mapping/nav2_map_server/CMakeLists.txt b/nav2_map_server/CMakeLists.txt
similarity index 100%
rename from src/mapping/nav2_map_server/CMakeLists.txt
rename to nav2_map_server/CMakeLists.txt
diff --git a/src/planning/nav2_dijkstra_planner/README.md b/nav2_map_server/README.md
similarity index 100%
rename from src/planning/nav2_dijkstra_planner/README.md
rename to nav2_map_server/README.md
diff --git a/src/mapping/nav2_map_server/include/nav2_map_server/base_map_server.hpp b/nav2_map_server/include/nav2_map_server/base_map_server.hpp
similarity index 100%
rename from src/mapping/nav2_map_server/include/nav2_map_server/base_map_server.hpp
rename to nav2_map_server/include/nav2_map_server/base_map_server.hpp
diff --git a/src/mapping/nav2_map_server/include/nav2_map_server/map_factory.hpp b/nav2_map_server/include/nav2_map_server/map_factory.hpp
similarity index 100%
rename from src/mapping/nav2_map_server/include/nav2_map_server/map_factory.hpp
rename to nav2_map_server/include/nav2_map_server/map_factory.hpp
diff --git a/src/mapping/nav2_map_server/include/nav2_map_server/map_reps/map_reps.hpp b/nav2_map_server/include/nav2_map_server/map_reps/map_reps.hpp
similarity index 100%
rename from src/mapping/nav2_map_server/include/nav2_map_server/map_reps/map_reps.hpp
rename to nav2_map_server/include/nav2_map_server/map_reps/map_reps.hpp
diff --git a/src/mapping/nav2_map_server/include/nav2_map_server/map_reps/occ_grid_server.hpp b/nav2_map_server/include/nav2_map_server/map_reps/occ_grid_server.hpp
similarity index 100%
rename from src/mapping/nav2_map_server/include/nav2_map_server/map_reps/occ_grid_server.hpp
rename to nav2_map_server/include/nav2_map_server/map_reps/occ_grid_server.hpp
diff --git a/src/mapping/nav2_map_server/include/nav2_map_server/map_server_ros.hpp b/nav2_map_server/include/nav2_map_server/map_server_ros.hpp
similarity index 100%
rename from src/mapping/nav2_map_server/include/nav2_map_server/map_server_ros.hpp
rename to nav2_map_server/include/nav2_map_server/map_server_ros.hpp
diff --git a/src/mapping/nav2_map_server/package.xml b/nav2_map_server/package.xml
similarity index 100%
rename from src/mapping/nav2_map_server/package.xml
rename to nav2_map_server/package.xml
diff --git a/src/mapping/nav2_map_server/src/main.cpp b/nav2_map_server/src/main.cpp
similarity index 100%
rename from src/mapping/nav2_map_server/src/main.cpp
rename to nav2_map_server/src/main.cpp
diff --git a/src/mapping/nav2_map_server/src/map_reps/map_factory.cpp b/nav2_map_server/src/map_reps/map_factory.cpp
similarity index 100%
rename from src/mapping/nav2_map_server/src/map_reps/map_factory.cpp
rename to nav2_map_server/src/map_reps/map_factory.cpp
diff --git a/src/mapping/nav2_map_server/src/map_reps/occ_grid_server.cpp b/nav2_map_server/src/map_reps/occ_grid_server.cpp
similarity index 100%
rename from src/mapping/nav2_map_server/src/map_reps/occ_grid_server.cpp
rename to nav2_map_server/src/map_reps/occ_grid_server.cpp
diff --git a/src/mapping/nav2_map_server/src/map_server_ros.cpp b/nav2_map_server/src/map_server_ros.cpp
similarity index 100%
rename from src/mapping/nav2_map_server/src/map_server_ros.cpp
rename to nav2_map_server/src/map_server_ros.cpp
diff --git a/src/mapping/nav2_map_server/test/CMakeLists.txt b/nav2_map_server/test/CMakeLists.txt
similarity index 100%
rename from src/mapping/nav2_map_server/test/CMakeLists.txt
rename to nav2_map_server/test/CMakeLists.txt
diff --git a/src/mapping/nav2_map_server/test/component/CMakeLists.txt b/nav2_map_server/test/component/CMakeLists.txt
similarity index 100%
rename from src/mapping/nav2_map_server/test/component/CMakeLists.txt
rename to nav2_map_server/test/component/CMakeLists.txt
diff --git a/src/mapping/nav2_map_server/test/component/test_occ_grid_launch.py b/nav2_map_server/test/component/test_occ_grid_launch.py
similarity index 100%
rename from src/mapping/nav2_map_server/test/component/test_occ_grid_launch.py
rename to nav2_map_server/test/component/test_occ_grid_launch.py
diff --git a/src/mapping/nav2_map_server/test/component/test_occ_grid_node.cpp b/nav2_map_server/test/component/test_occ_grid_node.cpp
similarity index 100%
rename from src/mapping/nav2_map_server/test/component/test_occ_grid_node.cpp
rename to nav2_map_server/test/component/test_occ_grid_node.cpp
diff --git a/src/mapping/nav2_map_server/test/test_constants.cpp b/nav2_map_server/test/test_constants.cpp
similarity index 100%
rename from src/mapping/nav2_map_server/test/test_constants.cpp
rename to nav2_map_server/test/test_constants.cpp
diff --git a/src/mapping/nav2_map_server/test/test_constants/test_constants.h b/nav2_map_server/test/test_constants/test_constants.h
similarity index 100%
rename from src/mapping/nav2_map_server/test/test_constants/test_constants.h
rename to nav2_map_server/test/test_constants/test_constants.h
diff --git a/nav2_map_server/test/test_launch_files/__pycache__/map_server_node.launch.cpython-35.pyc b/nav2_map_server/test/test_launch_files/__pycache__/map_server_node.launch.cpython-35.pyc
new file mode 100644
index 0000000000000000000000000000000000000000..8f7613a6efc28e050edab898dee1f1e709868968
GIT binary patch
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diff --git a/src/mapping/nav2_map_server/test/test_launch_files/map_server_node.launch.py b/nav2_map_server/test/test_launch_files/map_server_node.launch.py
similarity index 100%
rename from src/mapping/nav2_map_server/test/test_launch_files/map_server_node.launch.py
rename to nav2_map_server/test/test_launch_files/map_server_node.launch.py
diff --git a/src/mapping/nav2_map_server/test/testmap.bmp b/nav2_map_server/test/testmap.bmp
similarity index 100%
rename from src/mapping/nav2_map_server/test/testmap.bmp
rename to nav2_map_server/test/testmap.bmp
diff --git a/src/mapping/nav2_map_server/test/testmap.png b/nav2_map_server/test/testmap.png
similarity index 100%
rename from src/mapping/nav2_map_server/test/testmap.png
rename to nav2_map_server/test/testmap.png
diff --git a/src/mapping/nav2_map_server/test/testmap.yaml b/nav2_map_server/test/testmap.yaml
similarity index 100%
rename from src/mapping/nav2_map_server/test/testmap.yaml
rename to nav2_map_server/test/testmap.yaml
diff --git a/src/mapping/nav2_map_server/test/unit/CMakeLists.txt b/nav2_map_server/test/unit/CMakeLists.txt
similarity index 100%
rename from src/mapping/nav2_map_server/test/unit/CMakeLists.txt
rename to nav2_map_server/test/unit/CMakeLists.txt
diff --git a/src/mapping/nav2_map_server/test/unit/test_occ_grid.cpp b/nav2_map_server/test/unit/test_occ_grid.cpp
similarity index 100%
rename from src/mapping/nav2_map_server/test/unit/test_occ_grid.cpp
rename to nav2_map_server/test/unit/test_occ_grid.cpp
diff --git a/src/planning/nav2_planning_msgs/CHANGELOG.rst b/nav2_mission_executor/CHANGELOG.rst
similarity index 100%
rename from src/planning/nav2_planning_msgs/CHANGELOG.rst
rename to nav2_mission_executor/CHANGELOG.rst
diff --git a/src/mission_execution/nav2_mission_executor/CMakeLists.txt b/nav2_mission_executor/CMakeLists.txt
similarity index 93%
rename from src/mission_execution/nav2_mission_executor/CMakeLists.txt
rename to nav2_mission_executor/CMakeLists.txt
index 31fe8e4c..a00de159 100644
--- a/src/mission_execution/nav2_mission_executor/CMakeLists.txt
+++ b/nav2_mission_executor/CMakeLists.txt
@@ -13,7 +13,7 @@ endif()
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
-find_package(nav2_mission_execution_msgs REQUIRED)
+find_package(nav2_msgs REQUIRED)
find_package(nav2_tasks REQUIRED)
include_directories(
@@ -36,7 +36,7 @@ set(dependencies
rclcpp
std_msgs
nav2_tasks
- nav2_mission_execution_msgs
+ nav2_msgs
)
ament_target_dependencies(${executable_name}
diff --git a/src/planning/nav2_planning_msgs/README.md b/nav2_mission_executor/README.md
similarity index 100%
rename from src/planning/nav2_planning_msgs/README.md
rename to nav2_mission_executor/README.md
diff --git a/src/world_model/nav2_costmap_world_model/CHANGELOG.rst b/nav2_mission_executor/doc/.gitignore
similarity index 100%
rename from src/world_model/nav2_costmap_world_model/CHANGELOG.rst
rename to nav2_mission_executor/doc/.gitignore
diff --git a/src/mission_execution/nav2_mission_executor/include/nav2_mission_executor/mission_executor.hpp b/nav2_mission_executor/include/nav2_mission_executor/mission_executor.hpp
similarity index 94%
rename from src/mission_execution/nav2_mission_executor/include/nav2_mission_executor/mission_executor.hpp
rename to nav2_mission_executor/include/nav2_mission_executor/mission_executor.hpp
index 66d6342d..d2de8b81 100644
--- a/src/mission_execution/nav2_mission_executor/include/nav2_mission_executor/mission_executor.hpp
+++ b/nav2_mission_executor/include/nav2_mission_executor/mission_executor.hpp
@@ -17,6 +17,7 @@
#include <string>
#include <memory>
+#include "nav2_tasks/task_status.hpp"
#include "nav2_tasks/execute_mission_task.hpp"
#include "nav2_tasks/navigate_to_pose_task.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
@@ -43,7 +44,7 @@ private:
geometry_msgs::msg::PoseStamped::SharedPtr goal_pose_;
// Also, for now, publish a mission plan when receiving a goal pose from rviz
- rclcpp::Publisher<nav2_mission_execution_msgs::msg::MissionPlan>::SharedPtr plan_pub_;
+ rclcpp::Publisher<nav2_msgs::msg::MissionPlan>::SharedPtr plan_pub_;
};
} // namespace nav2_mission_execution
diff --git a/src/mission_execution/nav2_mission_executor/package.xml b/nav2_mission_executor/package.xml
similarity index 87%
rename from src/mission_execution/nav2_mission_executor/package.xml
rename to nav2_mission_executor/package.xml
index fad0ff75..680d1bea 100644
--- a/src/mission_execution/nav2_mission_executor/package.xml
+++ b/nav2_mission_executor/package.xml
@@ -12,11 +12,11 @@
<build_depend>rclcpp</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>nav2_tasks</build_depend>
- <build_depend>nav2_mission_execution_msgs</build_depend>
+ <build_depend>nav2_msgs</build_depend>
<exec_depend>rclcpp</exec_depend>
<exec_depend>nav2_tasks</exec_depend>
- <exec_depend>nav2_mission_execution_msgs</exec_depend>
+ <exec_depend>nav2_msgs</exec_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>ament_lint_auto</test_depend>
diff --git a/src/mission_execution/nav2_mission_executor/src/main.cpp b/nav2_mission_executor/src/main.cpp
similarity index 100%
rename from src/mission_execution/nav2_mission_executor/src/main.cpp
rename to nav2_mission_executor/src/main.cpp
diff --git a/src/mission_execution/nav2_mission_executor/src/mission_executor.cpp b/nav2_mission_executor/src/mission_executor.cpp
similarity index 93%
rename from src/mission_execution/nav2_mission_executor/src/mission_executor.cpp
rename to nav2_mission_executor/src/mission_executor.cpp
index 4072eb55..07c5f43f 100644
--- a/src/mission_execution/nav2_mission_executor/src/mission_executor.cpp
+++ b/nav2_mission_executor/src/mission_executor.cpp
@@ -37,7 +37,7 @@ MissionExecutor::MissionExecutor()
goal_sub_ = create_subscription<geometry_msgs::msg::PoseStamped>("move_base_simple/goal",
std::bind(&MissionExecutor::onGoalPoseReceived, this, std::placeholders::_1));
- plan_pub_ = create_publisher<nav2_mission_execution_msgs::msg::MissionPlan>(
+ plan_pub_ = create_publisher<nav2_msgs::msg::MissionPlan>(
"ExecuteMissionTask_command");
}
@@ -52,7 +52,7 @@ MissionExecutor::onGoalPoseReceived(const geometry_msgs::msg::PoseStamped::Share
RCLCPP_INFO(get_logger(), "MissionExecutor::onGoalPoseReceived");
goal_pose_ = msg;
- auto message = nav2_mission_execution_msgs::msg::MissionPlan();
+ auto message = nav2_msgs::msg::MissionPlan();
message.mission_plan = "Hello, world!";
RCLCPP_INFO(this->get_logger(), "MissionExecutor::onGoalPoseReceived: publishing a mission plan");
diff --git a/src/world_model/nav2_costmap_world_model/README.md b/nav2_mission_executor/test/.gitignore
similarity index 100%
rename from src/world_model/nav2_costmap_world_model/README.md
rename to nav2_mission_executor/test/.gitignore
diff --git a/nav2_msgs/CHANGELOG.rst b/nav2_msgs/CHANGELOG.rst
new file mode 100644
index 00000000..e69de29b
diff --git a/src/libs/nav2_libs_msgs/CMakeLists.txt b/nav2_msgs/CMakeLists.txt
similarity index 83%
rename from src/libs/nav2_libs_msgs/CMakeLists.txt
rename to nav2_msgs/CMakeLists.txt
index 71395056..2056dc96 100644
--- a/src/libs/nav2_libs_msgs/CMakeLists.txt
+++ b/nav2_msgs/CMakeLists.txt
@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.5)
-project(nav2_libs_msgs)
+project(nav2_msgs)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
@@ -19,6 +19,11 @@ find_package(std_msgs REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
"msg/Costmap.msg"
"msg/CostmapMetaData.msg"
+ "msg/Path.msg"
+ "msg/PathEndPoints.msg"
+ "msg/MissionPlan.msg"
+ "msg/TaskStatus.msg"
+ "srv/GetCostmap.srv"
DEPENDENCIES builtin_interfaces geometry_msgs std_msgs
)
diff --git a/nav2_msgs/README.md b/nav2_msgs/README.md
new file mode 100644
index 00000000..e69de29b
diff --git a/src/libs/nav2_libs_msgs/msg/Costmap.msg b/nav2_msgs/msg/Costmap.msg
similarity index 100%
rename from src/libs/nav2_libs_msgs/msg/Costmap.msg
rename to nav2_msgs/msg/Costmap.msg
diff --git a/src/libs/nav2_libs_msgs/msg/CostmapMetaData.msg b/nav2_msgs/msg/CostmapMetaData.msg
similarity index 100%
rename from src/libs/nav2_libs_msgs/msg/CostmapMetaData.msg
rename to nav2_msgs/msg/CostmapMetaData.msg
diff --git a/src/mission_execution/nav2_mission_execution_msgs/msg/MissionPlan.msg b/nav2_msgs/msg/MissionPlan.msg
similarity index 100%
rename from src/mission_execution/nav2_mission_execution_msgs/msg/MissionPlan.msg
rename to nav2_msgs/msg/MissionPlan.msg
diff --git a/src/planning/nav2_planning_msgs/msg/Path.msg b/nav2_msgs/msg/Path.msg
similarity index 76%
rename from src/planning/nav2_planning_msgs/msg/Path.msg
rename to nav2_msgs/msg/Path.msg
index ce8ca16e..5a096b91 100644
--- a/src/planning/nav2_planning_msgs/msg/Path.msg
+++ b/nav2_msgs/msg/Path.msg
@@ -1,4 +1,4 @@
std_msgs/Header header
# An array of poses that represents a Path for a robot to follow
-geometry_msgs/Pose[] poses
+geometry_msgs/Pose[] poses
\ No newline at end of file
diff --git a/src/planning/nav2_planning_msgs/msg/PathEndPoints.msg b/nav2_msgs/msg/PathEndPoints.msg
similarity index 93%
rename from src/planning/nav2_planning_msgs/msg/PathEndPoints.msg
rename to nav2_msgs/msg/PathEndPoints.msg
index ebb268ae..7561cec3 100644
--- a/src/planning/nav2_planning_msgs/msg/PathEndPoints.msg
+++ b/nav2_msgs/msg/PathEndPoints.msg
@@ -8,4 +8,4 @@ geometry_msgs/Pose goal
# If the goal is obstructed, how many meters the planner can
# relax the constraint in x and y before failing.
-float32 tolerance
+float32 tolerance
\ No newline at end of file
diff --git a/nav2_msgs/msg/TaskStatus.msg b/nav2_msgs/msg/TaskStatus.msg
new file mode 100644
index 00000000..dcac3648
--- /dev/null
+++ b/nav2_msgs/msg/TaskStatus.msg
@@ -0,0 +1,5 @@
+uint8 SUCCEEDED=0
+uint8 FAILED=1
+uint8 RUNNING=2
+uint8 CANCELED=3
+uint8 result
\ No newline at end of file
diff --git a/src/planning/nav2_planning_msgs/package.xml b/nav2_msgs/package.xml
similarity index 83%
rename from src/planning/nav2_planning_msgs/package.xml
rename to nav2_msgs/package.xml
index 41277c50..4740c769 100644
--- a/src/planning/nav2_planning_msgs/package.xml
+++ b/nav2_msgs/package.xml
@@ -1,10 +1,11 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
- <name>nav2_planning_msgs</name>
+ <name>nav2_msgs</name>
<version>0.1.0</version>
- <description>TODO</description>
+ <description>Messages and service files for the navigation2 stack</description>
<maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
+ <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
<license>Apache License 2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/src/world_model/nav2_world_model_msgs/srv/GetCostmap.srv b/nav2_msgs/srv/GetCostmap.srv
similarity index 50%
rename from src/world_model/nav2_world_model_msgs/srv/GetCostmap.srv
rename to nav2_msgs/srv/GetCostmap.srv
index a583755f..8dddc64a 100644
--- a/src/world_model/nav2_world_model_msgs/srv/GetCostmap.srv
+++ b/nav2_msgs/srv/GetCostmap.srv
@@ -1,6 +1,6 @@
# Get the costmap
# Specifications for the requested costmap
-nav2_libs_msgs/CostmapMetaData specs
+nav2_msgs/CostmapMetaData specs
---
-nav2_libs_msgs/Costmap map
+nav2_msgs/Costmap map
diff --git a/src/planning/nav2_planning_tests/CMakeLists.txt b/nav2_planning_tests/CMakeLists.txt
similarity index 87%
rename from src/planning/nav2_planning_tests/CMakeLists.txt
rename to nav2_planning_tests/CMakeLists.txt
index 181b38c9..941c7568 100644
--- a/src/planning/nav2_planning_tests/CMakeLists.txt
+++ b/nav2_planning_tests/CMakeLists.txt
@@ -17,9 +17,7 @@ if(BUILD_TESTING)
find_package(rclcpp REQUIRED)
find_package(nav2_tasks REQUIRED)
find_package(nav2_util REQUIRED)
-find_package(nav2_libs_msgs REQUIRED)
-find_package(nav2_planning_msgs REQUIRED)
-find_package(nav2_world_model_msgs REQUIRED)
+find_package(nav2_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(ament_cmake_gtest REQUIRED)
@@ -37,9 +35,7 @@ ament_target_dependencies(test_planner_node
rclcpp
nav2_tasks
nav2_util
- nav2_libs_msgs
- nav2_planning_msgs
- nav2_world_model_msgs
+ nav2_msgs
nav_msgs
visualization_msgs
)
diff --git a/src/planning/nav2_planning_tests/example_result.png b/nav2_planning_tests/example_result.png
similarity index 100%
rename from src/planning/nav2_planning_tests/example_result.png
rename to nav2_planning_tests/example_result.png
diff --git a/src/planning/nav2_planning_tests/maps/map.pgm b/nav2_planning_tests/maps/map.pgm
similarity index 100%
rename from src/planning/nav2_planning_tests/maps/map.pgm
rename to nav2_planning_tests/maps/map.pgm
diff --git a/src/planning/nav2_planning_tests/maps/map.xcf b/nav2_planning_tests/maps/map.xcf
similarity index 100%
rename from src/planning/nav2_planning_tests/maps/map.xcf
rename to nav2_planning_tests/maps/map.xcf
diff --git a/src/planning/nav2_planning_tests/maps/map_circular.pgm b/nav2_planning_tests/maps/map_circular.pgm
similarity index 100%
rename from src/planning/nav2_planning_tests/maps/map_circular.pgm
rename to nav2_planning_tests/maps/map_circular.pgm
diff --git a/src/planning/nav2_planning_tests/maps/map_circular.yaml b/nav2_planning_tests/maps/map_circular.yaml
similarity index 100%
rename from src/planning/nav2_planning_tests/maps/map_circular.yaml
rename to nav2_planning_tests/maps/map_circular.yaml
diff --git a/src/planning/nav2_planning_tests/package.xml b/nav2_planning_tests/package.xml
similarity index 77%
rename from src/planning/nav2_planning_tests/package.xml
rename to nav2_planning_tests/package.xml
index 62653423..494d2e1e 100644
--- a/src/planning/nav2_planning_tests/package.xml
+++ b/nav2_planning_tests/package.xml
@@ -12,18 +12,14 @@
<build_depend>rclcpp</build_depend>
<build_depend>nav2_tasks</build_depend>
<build_depend>nav2_util</build_depend>
- <build_depend>nav2_libs_msgs</build_depend>
- <build_depend>nav2_planning_msgs</build_depend>
- <build_depend>nav2_world_model_msgs</build_depend>
+ <build_depend>nav2_msgs</build_depend>
<build_depend>nav_msgs</build_depend>
<build_depend>visualization_msgs</build_depend>
<exec_depend>rclcpp</exec_depend>
<exec_depend>nav2_tasks</exec_depend>
<exec_depend>nav2_util</exec_depend>
- <exec_depend>nav2_libs_msgs</exec_depend>
- <exec_depend>nav2_planning_msgs</exec_depend>
- <exec_depend>nav2_world_model_msgs</exec_depend>
+ <exec_depend>nav2_msgs</exec_depend>
<exec_depend>nav_msgs</exec_depend>
<exec_depend>visualization_msgs</exec_depend>
diff --git a/src/planning/nav2_planning_tests/planner_tester.cpp b/nav2_planning_tests/planner_tester.cpp
similarity index 97%
rename from src/planning/nav2_planning_tests/planner_tester.cpp
rename to nav2_planning_tests/planner_tester.cpp
index 3ae30eeb..458d9c63 100644
--- a/src/planning/nav2_planning_tests/planner_tester.cpp
+++ b/nav2_planning_tests/planner_tester.cpp
@@ -22,7 +22,7 @@
#include "planner_tester.hpp"
#include "geometry_msgs/msg/twist.hpp"
#include "nav2_util/map_loader/map_loader.hpp"
-#include "nav2_libs_msgs/msg/costmap_meta_data.hpp"
+#include "nav2_msgs/msg/costmap_meta_data.hpp"
using namespace std::chrono_literals;
using nav2_tasks::TaskStatus;
@@ -209,8 +209,8 @@ void PlannerTester::startCostmapServer(std::string serviceName)
auto costmap_service_callback = [this](
const std::shared_ptr<rmw_request_id_t>/*request_header*/,
- const std::shared_ptr<nav2_world_model_msgs::srv::GetCostmap::Request> request,
- std::shared_ptr<nav2_world_model_msgs::srv::GetCostmap::Response> response) -> void
+ const std::shared_ptr<nav2_msgs::srv::GetCostmap::Request> request,
+ std::shared_ptr<nav2_msgs::srv::GetCostmap::Response> response) -> void
{
RCLCPP_INFO(this->get_logger(), "PlannerTester: Incoming costmap request");
response->map = costmap_->getCostmap(request->specs);
@@ -219,7 +219,7 @@ void PlannerTester::startCostmapServer(std::string serviceName)
// TODO(orduno): Enable parameter server and get costmap service name from there
// Create a service that will use the callback function to handle requests.
- costmap_server_ = create_service<nav2_world_model_msgs::srv::GetCostmap>(
+ costmap_server_ = create_service<nav2_msgs::srv::GetCostmap>(
serviceName, costmap_service_callback);
costmap_server_running_ = true;
diff --git a/src/planning/nav2_planning_tests/planner_tester.hpp b/nav2_planning_tests/planner_tester.hpp
similarity index 95%
rename from src/planning/nav2_planning_tests/planner_tester.hpp
rename to nav2_planning_tests/planner_tester.hpp
index 8f7e6b24..7f163138 100644
--- a/src/planning/nav2_planning_tests/planner_tester.hpp
+++ b/nav2_planning_tests/planner_tester.hpp
@@ -23,8 +23,8 @@
#include "rclcpp/rclcpp.hpp"
#include "nav2_tasks/compute_path_to_pose_task.hpp"
#include "nav_msgs/msg/occupancy_grid.hpp"
-#include "nav2_libs_msgs/msg/costmap.hpp"
-#include "nav2_world_model_msgs/srv/get_costmap.hpp"
+#include "nav2_msgs/msg/costmap.hpp"
+#include "nav2_msgs/srv/get_costmap.hpp"
#include "visualization_msgs/msg/marker.hpp"
#include "nav2_util/costmap.hpp"
@@ -95,7 +95,7 @@ private:
std::string plannerName_;
// Server for providing a costmap
- rclcpp::Service<nav2_world_model_msgs::srv::GetCostmap>::SharedPtr costmap_server_;
+ rclcpp::Service<nav2_msgs::srv::GetCostmap>::SharedPtr costmap_server_;
// Occupancy grid publisher for visualization
rclcpp::Publisher<nav_msgs::msg::OccupancyGrid>::SharedPtr map_publisher_;
diff --git a/src/planning/nav2_planning_tests/test_planner_launch.py b/nav2_planning_tests/test_planner_launch.py
similarity index 100%
rename from src/planning/nav2_planning_tests/test_planner_launch.py
rename to nav2_planning_tests/test_planner_launch.py
diff --git a/src/planning/nav2_planning_tests/test_planner_node.cpp b/nav2_planning_tests/test_planner_node.cpp
similarity index 100%
rename from src/planning/nav2_planning_tests/test_planner_node.cpp
rename to nav2_planning_tests/test_planner_node.cpp
diff --git a/nav2_robot/CHANGELOG.rst b/nav2_robot/CHANGELOG.rst
new file mode 100644
index 00000000..e69de29b
diff --git a/src/libs/nav2_robot/CMakeLists.txt b/nav2_robot/CMakeLists.txt
similarity index 100%
rename from src/libs/nav2_robot/CMakeLists.txt
rename to nav2_robot/CMakeLists.txt
diff --git a/nav2_robot/README.md b/nav2_robot/README.md
new file mode 100644
index 00000000..e69de29b
diff --git a/nav2_robot/doc/.gitignore b/nav2_robot/doc/.gitignore
new file mode 100644
index 00000000..e69de29b
diff --git a/src/libs/nav2_robot/include/nav2_robot/robot.hpp b/nav2_robot/include/nav2_robot/robot.hpp
similarity index 100%
rename from src/libs/nav2_robot/include/nav2_robot/robot.hpp
rename to nav2_robot/include/nav2_robot/robot.hpp
diff --git a/src/libs/nav2_robot/include/nav2_robot/ros_robot.hpp b/nav2_robot/include/nav2_robot/ros_robot.hpp
similarity index 100%
rename from src/libs/nav2_robot/include/nav2_robot/ros_robot.hpp
rename to nav2_robot/include/nav2_robot/ros_robot.hpp
diff --git a/src/libs/nav2_robot/package.xml b/nav2_robot/package.xml
similarity index 100%
rename from src/libs/nav2_robot/package.xml
rename to nav2_robot/package.xml
diff --git a/src/libs/nav2_robot/src/ros_robot.cpp b/nav2_robot/src/ros_robot.cpp
similarity index 100%
rename from src/libs/nav2_robot/src/ros_robot.cpp
rename to nav2_robot/src/ros_robot.cpp
diff --git a/nav2_robot/test/.gitignore b/nav2_robot/test/.gitignore
new file mode 100644
index 00000000..e69de29b
diff --git a/nav2_simple_navigator/CHANGELOG.rst b/nav2_simple_navigator/CHANGELOG.rst
new file mode 100644
index 00000000..e69de29b
diff --git a/src/navigation/nav2_simple_navigator/CMakeLists.txt b/nav2_simple_navigator/CMakeLists.txt
similarity index 95%
rename from src/navigation/nav2_simple_navigator/CMakeLists.txt
rename to nav2_simple_navigator/CMakeLists.txt
index db952a6d..14f43773 100644
--- a/src/navigation/nav2_simple_navigator/CMakeLists.txt
+++ b/nav2_simple_navigator/CMakeLists.txt
@@ -14,7 +14,7 @@ find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(nav2_tasks REQUIRED)
-find_package(nav2_planning_msgs REQUIRED)
+find_package(nav2_msgs REQUIRED)
find_package(nav2_robot REQUIRED)
include_directories(
@@ -37,7 +37,7 @@ set(dependencies
rclcpp
std_msgs
nav2_tasks
- nav2_planning_msgs
+ nav2_msgs
nav2_robot
)
diff --git a/nav2_simple_navigator/README.md b/nav2_simple_navigator/README.md
new file mode 100644
index 00000000..e69de29b
diff --git a/nav2_simple_navigator/doc/.gitignore b/nav2_simple_navigator/doc/.gitignore
new file mode 100644
index 00000000..e69de29b
diff --git a/src/navigation/nav2_simple_navigator/include/nav2_simple_navigator/simple_navigator.hpp b/nav2_simple_navigator/include/nav2_simple_navigator/simple_navigator.hpp
similarity index 97%
rename from src/navigation/nav2_simple_navigator/include/nav2_simple_navigator/simple_navigator.hpp
rename to nav2_simple_navigator/include/nav2_simple_navigator/simple_navigator.hpp
index 1e11a805..c1b42e93 100644
--- a/src/navigation/nav2_simple_navigator/include/nav2_simple_navigator/simple_navigator.hpp
+++ b/nav2_simple_navigator/include/nav2_simple_navigator/simple_navigator.hpp
@@ -17,6 +17,7 @@
#include <string>
#include <memory>
+#include "nav2_tasks/task_status.hpp"
#include "nav2_tasks/navigate_to_pose_task.hpp"
#include "nav2_tasks/compute_path_to_pose_task.hpp"
#include "nav2_tasks/follow_path_task.hpp"
diff --git a/src/navigation/nav2_simple_navigator/package.xml b/nav2_simple_navigator/package.xml
similarity index 89%
rename from src/navigation/nav2_simple_navigator/package.xml
rename to nav2_simple_navigator/package.xml
index 5d485dd6..28dea236 100644
--- a/src/navigation/nav2_simple_navigator/package.xml
+++ b/nav2_simple_navigator/package.xml
@@ -11,12 +11,12 @@
<build_depend>rclcpp</build_depend>
<build_depend>nav2_tasks</build_depend>
- <build_depend>nav2_planning_msgs</build_depend>
+ <build_depend>nav2_msgs</build_depend>
<build_depend>nav2_robot</build_depend>
<exec_depend>rclcpp</exec_depend>
<exec_depend>nav2_tasks</exec_depend>
- <exec_depend>nav2_planning_msgs</exec_depend>
+ <exec_depend>nav2_msgs</exec_depend>
<exec_depend>nav2_robot</exec_depend>
<test_depend>ament_lint_common</test_depend>
diff --git a/src/navigation/nav2_simple_navigator/src/main.cpp b/nav2_simple_navigator/src/main.cpp
similarity index 100%
rename from src/navigation/nav2_simple_navigator/src/main.cpp
rename to nav2_simple_navigator/src/main.cpp
diff --git a/src/navigation/nav2_simple_navigator/src/simple_navigator.cpp b/nav2_simple_navigator/src/simple_navigator.cpp
similarity index 100%
rename from src/navigation/nav2_simple_navigator/src/simple_navigator.cpp
rename to nav2_simple_navigator/src/simple_navigator.cpp
diff --git a/nav2_simple_navigator/test/.gitignore b/nav2_simple_navigator/test/.gitignore
new file mode 100644
index 00000000..e69de29b
diff --git a/nav2_tasks/CHANGELOG.rst b/nav2_tasks/CHANGELOG.rst
new file mode 100644
index 00000000..e69de29b
diff --git a/src/libs/nav2_tasks/CMakeLists.txt b/nav2_tasks/CMakeLists.txt
similarity index 87%
rename from src/libs/nav2_tasks/CMakeLists.txt
rename to nav2_tasks/CMakeLists.txt
index ce30e5eb..231c9730 100644
--- a/src/libs/nav2_tasks/CMakeLists.txt
+++ b/nav2_tasks/CMakeLists.txt
@@ -16,6 +16,7 @@ find_package(std_msgs REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(geometry_msgs REQUIRED)
+find_package(nav2_msgs REQUIRED)
include_directories(
include
@@ -25,9 +26,8 @@ install(DIRECTORY include/
DESTINATION include/
)
-rosidl_generate_interfaces(nav2_tasks
- "msg/TaskStatus.msg"
- DEPENDENCIES builtin_interfaces geometry_msgs std_msgs
+set(dependencies
+ nav2_msgs
)
if(BUILD_TESTING)
diff --git a/nav2_tasks/README.md b/nav2_tasks/README.md
new file mode 100644
index 00000000..e69de29b
diff --git a/nav2_tasks/doc/.gitignore b/nav2_tasks/doc/.gitignore
new file mode 100644
index 00000000..e69de29b
diff --git a/src/libs/nav2_tasks/include/nav2_tasks/compute_path_to_pose_task.hpp b/nav2_tasks/include/nav2_tasks/compute_path_to_pose_task.hpp
similarity index 84%
rename from src/libs/nav2_tasks/include/nav2_tasks/compute_path_to_pose_task.hpp
rename to nav2_tasks/include/nav2_tasks/compute_path_to_pose_task.hpp
index 391e3972..8b3dfafb 100644
--- a/src/libs/nav2_tasks/include/nav2_tasks/compute_path_to_pose_task.hpp
+++ b/nav2_tasks/include/nav2_tasks/compute_path_to_pose_task.hpp
@@ -17,14 +17,14 @@
#include "nav2_tasks/task_client.hpp"
#include "nav2_tasks/task_server.hpp"
-#include "nav2_planning_msgs/msg/path_end_points.hpp"
-#include "nav2_planning_msgs/msg/path.hpp"
+#include "nav2_msgs/msg/path_end_points.hpp"
+#include "nav2_msgs/msg/path.hpp"
namespace nav2_tasks
{
-using ComputePathToPoseCommand = nav2_planning_msgs::msg::PathEndPoints;
-using ComputePathToPoseResult = nav2_planning_msgs::msg::Path;
+using ComputePathToPoseCommand = nav2_msgs::msg::PathEndPoints;
+using ComputePathToPoseResult = nav2_msgs::msg::Path;
using ComputePathToPoseTaskClient =
TaskClient<ComputePathToPoseCommand, ComputePathToPoseResult>;
diff --git a/src/libs/nav2_tasks/include/nav2_tasks/costmap_service_client.hpp b/nav2_tasks/include/nav2_tasks/costmap_service_client.hpp
similarity index 72%
rename from src/libs/nav2_tasks/include/nav2_tasks/costmap_service_client.hpp
rename to nav2_tasks/include/nav2_tasks/costmap_service_client.hpp
index 9666eeea..fc881819 100644
--- a/src/libs/nav2_tasks/include/nav2_tasks/costmap_service_client.hpp
+++ b/nav2_tasks/include/nav2_tasks/costmap_service_client.hpp
@@ -16,23 +16,23 @@
#define NAV2_TASKS__COSTMAP_SERVICE_CLIENT_HPP_
#include "nav2_tasks/service_client.hpp"
-#include "nav2_world_model_msgs/srv/get_costmap.hpp"
+#include "nav2_msgs/srv/get_costmap.hpp"
namespace nav2_tasks
{
-class CostmapServiceClient : public ServiceClient<nav2_world_model_msgs::srv::GetCostmap>
+class CostmapServiceClient : public ServiceClient<nav2_msgs::srv::GetCostmap>
{
public:
CostmapServiceClient()
- : ServiceClient<nav2_world_model_msgs::srv::GetCostmap>("WorldModel_GetCostmap")
+ : ServiceClient<nav2_msgs::srv::GetCostmap>("WorldModel_GetCostmap")
{
}
using CostmapServiceRequest =
- ServiceClient<nav2_world_model_msgs::srv::GetCostmap>::RequestType;
+ ServiceClient<nav2_msgs::srv::GetCostmap>::RequestType;
using CostmapServiceResponse =
- ServiceClient<nav2_world_model_msgs::srv::GetCostmap>::ResponseType;
+ ServiceClient<nav2_msgs::srv::GetCostmap>::ResponseType;
};
} // namespace nav2_tasks
diff --git a/src/libs/nav2_tasks/include/nav2_tasks/execute_mission_task.hpp b/nav2_tasks/include/nav2_tasks/execute_mission_task.hpp
similarity index 90%
rename from src/libs/nav2_tasks/include/nav2_tasks/execute_mission_task.hpp
rename to nav2_tasks/include/nav2_tasks/execute_mission_task.hpp
index 74e528be..e127e50d 100644
--- a/src/libs/nav2_tasks/include/nav2_tasks/execute_mission_task.hpp
+++ b/nav2_tasks/include/nav2_tasks/execute_mission_task.hpp
@@ -17,13 +17,13 @@
#include "nav2_tasks/task_client.hpp"
#include "nav2_tasks/task_server.hpp"
-#include "nav2_mission_execution_msgs/msg/mission_plan.hpp"
+#include "nav2_msgs/msg/mission_plan.hpp"
#include "std_msgs/msg/empty.hpp"
namespace nav2_tasks
{
-using ExecuteMissionCommand = nav2_mission_execution_msgs::msg::MissionPlan;
+using ExecuteMissionCommand = nav2_msgs::msg::MissionPlan;
using ExecuteMissionResult = std_msgs::msg::Empty;
using ExecuteMissionTaskClient = TaskClient<ExecuteMissionCommand, ExecuteMissionResult>;
diff --git a/src/libs/nav2_tasks/include/nav2_tasks/follow_path_task.hpp b/nav2_tasks/include/nav2_tasks/follow_path_task.hpp
similarity index 92%
rename from src/libs/nav2_tasks/include/nav2_tasks/follow_path_task.hpp
rename to nav2_tasks/include/nav2_tasks/follow_path_task.hpp
index 7ea2b2cc..c7589b38 100644
--- a/src/libs/nav2_tasks/include/nav2_tasks/follow_path_task.hpp
+++ b/nav2_tasks/include/nav2_tasks/follow_path_task.hpp
@@ -17,13 +17,13 @@
#include "nav2_tasks/task_client.hpp"
#include "nav2_tasks/task_server.hpp"
-#include "nav2_planning_msgs/msg/path.hpp"
+#include "nav2_msgs/msg/path.hpp"
#include "std_msgs/msg/empty.hpp"
namespace nav2_tasks
{
-using FollowPathCommand = nav2_planning_msgs::msg::Path;
+using FollowPathCommand = nav2_msgs::msg::Path;
using FollowPathResult = std_msgs::msg::Empty;
using FollowPathTaskClient = TaskClient<FollowPathCommand, FollowPathResult>;
diff --git a/src/libs/nav2_tasks/include/nav2_tasks/map_service_client.hpp b/nav2_tasks/include/nav2_tasks/map_service_client.hpp
similarity index 100%
rename from src/libs/nav2_tasks/include/nav2_tasks/map_service_client.hpp
rename to nav2_tasks/include/nav2_tasks/map_service_client.hpp
diff --git a/src/libs/nav2_tasks/include/nav2_tasks/navigate_to_pose_task.hpp b/nav2_tasks/include/nav2_tasks/navigate_to_pose_task.hpp
similarity index 100%
rename from src/libs/nav2_tasks/include/nav2_tasks/navigate_to_pose_task.hpp
rename to nav2_tasks/include/nav2_tasks/navigate_to_pose_task.hpp
diff --git a/src/libs/nav2_tasks/include/nav2_tasks/service_client.hpp b/nav2_tasks/include/nav2_tasks/service_client.hpp
similarity index 100%
rename from src/libs/nav2_tasks/include/nav2_tasks/service_client.hpp
rename to nav2_tasks/include/nav2_tasks/service_client.hpp
diff --git a/src/libs/nav2_tasks/include/nav2_tasks/task_client.hpp b/nav2_tasks/include/nav2_tasks/task_client.hpp
similarity index 96%
rename from src/libs/nav2_tasks/include/nav2_tasks/task_client.hpp
rename to nav2_tasks/include/nav2_tasks/task_client.hpp
index 3819a1a9..0dc19a54 100644
--- a/src/libs/nav2_tasks/include/nav2_tasks/task_client.hpp
+++ b/nav2_tasks/include/nav2_tasks/task_client.hpp
@@ -114,11 +114,11 @@ public:
// If the task has failed or has been canceled, no result message is forthcoming and we
// can propagate the status code, using the TaskStatus type rather than the message-level
// implementation type
- case nav2_tasks::msg::TaskStatus::FAILED:
- case nav2_tasks::msg::TaskStatus::CANCELED:
+ case nav2_msgs::msg::TaskStatus::FAILED:
+ case nav2_msgs::msg::TaskStatus::CANCELED:
return static_cast<TaskStatus>(statusMsg_->result);
- case nav2_tasks::msg::TaskStatus::SUCCEEDED:
+ case nav2_msgs::msg::TaskStatus::SUCCEEDED:
{
// The result message may be here already or it may come *after* the status
// message. If it's here, the wait will be satisfied immediately. Otherwise
@@ -150,7 +150,7 @@ protected:
// These messages are internal to the TaskClient implementation
typedef std_msgs::msg::Empty CancelMsg;
- typedef nav2_tasks::msg::TaskStatus StatusMsg;
+ typedef nav2_msgs::msg::TaskStatus StatusMsg;
StatusMsg::SharedPtr statusMsg_;
// Variables to handle the communication of the status message to the waitForResult thread
diff --git a/src/libs/nav2_tasks/include/nav2_tasks/task_server.hpp b/nav2_tasks/include/nav2_tasks/task_server.hpp
similarity index 94%
rename from src/libs/nav2_tasks/include/nav2_tasks/task_server.hpp
rename to nav2_tasks/include/nav2_tasks/task_server.hpp
index c696cb6b..035b60e1 100644
--- a/src/libs/nav2_tasks/include/nav2_tasks/task_server.hpp
+++ b/nav2_tasks/include/nav2_tasks/task_server.hpp
@@ -81,7 +81,7 @@ protected:
// These messages are internal to the TaskClient implementation
typedef std_msgs::msg::Empty CancelMsg;
- typedef nav2_tasks::msg::TaskStatus StatusMsg;
+ typedef nav2_msgs::msg::TaskStatus StatusMsg;
// The pointer to our private worker thread
std::thread * workerThread_;
@@ -100,7 +100,7 @@ protected:
// Reset the execution flag now that we've executed the task
commandReceived_ = false;
- nav2_tasks::msg::TaskStatus statusMsg;
+ nav2_msgs::msg::TaskStatus statusMsg;
// Check the result of the user's function and send the
// appropriate message
@@ -110,15 +110,15 @@ protected:
resultPub_->publish(resultMsg_);
// Then send the success code
- statusMsg.result = nav2_tasks::msg::TaskStatus::SUCCEEDED;
+ statusMsg.result = nav2_msgs::msg::TaskStatus::SUCCEEDED;
statusPub_->publish(statusMsg);
} else if (status == TaskStatus::FAILED) {
// Otherwise, send the failure code
- statusMsg.result = nav2_tasks::msg::TaskStatus::FAILED;
+ statusMsg.result = nav2_msgs::msg::TaskStatus::FAILED;
statusPub_->publish(statusMsg);
} else if (status == TaskStatus::CANCELED) {
// Or the canceled code
- statusMsg.result = nav2_tasks::msg::TaskStatus::CANCELED;
+ statusMsg.result = nav2_msgs::msg::TaskStatus::CANCELED;
statusPub_->publish(statusMsg);
} else {
throw std::logic_error("Unexpected status return from task");
diff --git a/src/libs/nav2_tasks/include/nav2_tasks/task_status.hpp b/nav2_tasks/include/nav2_tasks/task_status.hpp
similarity index 76%
rename from src/libs/nav2_tasks/include/nav2_tasks/task_status.hpp
rename to nav2_tasks/include/nav2_tasks/task_status.hpp
index bf637c67..46b18836 100644
--- a/src/libs/nav2_tasks/include/nav2_tasks/task_status.hpp
+++ b/nav2_tasks/include/nav2_tasks/task_status.hpp
@@ -15,17 +15,17 @@
#ifndef NAV2_TASKS__TASK_STATUS_HPP_
#define NAV2_TASKS__TASK_STATUS_HPP_
-#include "nav2_tasks/msg/task_status.hpp"
+#include "nav2_msgs/msg/task_status.hpp"
namespace nav2_tasks
{
typedef enum
{
- SUCCEEDED = msg::TaskStatus::SUCCEEDED,
- FAILED = msg::TaskStatus::FAILED,
- RUNNING = msg::TaskStatus::RUNNING,
- CANCELED = msg::TaskStatus::CANCELED
+ SUCCEEDED = nav2_msgs::msg::TaskStatus::SUCCEEDED,
+ FAILED = nav2_msgs::msg::TaskStatus::FAILED,
+ RUNNING = nav2_msgs::msg::TaskStatus::RUNNING,
+ CANCELED = nav2_msgs::msg::TaskStatus::CANCELED
} TaskStatus;
} // namespace nav2_tasks
diff --git a/src/libs/nav2_tasks/msg/TaskStatus.msg b/nav2_tasks/msg/TaskStatus.msg
similarity index 100%
rename from src/libs/nav2_tasks/msg/TaskStatus.msg
rename to nav2_tasks/msg/TaskStatus.msg
diff --git a/src/libs/nav2_tasks/package.xml b/nav2_tasks/package.xml
similarity index 93%
rename from src/libs/nav2_tasks/package.xml
rename to nav2_tasks/package.xml
index 59a20cff..b7acbc6b 100644
--- a/src/libs/nav2_tasks/package.xml
+++ b/nav2_tasks/package.xml
@@ -14,12 +14,14 @@
<build_depend>builtin_interfaces</build_depend>
<build_depend>rosidl_default_generators</build_depend>
<build_depend>geometry_msgs</build_depend>
+ <build_depend>nav2_msgs</build_depend>
<exec_depend>rclcpp</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>builtin_interfaces</exec_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
+ <exec_depend>nav2_msgs</exec_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>ament_lint_auto</test_depend>
diff --git a/nav2_tasks/test/.gitignore b/nav2_tasks/test/.gitignore
new file mode 100644
index 00000000..e69de29b
diff --git a/nav2_util/CHANGELOG.rst b/nav2_util/CHANGELOG.rst
new file mode 100644
index 00000000..e69de29b
diff --git a/src/libs/nav2_util/CMakeLists.txt b/nav2_util/CMakeLists.txt
similarity index 96%
rename from src/libs/nav2_util/CMakeLists.txt
rename to nav2_util/CMakeLists.txt
index 316cb199..651f7258 100644
--- a/src/libs/nav2_util/CMakeLists.txt
+++ b/nav2_util/CMakeLists.txt
@@ -11,7 +11,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
endif()
find_package(ament_cmake REQUIRED)
-find_package(nav2_libs_msgs REQUIRED)
+find_package(nav2_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2 REQUIRED)
find_package(geometry_msgs REQUIRED)
@@ -27,7 +27,7 @@ add_library(costmap_lib SHARED
ament_target_dependencies(costmap_lib
rclcpp
- nav2_libs_msgs
+ nav2_msgs
tf2
nav_msgs
)
diff --git a/nav2_util/README.md b/nav2_util/README.md
new file mode 100644
index 00000000..e69de29b
diff --git a/nav2_util/doc/.gitignore b/nav2_util/doc/.gitignore
new file mode 100644
index 00000000..e69de29b
diff --git a/src/libs/nav2_util/include/nav2_util/costmap.hpp b/nav2_util/include/nav2_util/costmap.hpp
similarity index 87%
rename from src/libs/nav2_util/include/nav2_util/costmap.hpp
rename to nav2_util/include/nav2_util/costmap.hpp
index 664894e3..b3925d80 100644
--- a/src/libs/nav2_util/include/nav2_util/costmap.hpp
+++ b/nav2_util/include/nav2_util/costmap.hpp
@@ -19,8 +19,8 @@
#include <cstdint>
#include "rclcpp/rclcpp.hpp"
-#include "nav2_libs_msgs/msg/costmap.hpp"
-#include "nav2_libs_msgs/msg/costmap_meta_data.hpp"
+#include "nav2_msgs/msg/costmap.hpp"
+#include "nav2_msgs/msg/costmap_meta_data.hpp"
#include "nav_msgs/msg/occupancy_grid.hpp"
namespace nav2_util
@@ -53,9 +53,9 @@ public:
void setTestCostmap(const TestCostmap & testCostmapType);
- nav2_libs_msgs::msg::Costmap getCostmap(const nav2_libs_msgs::msg::CostmapMetaData & specifications);
+ nav2_msgs::msg::Costmap getCostmap(const nav2_msgs::msg::CostmapMetaData & specifications);
- nav2_libs_msgs::msg::CostmapMetaData getProperties() {return costmap_properties_;}
+ nav2_msgs::msg::CostmapMetaData getProperties() {return costmap_properties_;}
bool isFree(const unsigned int x_coordinate, const unsigned int y_coordinate) const;
bool isFree(const unsigned int index) const;
@@ -76,7 +76,7 @@ private:
rclcpp::Node * node_;
// TODO(orduno): For now, only holding costs from static map
- nav2_libs_msgs::msg::CostmapMetaData costmap_properties_;
+ nav2_msgs::msg::CostmapMetaData costmap_properties_;
std::vector<uint8_t> costs_;
// Static layer parameters
diff --git a/src/libs/nav2_util/include/nav2_util/map/map.h b/nav2_util/include/nav2_util/map/map.h
similarity index 100%
rename from src/libs/nav2_util/include/nav2_util/map/map.h
rename to nav2_util/include/nav2_util/map/map.h
diff --git a/src/libs/nav2_util/include/nav2_util/map_loader/map_loader.hpp b/nav2_util/include/nav2_util/map_loader/map_loader.hpp
similarity index 100%
rename from src/libs/nav2_util/include/nav2_util/map_loader/map_loader.hpp
rename to nav2_util/include/nav2_util/map_loader/map_loader.hpp
diff --git a/src/libs/nav2_util/include/nav2_util/pf/eig3.h b/nav2_util/include/nav2_util/pf/eig3.h
similarity index 100%
rename from src/libs/nav2_util/include/nav2_util/pf/eig3.h
rename to nav2_util/include/nav2_util/pf/eig3.h
diff --git a/src/libs/nav2_util/include/nav2_util/pf/pf.h b/nav2_util/include/nav2_util/pf/pf.h
similarity index 100%
rename from src/libs/nav2_util/include/nav2_util/pf/pf.h
rename to nav2_util/include/nav2_util/pf/pf.h
diff --git a/src/libs/nav2_util/include/nav2_util/pf/pf_kdtree.h b/nav2_util/include/nav2_util/pf/pf_kdtree.h
similarity index 100%
rename from src/libs/nav2_util/include/nav2_util/pf/pf_kdtree.h
rename to nav2_util/include/nav2_util/pf/pf_kdtree.h
diff --git a/src/libs/nav2_util/include/nav2_util/pf/pf_pdf.h b/nav2_util/include/nav2_util/pf/pf_pdf.h
similarity index 100%
rename from src/libs/nav2_util/include/nav2_util/pf/pf_pdf.h
rename to nav2_util/include/nav2_util/pf/pf_pdf.h
diff --git a/src/libs/nav2_util/include/nav2_util/pf/pf_vector.h b/nav2_util/include/nav2_util/pf/pf_vector.h
similarity index 100%
rename from src/libs/nav2_util/include/nav2_util/pf/pf_vector.h
rename to nav2_util/include/nav2_util/pf/pf_vector.h
diff --git a/src/libs/nav2_util/include/nav2_util/sensors/laser.h b/nav2_util/include/nav2_util/sensors/laser.h
similarity index 100%
rename from src/libs/nav2_util/include/nav2_util/sensors/laser.h
rename to nav2_util/include/nav2_util/sensors/laser.h
diff --git a/src/libs/nav2_util/include/nav2_util/sensors/odom.h b/nav2_util/include/nav2_util/sensors/odom.h
similarity index 100%
rename from src/libs/nav2_util/include/nav2_util/sensors/odom.h
rename to nav2_util/include/nav2_util/sensors/odom.h
diff --git a/src/libs/nav2_util/include/nav2_util/sensors/sensor.h b/nav2_util/include/nav2_util/sensors/sensor.h
similarity index 100%
rename from src/libs/nav2_util/include/nav2_util/sensors/sensor.h
rename to nav2_util/include/nav2_util/sensors/sensor.h
diff --git a/src/libs/nav2_util/include/nav2_util/strutils.hpp b/nav2_util/include/nav2_util/strutils.hpp
similarity index 100%
rename from src/libs/nav2_util/include/nav2_util/strutils.hpp
rename to nav2_util/include/nav2_util/strutils.hpp
diff --git a/src/libs/nav2_util/package.xml b/nav2_util/package.xml
similarity index 92%
rename from src/libs/nav2_util/package.xml
rename to nav2_util/package.xml
index 9a3ccdb7..158038eb 100644
--- a/src/libs/nav2_util/package.xml
+++ b/nav2_util/package.xml
@@ -11,11 +11,11 @@
<buildtool_depend>ament_cmake</buildtool_depend>
<build_depend>rclcpp</build_depend>
- <build_depend>nav2_libs_msgs</build_depend>
+ <build_depend>nav2_msgs</build_depend>
<build_depend>nav_msgs</build_depend>
<exec_depend>rclcpp</exec_depend>
- <exec_depend>nav2_libs_msgs</exec_depend>
+ <exec_depend>nav2_msgs</exec_depend>
<exec_depend>nav_msgs</exec_depend>
<test_depend>ament_cmake_cppcheck</test_depend>
diff --git a/src/libs/nav2_util/src/costmap.cpp b/nav2_util/src/costmap.cpp
similarity index 98%
rename from src/libs/nav2_util/src/costmap.cpp
rename to nav2_util/src/costmap.cpp
index 55ef181f..115af10b 100644
--- a/src/libs/nav2_util/src/costmap.cpp
+++ b/nav2_util/src/costmap.cpp
@@ -104,8 +104,8 @@ void Costmap::setTestCostmap(const TestCostmap & testCostmapType)
using_test_map_ = true;
}
-nav2_libs_msgs::msg::Costmap Costmap::getCostmap(
- const nav2_libs_msgs::msg::CostmapMetaData & /*specifications*/)
+nav2_msgs::msg::Costmap Costmap::getCostmap(
+ const nav2_msgs::msg::CostmapMetaData & /*specifications*/)
{
if (!map_provided_ && !using_test_map_) {
throw std::runtime_error("Costmap has not been set.");
@@ -114,7 +114,7 @@ nav2_libs_msgs::msg::Costmap Costmap::getCostmap(
// TODO(orduno): build a costmap given the specifications
// for now using the specs of the static map
- nav2_libs_msgs::msg::Costmap costmap;
+ nav2_msgs::msg::Costmap costmap;
costmap.header.stamp = node_->now();
costmap.header.frame_id = "map";
diff --git a/src/libs/nav2_util/src/map/map.c b/nav2_util/src/map/map.c
similarity index 100%
rename from src/libs/nav2_util/src/map/map.c
rename to nav2_util/src/map/map.c
diff --git a/src/libs/nav2_util/src/map/map_cspace.cpp b/nav2_util/src/map/map_cspace.cpp
similarity index 100%
rename from src/libs/nav2_util/src/map/map_cspace.cpp
rename to nav2_util/src/map/map_cspace.cpp
diff --git a/src/libs/nav2_util/src/map/map_draw.c b/nav2_util/src/map/map_draw.c
similarity index 100%
rename from src/libs/nav2_util/src/map/map_draw.c
rename to nav2_util/src/map/map_draw.c
diff --git a/src/libs/nav2_util/src/map/map_range.c b/nav2_util/src/map/map_range.c
similarity index 100%
rename from src/libs/nav2_util/src/map/map_range.c
rename to nav2_util/src/map/map_range.c
diff --git a/src/libs/nav2_util/src/map/map_store.c b/nav2_util/src/map/map_store.c
similarity index 100%
rename from src/libs/nav2_util/src/map/map_store.c
rename to nav2_util/src/map/map_store.c
diff --git a/src/libs/nav2_util/src/map_loader/map_loader.cpp b/nav2_util/src/map_loader/map_loader.cpp
similarity index 100%
rename from src/libs/nav2_util/src/map_loader/map_loader.cpp
rename to nav2_util/src/map_loader/map_loader.cpp
diff --git a/src/libs/nav2_util/src/pf/eig3.c b/nav2_util/src/pf/eig3.c
similarity index 100%
rename from src/libs/nav2_util/src/pf/eig3.c
rename to nav2_util/src/pf/eig3.c
diff --git a/src/libs/nav2_util/src/pf/pf.c b/nav2_util/src/pf/pf.c
similarity index 100%
rename from src/libs/nav2_util/src/pf/pf.c
rename to nav2_util/src/pf/pf.c
diff --git a/src/libs/nav2_util/src/pf/pf_draw.c b/nav2_util/src/pf/pf_draw.c
similarity index 100%
rename from src/libs/nav2_util/src/pf/pf_draw.c
rename to nav2_util/src/pf/pf_draw.c
diff --git a/src/libs/nav2_util/src/pf/pf_kdtree.c b/nav2_util/src/pf/pf_kdtree.c
similarity index 100%
rename from src/libs/nav2_util/src/pf/pf_kdtree.c
rename to nav2_util/src/pf/pf_kdtree.c
diff --git a/src/libs/nav2_util/src/pf/pf_pdf.c b/nav2_util/src/pf/pf_pdf.c
similarity index 100%
rename from src/libs/nav2_util/src/pf/pf_pdf.c
rename to nav2_util/src/pf/pf_pdf.c
diff --git a/src/libs/nav2_util/src/pf/pf_vector.c b/nav2_util/src/pf/pf_vector.c
similarity index 100%
rename from src/libs/nav2_util/src/pf/pf_vector.c
rename to nav2_util/src/pf/pf_vector.c
diff --git a/src/libs/nav2_util/src/sensors/laser.cpp b/nav2_util/src/sensors/laser.cpp
similarity index 100%
rename from src/libs/nav2_util/src/sensors/laser.cpp
rename to nav2_util/src/sensors/laser.cpp
diff --git a/src/libs/nav2_util/src/sensors/odom.cpp b/nav2_util/src/sensors/odom.cpp
similarity index 100%
rename from src/libs/nav2_util/src/sensors/odom.cpp
rename to nav2_util/src/sensors/odom.cpp
diff --git a/src/libs/nav2_util/src/sensors/sensor.cpp b/nav2_util/src/sensors/sensor.cpp
similarity index 100%
rename from src/libs/nav2_util/src/sensors/sensor.cpp
rename to nav2_util/src/sensors/sensor.cpp
diff --git a/nav2_util/test/.gitignore b/nav2_util/test/.gitignore
new file mode 100644
index 00000000..e69de29b
diff --git a/navigation2/CHANGELOG.rst b/navigation2/CHANGELOG.rst
new file mode 100644
index 00000000..e69de29b
diff --git a/navigation2/CMakeLists.txt b/navigation2/CMakeLists.txt
new file mode 100644
index 00000000..59ac3f63
--- /dev/null
+++ b/navigation2/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.5)
+project(navigation2)
+
+if(NOT CMAKE_CXX_STANDARD)
+ set(CMAKE_CXX_STANDARD 14)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+ament_package()
diff --git a/navigation2/package.xml b/navigation2/package.xml
new file mode 100644
index 00000000..edfea61c
--- /dev/null
+++ b/navigation2/package.xml
@@ -0,0 +1,35 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+ <name>navigation2</name>
+ <version>0.0.1</version>
+ <description>
+ ROS2 Navigation Stack
+ </description>
+ <maintainer email="oregon.robotics.team@intel.com">Oregon Robotics Team</maintainer>
+ <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
+ <license>Apache License 2.0</license>
+
+ <buildtool_depend>ament_cmake</buildtool_depend>
+
+ <depend>nav2_amcl</depend>
+ <depend>nav2_astar_planner</depend>
+ <depend>nav2_bt_navigator</depend>
+ <depend>nav2_costmap_2d</depend>
+ <depend>nav2_costmap_world_model</depend>
+ <depend>nav2_dijkstra_planner</depend>
+ <depend>nav2_gazebo_localizer</depend>
+ <depend>nav2_map_server</depend>
+ <depend>nav2_mission_executor</depend>
+ <depend>nav2_msgs</depend>
+ <depend>nav2_planning_tests</depend>
+ <depend>nav2_robot</depend>
+ <depend>nav2_simple_navigator</depend>
+ <depend>nav2_tasks</depend>
+ <depend>nav2_util</depend>
+
+ <export>
+ <build_type>ament_cmake</build_type>
+ </export>
+
+</package>
diff --git a/src/libs/costmap_2d/CHANGELOG.rst b/src/libs/costmap_2d/CHANGELOG.rst
deleted file mode 100644
index 59899de1..00000000
--- a/src/libs/costmap_2d/CHANGELOG.rst
+++ /dev/null
@@ -1,245 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package costmap_2d
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-1.16.2 (2018-07-31)
--------------------
-* Merge pull request `#773 <https://github.com/ros-planning/navigation/issues/773>`_ from ros-planning/packaging_fixes
- packaging fixes
-* update costmap_2d cmake
- * explicit dependency on tf2
- * remove old PCL disable crap
-* Contributors: Michael Ferguson
-
-1.16.1 (2018-07-28)
--------------------
-* Merge pull request `#770 <https://github.com/ros-planning/navigation/issues/770>`_ from ros-planning/fix_debians
- Fix debian builds (closes `#769 <https://github.com/ros-planning/navigation/issues/769>`_)
-* add tf2_geometry_msgs depend to costmap_2d
-* Contributors: Michael Ferguson
-
-1.16.0 (2018-07-25)
--------------------
-* Switch to TF2 `#755 <https://github.com/ros-planning/navigation/issues/755>`_
-* unify combination_method dynamic reconfig, closes `#402 <https://github.com/ros-planning/navigation/issues/402>`_
-* Merge pull request `#723 <https://github.com/ros-planning/navigation/issues/723>`_ from moriarty/melodic-buildfarm-errors
- Melodic buildfarm errors
-* [costmap_2d/test] set empty transform to Identity
-* fix test: abs(unsigned int) is ambiguous
- Instead, compare values and subtract smaller from larger to find
- the dx and dy.
-* fixes pluginlib deprecated header warnings
-* Merge pull request `#694 <https://github.com/ros-planning/navigation/issues/694>`_ from ros-planning/lunar_691
- costmap variable init & cleanup (forward port of `#691 <https://github.com/ros-planning/navigation/issues/691>`_)
-* remove unused got_footprint\_
-* initialize all costmap variables
-* Merge pull request `#686 <https://github.com/ros-planning/navigation/issues/686>`_ from ros-planning/lunar_675
- Fixed race condition with costmaps in LayeredCostmap::resizeMap()
-* Fixed race condition with costmaps in LayeredCostmap::resizeMap()
- LayeredCostmap::updateMap() and LayeredCostmap::resizeMap() write to the master grid costmap.
- And these two functions can be called by different threads at the same time.
- One example of these cases is a race condition between subscriber callback thread
- dealing with dynamically-size-changing static_layer and periodical updateMap() calls from Costmap2DROS thread.
- Under the situation the master grid costmap is not thread-safe.
- LayeredCostmap::updateMap() already used the master grid costmap's lock.
-* Contributors: Alexander Moriarty, David V. Lu, Jaeyoung Lee, Michael Ferguson, Vincent Rabaud
-
-1.15.2 (2018-03-22)
--------------------
-* Merge pull request `#673 <https://github.com/ros-planning/navigation/issues/673>`_ from ros-planning/email_update_lunar
- update maintainer email (lunar)
-* Merge pull request `#670 <https://github.com/ros-planning/navigation/issues/670>`_ from DLu/fix206_lunar
- Fixes `#206 <https://github.com/ros-planning/navigation/issues/206>`_ for Lunar
-* fix 'enable' for static_layer with rolling window (`#659 <https://github.com/ros-planning/navigation/issues/659>`_) (`#665 <https://github.com/ros-planning/navigation/issues/665>`_)
-* Merge pull request `#649 <https://github.com/ros-planning/navigation/issues/649>`_ from aaronhoy/lunar_add_ahoy
- Add myself as a maintainer.
-* Contributors: Aaron Hoy, David V. Lu!!, Jannik Abbenseth, Michael Ferguson
-
-1.15.1 (2017-08-14)
--------------------
-
-1.15.0 (2017-08-07)
--------------------
-* Added parameter for allowing inflation in unknown cells (`#564 <https://github.com/ros-planning/navigation/issues/564>`_)
-* Inflation Layer protected members and virtual computeCost [ABI BREAKING]
-* Fix for `#517 <https://github.com/ros-planning/navigation/issues/517>`_: create a getRobotPose method on move_base instead of using that on the costmaps
-* don't update costs if inflation radius is zero
-* rebase fixups
-* convert packages to format2
-* Speedup (~60%) inflation layer update (`#525 <https://github.com/ros-planning/navigation/issues/525>`_)
-* Fix CMakeLists + package.xmls (`#548 <https://github.com/ros-planning/navigation/issues/548>`_)
-* add missing deps on libpcl
-* import only PCL common
-* pcl proagate -lQt5::Widgets flag so we need to find_package Qt5Widgets (`#578 <https://github.com/ros-planning/navigation/issues/578>`_)
-* Added deps to amcl costmap_2d move_base (`#512 <https://github.com/ros-planning/navigation/issues/512>`_)
-* remove GCC warnings
-* Fix CMake warnings
-* renamed targets for message generation (gencpp -> generate_messages_cpp) in order to avoid warnings for non-existing target dependencies
-* Fixed race condition with costmaps
-* Merge pull request `#491 <https://github.com/ros-planning/navigation/issues/491>`_ from alexhenning/kinetic-inflation-fix
-* Fixed sign error in inflation layer
-* Adds warning when a layer shrinks the bounds
-* Fixed bug with inflation layer that caused underinflation
-* Fixed bug with artifacts when not current
-* Fix bug with inflation artifacts being left behind
-* Fixes issue with costmaps shearing
-* Made costmap publishing truly lazy
-* Contributors: Alex Henning, Alexander Reimann, Hidde Wieringa, Jorge Santos, Jorge Santos Simón, Martin Günther, Michael Ferguson, Mikael Arguedas, Stephan Opfer, Vincent Rabaud, mryellow
-
-1.14.0 (2016-05-20)
--------------------
-* Reordered initializer list to match order of declarations.
- This avoids compiler warning with some compilers.
-* Made update map threadsafe
- This is necessary for some plugins (e.g. VoxelLayer) that implement a
- thread unsafe updateBounds() function.
-* Fix bug with resetting static layer
- If we don't have a new topic, consider our old data as if it were new.
-* fix resource locations to fix tests
-* Increase time-limit on failing test
-* Merge pull request `#388 <https://github.com/ros-planning/navigation/issues/388>`_ from yujinrobot/jade_inflation_ghost_fix
- No more ghosts in the inflation layer
-* Fixes the dynamic reconfigure segfault
- Doing a dynamic reconfigure of the inflation radius recreates
- the cached cost values without first locking a mutex, which causes
- a segfault. This breaks the reconfigure of inflation parameters into
- a separate function and adds a mutex lock.
-* Merge pull request `#415 <https://github.com/ros-planning/navigation/issues/415>`_ from alexhenning/jade-fix-multiple-static-layers
- Fixes an issue with having multiple static layers
-* Fixes an issue with having multiple static layers
- If you have a static layer in both the local and global costmaps that
- use the same map topic, there is a race condition that can cause the
- static layer to get stuck after printing `Requesting map....`. This race
- condition seems to be due to the call to shutdown in deactivate and how
- the NodeHandle handles multiple subscribers under the hood.
- This issue appears to happen about 1 in 1000 times in the setup I was
- testing. This fix has never failed in over 1000000 tests. Instead of
- calling activate and deactivate, the publisher is only recreated if the
- topic has changed. Otherwise, it reuses the old setup.
-* fix related to issue `#408 <https://github.com/ros-planning/navigation/issues/408>`_ - With Rolling Window on, costmap_2d not properly updating bounds and costs in the static layer
-* No more ghosts in the inflation layer
- Previous bounds would fit the sensor measurements, and the inflation layer would clear
- out to these, but leave 'ghosts' behind. These ghosts are from two sources - 1) the
- inflation radius and 2) whole obstacles left behind as the robot has moved from the last point.
- The modifications here remember the last bounds and set the new bounds so that a box at least
- large enough to incorporate the old bounds plus the inflation radius is generated.
-* Contributors: Alex Henning, Daniel Stonier, Levon Avagyan, Michael Ferguson, palmieri
-
-1.13.1 (2015-10-29)
--------------------
-* Remove excessive canTransform spam.
-* Fix for `#382 <https://github.com/ros-planning/navigation/issues/382>`_
-* Republish costmap if origin changes
-* Remove Footprint Layer
-* Remove extra sign definition and use proper one when padding footprint
-* fix plugin warnings on throw, closes `#205 <https://github.com/ros-planning/navigation/issues/205>`_
-* initialize publisher variables
-* Look for robot_radius when footprint is not set. `#206 <https://github.com/ros-planning/navigation/issues/206>`_
-* Add a first_map_only parameter so we keep reusing the first received static map
-* Merge pull request `#331 <https://github.com/ros-planning/navigation/issues/331>`_ from mikeferguson/static_layer_any_frame
-* support rolling static map in any frame
-* fix destructor of Costmap2D
-* proper locking during costmap update
-* do not resize static map when rolling
-* Static layer works with rolling window now
-* Contributors: Daniel Stonier, David Lu, Jihoon Lee, Michael Ferguson, Rein Appeldoorn, commaster90
-
-1.13.0 (2015-03-17)
--------------------
-* fixed issue with voxel_layer and obstacle_layer both deleting the same dynamic_reconfigure::Server and causing segfaults
-* Fixing various memory freeing operations
-* static_layer: Fix indexing error in OccupancyGridUpdate callback function.
-* Contributors: Alex Bencz, David V. Lu!!, James Servos, Julse, Kaijen Hsiao
-
-1.12.0 (2015-02-04)
--------------------
-* update maintainer email
-* Contributors: Michael Ferguson
-
-1.11.15 (2015-02-03)
---------------------
-* Add ARCHIVE_DESTINATION for static builds
-* Contributors: Gary Servin
-
-1.11.14 (2014-12-05)
---------------------
-* added waitForTransform to bufferCloud to solve extrapolation into the future exception
-* deallocate costmap_ before reallocating
-* prevent div by zero in raytraceLine
-* only prefix sensor_frame when it's not empty
-* tf_prefix support in obstacle_layer
-* remove undefined function updateUsingPlugins
-* remove unused cell_data.h
-* numerous style fixes
-* Contributors: Andrzej Pronobis, David Lu, Jeremie Deray, Mani Monajjemi, Michael Ferguson, enriquefernandez
-
-1.11.13 (2014-10-02)
---------------------
-
-1.11.12 (2014-10-01)
---------------------
-* costmap_2d: export library layers
-* Merge pull request `#198 <https://github.com/ros-planning/navigation/issues/198>`_ from kmhallen/hydro-devel
- Fixed costmap_2d clearing from service /move_base/clear_costmaps
-* Costmap Layer comments
-* Add destructors for all of the layers to remove the dynamic parameter clients
-* Add method for removing static observations (for testing)
-* Move testing_helper
-* Initial Clearing Costmap parameter change
-* Fixed costmap_2d clearing from service /move_base/clear_costmaps
-* Contributors: David Lu!!, Kevin Hallenbeck, Michael Ferguson
-
-1.11.11 (2014-07-23)
---------------------
-* removes trailing spaces and empty lines
-* Contributors: Enrique Fernández Perdomo
-
-1.11.10 (2014-06-25)
---------------------
-* Remove unnecessary colons
-* Remove unused robot_radius parameter from dynamic_reconfigure
-* Contributors: Daniel Stonier, David Lu!!
-
-1.11.9 (2014-06-10)
--------------------
-* fix hypot issues, add comments to tests from tracking this down
-* dynamically reconfigure the previously uninitialised variable 'combination_method', closes `#187 <https://github.com/ros-planning/navigation/issues/187>`_.
-* uses ::hypot(x, y) instead of sqrt(x*x, y*y)
-* Contributors: Daniel Stonier, Michael Ferguson, Enrique Fernández Perdomo
-
-1.11.8 (2014-05-21)
--------------------
-
-1.11.7 (2014-05-21)
--------------------
-* uses %u instead of %d for unsigned int
-* update build to find eigen using cmake_modules
-* inflation_layer: place .top() & .pop() calls together
-* add parameter to configure whether full costmap is published each time
-* Contributors: Michael Ferguson, Siegfried-A. Gevatter Pujals, agentx3r, enriquefernandez
-
-1.11.5 (2014-01-30)
--------------------
-* Better threading in inflation layer
-* don't set initialized until updateMap is called
-* check whether costmap is initalized before publishing
-* New Overwrite Methods
- updateMap method
- Fix for `#68 <https://github.com/ros-planning/navigation/issues/68>`_
- Fix for inflation memory problems
- InfIsValid `#128 <https://github.com/ros-planning/navigation/issues/128>`_
- Static layer can recieve updates and accept non-lethal values
- Obstacle layer uses track_unknown_space parameter
- Footprint layer is not longer created as top-level layer (used as part of obstacle layer instead)
-* Download test data from download.ros.org instead of willow
-* Change maintainer from Hersh to Lu
-
-1.11.4 (2013-09-27)
--------------------
-* Improve bounds checking
-* Reimplement Clear Costmaps Service by implementing reset functions in each layer
-* Package URL Updates
-* Additional static layer functionality for receiving updates
-* Misc. Pointcloud fixes
-* Improved eigen alignment problem on 32-bit arch.
-* fixed costmap_2d tests
diff --git a/src/libs/costmap_2d/test/obstacle_tests.launch b/src/libs/costmap_2d/test/obstacle_tests.launch
deleted file mode 100644
index d94cfab2..00000000
--- a/src/libs/costmap_2d/test/obstacle_tests.launch
+++ /dev/null
@@ -1,5 +0,0 @@
-<launch>
- <node name="ms" pkg="map_server" type="map_server" args="$(find costmap_2d)/test/TenByTen.yaml"/>
- <test time-limit="300" test-name="obstacle_tests" pkg="costmap_2d" type="obstacle_tests" />
-
-</launch>
diff --git a/src/libs/costmap_2d/test/simple_driving_test.xml b/src/libs/costmap_2d/test/simple_driving_test.xml
deleted file mode 100644
index 6bf507d2..00000000
--- a/src/libs/costmap_2d/test/simple_driving_test.xml
+++ /dev/null
@@ -1,14 +0,0 @@
-<launch>
- <param name="/use_sim_time" value="true"/>
-
- <node name="rosplay" pkg="rosbag" type="play"
- args="-s 5 -r 1 --clock --hz=10 $(find costmap_2d)/test/simple_driving_test_indexed.bag" />
-
- <node name="map_server" pkg="map_server" type="map_server" args="$(find costmap_2d)/test/willow-full-0.025.pgm 0.025" />
-
- <rosparam file="$(find costmap_2d)/test/costmap_params.yaml" command="load" ns="simple_driving_test/test_costmap" />
- <test time-limit="600" test-name="simple_driving_test" pkg="costmap_2d" type="costmap_tester">
- <param name="wait_time" value="40.0" />
- </test>
-
-</launch>
diff --git a/src/libs/costmap_2d/test/static_tests.launch b/src/libs/costmap_2d/test/static_tests.launch
deleted file mode 100644
index 23a4ba93..00000000
--- a/src/libs/costmap_2d/test/static_tests.launch
+++ /dev/null
@@ -1,5 +0,0 @@
-<launch>
- <node name="ms" pkg="map_server" type="map_server" args="$(find costmap_2d)/test/TenByTen.yaml"/>
- <test time-limit="300" test-name="static_tests" pkg="costmap_2d" type="static_tests" />
-
-</launch>
diff --git a/src/libs/nav2_util/msg/Costmap.msg b/src/libs/nav2_util/msg/Costmap.msg
deleted file mode 100644
index 4c3e90ca..00000000
--- a/src/libs/nav2_util/msg/Costmap.msg
+++ /dev/null
@@ -1,9 +0,0 @@
-# This represents a 2-D grid map, in which each cell has an associated cost
-
-std_msgs/Header header
-
-# MetaData for the map
-CostmapMetaData metadata
-
-# The cost data, in row-major order, starting with (0,0).
-uint8[] data
diff --git a/src/libs/nav2_util/msg/CostmapMetaData.msg b/src/libs/nav2_util/msg/CostmapMetaData.msg
deleted file mode 100644
index 6338795d..00000000
--- a/src/libs/nav2_util/msg/CostmapMetaData.msg
+++ /dev/null
@@ -1,23 +0,0 @@
-# This hold basic information about the characterists of the Costmap
-
-# The time at which the static map was loaded
-builtin_interfaces/Time map_load_time
-
-# The time of the last update to costmap
-builtin_interfaces/Time update_time
-
-# The corresponding layer name
-string layer
-
-# The map resolution [m/cell]
-float32 resolution
-
-# Number of cells in the horizontal direction
-uint32 size_x
-
-# Number of cells in the vertical direction
-uint32 size_y
-
-# The origin of the costmap [m, m, rad].
-# This is the real-world pose of the cell (0,0) in the map.
-geometry_msgs/Pose origin
diff --git a/src/mission_execution/nav2_mission_execution_msgs/package.xml b/src/mission_execution/nav2_mission_execution_msgs/package.xml
deleted file mode 100644
index 9c74cd40..00000000
--- a/src/mission_execution/nav2_mission_execution_msgs/package.xml
+++ /dev/null
@@ -1,29 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
- <name>nav2_mission_execution_msgs</name>
- <version>0.1.0</version>
- <description>TODO</description>
- <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
- <license>Apache License 2.0</license>
-
- <buildtool_depend>ament_cmake</buildtool_depend>
-
- <build_depend>rclcpp</build_depend>
- <build_depend>std_msgs</build_depend>
- <build_depend>builtin_interfaces</build_depend>
- <build_depend>rosidl_default_generators</build_depend>
- <build_depend>geometry_msgs</build_depend>
-
- <exec_depend>rclcpp</exec_depend>
- <exec_depend>std_msgs</exec_depend>
- <exec_depend>builtin_interfaces</exec_depend>
- <exec_depend>rosidl_default_runtime</exec_depend>
- <exec_depend>geometry_msgs</exec_depend>
-
- <member_of_group>rosidl_interface_packages</member_of_group>
-
- <export>
- <build_type>ament_cmake</build_type>
- </export>
-</package>
diff --git a/src/planning/nav2_planning_msgs/CMakeLists.txt b/src/planning/nav2_planning_msgs/CMakeLists.txt
deleted file mode 100644
index 7370dd2a..00000000
--- a/src/planning/nav2_planning_msgs/CMakeLists.txt
+++ /dev/null
@@ -1,27 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(nav2_planning_msgs)
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
- set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
- add_compile_options(-Wall -Wextra -Wpedantic -Werror)
-endif()
-
-find_package(ament_cmake REQUIRED)
-find_package(builtin_interfaces REQUIRED)
-find_package(geometry_msgs REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
-find_package(std_msgs REQUIRED)
-
-rosidl_generate_interfaces(${PROJECT_NAME}
- "msg/Path.msg"
- "msg/PathEndPoints.msg"
- DEPENDENCIES builtin_interfaces geometry_msgs std_msgs
-)
-
-ament_export_dependencies(rosidl_default_runtime)
-
-ament_package()
diff --git a/src/world_model/nav2_world_model_msgs/CMakeLists.txt b/src/world_model/nav2_world_model_msgs/CMakeLists.txt
deleted file mode 100644
index f7777a1b..00000000
--- a/src/world_model/nav2_world_model_msgs/CMakeLists.txt
+++ /dev/null
@@ -1,27 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(nav2_world_model_msgs)
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
- set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
- add_compile_options(-Wall -Wextra -Wpedantic -Werror)
-endif()
-
-find_package(ament_cmake REQUIRED)
-find_package(builtin_interfaces REQUIRED)
-find_package(geometry_msgs REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(nav2_libs_msgs REQUIRED)
-
-rosidl_generate_interfaces(${PROJECT_NAME}
- "srv/GetCostmap.srv"
- DEPENDENCIES builtin_interfaces geometry_msgs std_msgs nav2_libs_msgs
-)
-
-ament_export_dependencies(rosidl_default_runtime)
-
-ament_package()
diff --git a/src/world_model/nav2_world_model_msgs/package.xml b/src/world_model/nav2_world_model_msgs/package.xml
deleted file mode 100644
index 80940002..00000000
--- a/src/world_model/nav2_world_model_msgs/package.xml
+++ /dev/null
@@ -1,31 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
- <name>nav2_world_model_msgs</name>
- <version>0.1.0</version>
- <description>TODO</description>
- <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
- <license>Apache License 2.0</license>
-
- <buildtool_depend>ament_cmake</buildtool_depend>
-
- <build_depend>rclcpp</build_depend>
- <build_depend>std_msgs</build_depend>
- <build_depend>builtin_interfaces</build_depend>
- <build_depend>rosidl_default_generators</build_depend>
- <build_depend>geometry_msgs</build_depend>
- <build_depend>nav2_libs_msgs</build_depend>
-
- <exec_depend>rclcpp</exec_depend>
- <exec_depend>std_msgs</exec_depend>
- <exec_depend>builtin_interfaces</exec_depend>
- <exec_depend>rosidl_default_runtime</exec_depend>
- <exec_depend>geometry_msgs</exec_depend>
- <exec_depend>nav2_libs_msgs</exec_depend>
-
- <member_of_group>rosidl_interface_packages</member_of_group>
-
- <export>
- <build_type>ament_cmake</build_type>
- </export>
-</package>
diff --git a/tools/build_all.sh b/tools/build_all.sh
index a6057bbf..48a48e12 100755
--- a/tools/build_all.sh
+++ b/tools/build_all.sh
@@ -60,7 +60,7 @@ cd $CWD/navstack_dependencies_ws
colcon build --symlink-install)
# Build our code
-cd $CWD/navigation2
+cd $CWD/navigation2_ws
(. $ROS2_SETUP_FILE && . $CWD/navstack_dependencies_ws/install/setup.bash &&
colcon build --symlink-install)
@@ -68,7 +68,7 @@ cd $CWD/navigation2
if test "$ENABLE_ROS1" = true && test "$ENABLE_ROS2" = true ; then
cd $CWD
. ros1_dependencies_ws/devel/setup.bash
- . navigation2/install/setup.bash
+ . navigation2_ws/install/setup.bash
cd $CWD/ros2_ws
colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure
fi
diff --git a/tools/initial_ros_setup.sh b/tools/initial_ros_setup.sh
index 01be9e52..5ec3ab4b 100755
--- a/tools/initial_ros_setup.sh
+++ b/tools/initial_ros_setup.sh
@@ -4,43 +4,43 @@ ENABLE_ROS1=true
ENABLE_BUILD=true
ENABLE_ROS2=true
if [ "$ROS1_DISTRO" = "" ]; then
- export ROS1_DISTRO=kinetic
+ export ROS1_DISTRO=kinetic
fi
if [ "$ROS2_DISTRO" = "" ]; then
- export ROS2_DISTRO=bouncy
+ export ROS2_DISTRO=bouncy
fi
if test "$ROS1_DISTRO" != "kinetic" && test "$ROS1_DISTRO" != "melodic" ; then
- echo "ROS1_DISTRO variable must be set to either kinetic or melodic"
- exit 1
+ echo "ROS1_DISTRO variable must be set to either kinetic or melodic"
+ exit 1
fi
if [ "$ROS2_DISTRO" != "bouncy" ]; then
- echo "ROS2_DISTRO variable must be set to bouncy"
- exit 1
+ echo "ROS2_DISTRO variable must be set to bouncy"
+ exit 1
fi
for opt in "$@" ; do
- case $opt in
- --no-ros1)
- ENABLE_ROS1=false
- shift
- ;;
- --no-ros2)
- ENABLE_ROS2=false
- shift
- ;;
- --download-only)
- ENABLE_BUILD=false
- shift
- ;;
- *)
- echo "Invalid option: $opt"
- echo "Valid options:"
- echo "--no-ros1 Disables downloading and building ROS1 dependencies and ROS1 bridge"
- echo "--no-ros2 Uses the binary distribution of ROS2 bouncy"
- echo "--download-only Skips the build step and only downloads the code"
- exit 1
- ;;
- esac
+ case $opt in
+ --no-ros1)
+ ENABLE_ROS1=false
+ shift
+ ;;
+ --no-ros2)
+ ENABLE_ROS2=false
+ shift
+ ;;
+ --download-only)
+ ENABLE_BUILD=false
+ shift
+ ;;
+ *)
+ echo "Invalid option: $opt"
+ echo "Valid options:"
+ echo "--no-ros1 Disables downloading and building ROS1 dependencies and ROS1 bridge"
+ echo "--no-ros2 Uses the binary distribution of ROS2 bouncy"
+ echo "--download-only Skips the build step and only downloads the code"
+ exit 1
+ ;;
+ esac
done
set -e
@@ -48,62 +48,65 @@ CHECKPOINT_FILES=''
CWD=`pwd`
return_to_root_dir() {
- cd $CWD
+ cd $CWD
}
download_navstack() {
- echo "Downloading the ROS 2 navstack"
- if [ -f "custom_nav2.repos" ]; then #override default location for testing
- vcs-import < custom_nav2.repos
- else
- git clone https://github.com/ros-planning/navigation2.git
- fi
- return_to_root_dir
+ echo "Downloading the ROS 2 navstack"
+ mkdir -p navigation2_ws/src
+ cd navigation2_ws
+ if [ -f "custom_nav2.repos" ]; then #override default location for testing
+ vcs import src < custom_nav2.repos
+ else
+ cd src
+ git clone https://github.com/ros-planning/navigation2.git
+ fi
+ return_to_root_dir
}
download_ros2() {
- echo "Downloading ROS 2 Release Latest"
- mkdir -p ros2_ws/src
- cd ros2_ws
- wget https://raw.githubusercontent.com/ros2/ros2/release-latest/ros2.repos
- vcs import src < ros2.repos
- return_to_root_dir
+ echo "Downloading ROS 2 Release Latest"
+ mkdir -p ros2_ws/src
+ cd ros2_ws
+ wget https://raw.githubusercontent.com/ros2/ros2/release-latest/ros2.repos
+ vcs import src < ros2.repos
+ return_to_root_dir
}
download_ros2_dependencies() {
- echo "Downloading the dependencies workspace"
- mkdir -p navstack_dependencies_ws/src
- cd navstack_dependencies_ws
- vcs import src < ${CWD}/navigation2/tools/ros2_dependencies.repos
- return_to_root_dir
+ echo "Downloading the dependencies workspace"
+ mkdir -p navstack_dependencies_ws/src
+ cd navstack_dependencies_ws
+ vcs import src < ${CWD}/navigation2_ws/src/navigation2/tools/ros2_dependencies.repos
+ return_to_root_dir
}
download_ros1_dependencies() {
- echo "Downloading the ROS 1 dependencies workspace"
- mkdir -p ros1_dependencies_ws/src
- cd ros1_dependencies_ws
- vcs import src < ${CWD}/navigation2/tools/ros1_dependencies.repos.${ROS1_DISTRO}
- return_to_root_dir
+ echo "Downloading the ROS 1 dependencies workspace"
+ mkdir -p ros1_dependencies_ws/src
+ cd ros1_dependencies_ws
+ vcs import src < ${CWD}/navigation2_ws/src/navigation2/tools/ros1_dependencies.repos.${ROS1_DISTRO}
+ return_to_root_dir
}
checkpoint() {
- local CHECKPOINT_FILE_NAME=.INITIAL_SETUP_$1
- CHECKPOINT_FILES="${CHECKPOINT_FILES} ${CHECKPOINT_FILE_NAME}"
- if [ ! -f ${CHECKPOINT_FILE_NAME} ]; then
- $1
- touch ${CHECKPOINT_FILE_NAME}
- fi
+ local CHECKPOINT_FILE_NAME=.INITIAL_SETUP_$1
+ CHECKPOINT_FILES="${CHECKPOINT_FILES} ${CHECKPOINT_FILE_NAME}"
+ if [ ! -f ${CHECKPOINT_FILE_NAME} ]; then
+ $1
+ touch ${CHECKPOINT_FILE_NAME}
+ fi
}
download_all() {
- checkpoint download_navstack
- checkpoint download_ros2_dependencies
- if [ "$ENABLE_ROS2" = true ]; then
- checkpoint download_ros2
- fi
- if [ "$ENABLE_ROS1" = true ]; then
- checkpoint download_ros1_dependencies
- fi
+ checkpoint download_navstack
+ checkpoint download_ros2_dependencies
+ if [ "$ENABLE_ROS2" = true ]; then
+ checkpoint download_ros2
+ fi
+ if [ "$ENABLE_ROS1" = true ]; then
+ checkpoint download_ros1_dependencies
+ fi
}
echo "This script will download the ROS 2 latest release workspace, the"
@@ -117,20 +120,20 @@ echo "Are you sure you want to continue? [yN]"
read -r REPLY
echo
if [ "$REPLY" = "y" ]; then
- download_all
- if [ "$ENABLE_BUILD" = true ]; then
- $CWD/navigation2/tools/build_all.sh
- fi
+ download_all
+ if [ "$ENABLE_BUILD" = true ]; then
+ $CWD/navigation2_ws/src/navigation2/tools/build_all.sh
+ fi
- cd ${CWD}
- rm ${CHECKPOINT_FILES}
- echo
- echo "Everything downloaded and built successfully."
- echo "To use the navstack source the setup.bash in the install folder"
- echo
- echo "> source navigation2/install/setup.bash"
- echo
- echo "To build the navstack you can either"
- echo "1. Run 'colcon build --symlink-install' from the navigation2 folder"
- echo "2. or run 'make' from navigation2/build/<project> folder"
+ cd ${CWD}
+ rm ${CHECKPOINT_FILES}
+ echo
+ echo "Everything downloaded and built successfully."
+ echo "To use the navstack source the setup.bash in the install folder"
+ echo
+ echo "> source navigation2/install/setup.bash"
+ echo
+ echo "To build the navstack you can either"
+ echo "1. Run 'colcon build --symlink-install' from the navigation2 folder"
+ echo "2. or run 'make' from navigation2/build/<project> folder"
fi
--
GitLab