update messages and comments

Author: miquelmassot

auv_msgs/DecimalLatLonMsg.cs

@@ -6,6 +6,8 @@
 /**
  * Define a geographic_msgs GeoPoint message. This has been hand-crafted from the corresponding
  * geographic_msgs message file.
+ * 
+ * @author Miquel Massot Campos
  */
 
 namespace ROSBridgeLib {

auv_msgs/NEDMsg.cs

@@ -6,6 +6,8 @@
 /**
  * Define a auv_msgs NED message. This has been hand-crafted from the corresponding
  * auv_msgs message file.
+ * 
+ * @author Miquel Massot Campos
  */
 
 namespace ROSBridgeLib {

auv_msgs/NavStsMsg.cs

@@ -9,6 +9,8 @@
 /**
  * Define a auv_msgs NavSts  message. This has been hand-crafted from the corresponding
  * auv_msgs message file.
+ * 
+ * @author Miquel Massot Campos
  */
 
 namespace ROSBridgeLib {

auv_msgs/RPYMsg.cs

@@ -6,6 +6,8 @@
 /**
  * Define a auv_msgs NED message. This has been hand-crafted from the corresponding
  * auv_msgs message file.
+ * 
+ * @author Miquel Massot Campos
  */
 
 namespace ROSBridgeLib {

geographic_msgs/GeoPointMsg.cs

@@ -6,6 +6,8 @@
 /**
  * Define a geographic_msgs GeoPoint message. This has been hand-crafted from the corresponding
  * geographic_msgs message file.
+ * 
+ * @author Miquel Massot Campos
  */
 
 namespace ROSBridgeLib {

geometry_msgs/PointMsg.cs

@@ -6,6 +6,8 @@
 /**
  * Define a geometry_msgs point message. This has been hand-crafted from the corresponding
  * geometry_msgs message file.
+ * 
+ * @author Miquel Massot Campos
  */
 
 namespace ROSBridgeLib {

geometry_msgs/PoseMsg.cs

@@ -5,6 +5,8 @@
 /**
  * Define a geometry_msgs pose message. This has been hand-crafted from the corresponding
  * geometry_msgs message file.
+ * 
+ * @author Miquel Massot Campos
  */
 
 namespace ROSBridgeLib {

geometry_msgs/QuaternionMsg.cs

@@ -5,6 +5,8 @@
 /**
  * Define a geometry_msgs quaternion message. This has been hand-crafted from the corresponding
  * geometry_msgs message file.
+ * 
+ * @author Miquel Massot Campos
  */
 
 namespace ROSBridgeLib {

nav_msgs/PathMsg.cs

@@ -4,7 +4,13 @@
 using SimpleJSON;
 using ROSBridgeLib.std_msgs;
 using ROSBridgeLib.geometry_msgs;
-// Need geometry_msgs/PoseStamped[]
+
+/**
+ * Define a nav_msgs Path message. This has been hand-crafted from the corresponding
+ * nav_msgs message file.
+ * 
+ * @author Miquel Massot Campos
+ */
 
 namespace ROSBridgeLib {
 	namespace nav_msgs {
@@ -19,32 +25,47 @@ public PathMsg(JSONNode msg) {
 					_poses.Add(new PoseStampedMsg(msg["poses"][i]));
 				}
 			}
-			
-/* 			public CompressedImageMsg(JSONNode msg) {
-				_format = msg ["format"];
-				_header = new HeaderMsg (msg ["header"]);
-				//_poses = 
-			} */
-			
-/* 			public static string GetMessageType() {
-				return "geometry_msgs/Twist";
-			} */
-			
-/* 			public HeaderMsg GetHeader() {
+
+			public static string GetMessageType() {
+				return "nav_msgs/Path";
+			}
+
+			public HeaderMsg GetHeader() {
 				return _header;
-			} */
+			}
+
+			public PoseStampedMsg GetPoseStamped(int idx = 0) {
+				if (idx < _poses.Count) {
+					return _poses [idx];
+				} else {
+					return null;
+				}
+			}
 
-/* 			public PoseStamped[] GetPoses() {
-				return _poses;
-			} */
-/* 			
 			public override string ToString() {
-				return "Twist [linear=" + _linear.ToString() + ",  angular=" + _angular.ToString() + "]";
+				string array = "[";
+				for (int i = 0; i < _poses.Count; i++) {
+					array = array + _poses[i].ToString();
+					if (_poses.Count - i <= 1)
+						array += ",";
+				}
+				array += "]";
+
+				return "Path [header=" + _header.ToString() 
+					+ ",  poses=" + array + "]";
 			}
-			
+
 			public override string ToYAMLString() {
-				return "{\"linear\" : " + _linear.ToYAMLString() + ", \"angular\" : " + _angular.ToYAMLString() + "}";
-			} */
+				string array = "{";
+				for (int i = 0; i < _poses.Count; i++) {
+					array = array + _poses[i].ToYAMLString();
+					if (_poses.Count - i <= 1)
+						array += ",";
+				}
+				array += "}";
+				return "{\"header\" : " + _header.ToYAMLString() 
+					+ ", \"poses\" : " + array + "}";
+			}
 		}
 	}
 }

sensor_msgs/PointCloud2Msg.cs

@@ -10,6 +10,8 @@
 
 /**
  * Define a PointCloud2 message.
+ *  
+ * @author Miquel Massot Campos
  */
 
 namespace ROSBridgeLib {
@@ -23,7 +25,6 @@ public class PointCloud2Msg : ROSBridgeMsg {
 			private bool _is_dense;
 			private uint _point_step;
 			private uint _row_step;
-			private byte[] _data;
 			private PointCloud<PointXYZRGB> _cloud;
 
 
@@ -91,50 +92,34 @@ public uint GetRowStep() {
 				return _row_step;
 			}
 
-			//public PointCloud<PointXYZRGB> GetCloud() {
-			//	return _cloud;
-			//}
+			public PointCloud<PointXYZRGB> GetCloud() {
+				return _cloud;
+			}
 
 			public static string GetMessageType() {
 				return "sensor_msgs/PointCloud2";
 			}
 
 			public override string ToString() {
-				string array = "[";
-                for (int i = 0; i < _data.Length; i++) {
-                    array = array + _data[i];
-                    if (_data.Length - i <= 1)
-                        array += ",";
-                }
-                array += "]";
 				return "PointCloud2 [header=" + _header.ToString() +
 						"height=" + _height +
 						"width=" + _width +
 						"fields=" + _fields.ToString() +
 						"is_bigendian=" + _is_bigendian +
 						"is_dense=" + _is_dense +
 						"point_step=" + _point_step +
-						"row_step=" + _row_step +
-						"data=" + array + "]";
+						"row_step=" + _row_step + "]";
 			}
 
 			public override string ToYAMLString() {
-				string array = "[";
-                for (int i = 0; i < _data.Length; i++) {
-                    array = array + _data[i];
-                    if (_data.Length - i <= 1)
-                        array += ",";
-                }
-                array += "]";
 				return "{\"header\" :" + _header.ToYAMLString() +
 						"\"height\" :" + _height +
 						"\"width\" :" + _width +
 						"\"fields\" :" + _fields.ToYAMLString() +
 						"\"is_bigendian\" :" + _is_bigendian +
 						"\"is_dense\" :" + _is_dense +
 						"\"point_step\" :" + _point_step +
-						"\"row_step\" :" + _row_step +
-						"\"data\" :" + array + "}";
+						"\"row_step\" :" + _row_step + "}";
 			}
 		}
 	}

sensor_msgs/PointFieldMsg.cs

@@ -6,6 +6,7 @@
 
 /**
  * Define a PointCloud2 message.
+ * @author Miquel Massot Campos
  */
 
 // Datatype:

std_msgs/Float32Msg.cs

@@ -9,7 +9,6 @@ public class Float32Msg : ROSBridgeMsg {
 			private float _data;
 
 			public Float32Msg(JSONNode msg) {
-				//Debug.Log ("Float32Msg with " + msg.ToString());
 				_data = float.Parse(msg);
 			}
 

std_msgs/Float64Msg.cs

@@ -9,7 +9,6 @@ public class Float64Msg : ROSBridgeMsg {
 			private double _data;
 
 			public Float64Msg(JSONNode msg) {
-				//Debug.Log ("Float64Msg with " + msg.ToString());
 				_data = double.Parse(msg);
 			}