deprecate velctrl msgs, remove old refs to common_msgs, redefine as f…

…reyja_msgs
unl-nimbus-lab · Nov 15, 2020 · 29e87a6 · 29e87a6
1 parent 508ecc4
commit 29e87a6
Show file tree

Hide file tree

Showing 13 changed files with 29 additions and 49 deletions.
diff --git a/freyja_msgs/CMakeLists.txt b/freyja_msgs/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(common_msgs)
+project(freyja_msgs)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 # add_compile_options(-std=c++11)
@@ -53,7 +53,7 @@ generate_messages(
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
-#  LIBRARIES common_msgs
+#  LIBRARIES freyja_msgs
 #  CATKIN_DEPENDS geometry_msgs message_generation message_runtime roscpp std_msgs
 #  DEPENDS system_lib
 )

diff --git a/freyja_msgs/msg/lqr_ctrl/CtrlCommand.msg b/freyja_msgs/msg/lqr_ctrl/CtrlCommand.msg
@@ -1,8 +1,9 @@
 # Control commands for the attitude controller.
 # Need to translate differently for AscTec HLP/LLP, PX4, AC etc.
 # Attitude in radians, thrust in *Newtons*. No scaling!
-# ctrl_mode is 8 bits (asctec): [ x x gps height thrust yaw roll pitch ]
-
+# ctrl_mode is:
+#    8 bits (asctec): [ x x gps height thrust yaw roll pitch ]
+#    8 bits (apm)   : [ x x x x x x yawrate ctrlvalid]
 float64 roll
 float64 pitch
 float64 yaw

diff --git a/freyja_msgs/msg/lqr_vel_ctrl/ControllerDebug.msg b/freyja_msgs/msg/lqr_vel_ctrl/ControllerDebug.msg
diff --git a/freyja_msgs/msg/lqr_vel_ctrl/CtrlCommand.msg b/freyja_msgs/msg/lqr_vel_ctrl/CtrlCommand.msg
diff --git a/freyja_msgs/msg/state_manager/CurrentState.msg b/freyja_msgs/msg/state_manager/CurrentState.msg
@@ -2,3 +2,4 @@
 # [pn, pe, pd, vn, ve, vd, roll, pitch, yaw, rrate, prate, yrate, delta_t]
 Header header
 float64[13] state_vector
+uint8       state_valid
diff --git a/freyja_msgs/package.xml b/freyja_msgs/package.xml
@@ -1,16 +1,13 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>common_msgs</name>
+  <name>freyja_msgs</name>
   <version>0.0.0</version>
-  <description>The common_msgs package</description>
+  <description>The freyja_msgs package</description>
 
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
-  <maintainer email="[email protected]">aj</maintainer>
+  <maintainer email="[email protected]">aj</maintainer>
 
 
-  <license>TODO</license>
+  <license>GPLv3</license>
 
 
   <buildtool_depend>catkin</buildtool_depend>

diff --git a/state_manager/CMakeLists.txt b/state_manager/CMakeLists.txt
@@ -16,7 +16,7 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
   std_msgs
   geometry_msgs
-  common_msgs
+  freyja_msgs
   sensor_msgs
   nav_msgs
 )

diff --git a/state_manager/include/state_estimator.h b/state_manager/include/state_estimator.h
@@ -23,15 +23,15 @@
 #include <sensor_msgs/NavSatFix.h>
 #include <nav_msgs/Odometry.h>
 
-#include <common_msgs/CurrentState.h>
-#include <common_msgs/CurrentStateEst.h>
-#include <common_msgs/AsctecData.h>
-#include <common_msgs/ControllerDebug.h>
+#include <freyja_msgs/CurrentState.h>
+#include <freyja_msgs/CurrentStateEst.h>
+#include <freyja_msgs/AsctecData.h>
+#include <freyja_msgs/ControllerDebug.h>
 
 
 #include "aj_filter_collection.cpp"
 
-typedef common_msgs::ControllerDebug::ConstPtr LqrInputAccel;
+typedef freyja_msgs::ControllerDebug::ConstPtr LqrInputAccel;
 
 #if LQE_INTEGRATOR_ORDER_ == 2
   const int nStates = 9;
@@ -80,7 +80,7 @@ class StateEstimator
   std::chrono::duration<double> prop_interval_;
 
   // final ros data published
-  common_msgs::CurrentStateBiasFree state_msg_;
+  freyja_msgs::CurrentStateBiasFree state_msg_;
 
   public:
     StateEstimator();
@@ -90,7 +90,7 @@ class StateEstimator
 
     // listen to state information from an external source
     ros::Subscriber state_sub_;
-    void stateUpdatesCallback( const common_msgs::CurrentState::ConstPtr & );
+    void stateUpdatesCallback( const freyja_msgs::CurrentState::ConstPtr & );
 
     // listen to full control commands (atti + accel) from the controller
     ros::Subscriber ctrl_input_sub_;

diff --git a/state_manager/include/state_manager.h b/state_manager/include/state_manager.h
@@ -86,7 +86,7 @@ class StateManager
 
     /* Callback handler for asctec_onboard_data */
     ros::Subscriber asctec_data_sub_;
-    void asctecDataCallback( const common_msgs::AsctecData::ConstPtr & );
+    void asctecDataCallback( const freyja_msgs::AsctecData::ConstPtr & );
 
     /* Callback handlers for mavros data */
     ros::Subscriber mavros_gps_sub_;

diff --git a/state_manager/package.xml b/state_manager/package.xml
@@ -5,14 +5,14 @@
   <description>The state_manager package</description>
 
   <maintainer email="[email protected]">aj</maintainer>
-  <license>Risky</license>
+  <license>GPLv3</license>
 
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>message_generation</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>geometry_msgs</build_depend>
-  <build_depend>common_msgs</build_depend>
+  <build_depend>freyja_msgs</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>nav_msgs</build_depend>
 

diff --git a/state_manager/src/callback_implementations.cpp b/state_manager/src/callback_implementations.cpp
@@ -74,14 +74,14 @@ void StateManager::viconCallback( const TFStamped::ConstPtr &msg )
   last_yaw_ = yaw;
 
   /* Copy over and publish right away */
-  common_msgs::CurrentState state_msg;
+  freyja_msgs::CurrentState state_msg;
   state_msg.header.stamp = ros::Time::now();
   for( uint8_t idx = 0; idx < STATE_VECTOR_LEN; idx++ )
     state_msg.state_vector[idx] = state_vector_[idx];
   state_pub_.publish( state_msg );
 }
 
-void StateManager::asctecDataCallback( const common_msgs::AsctecData::ConstPtr &msg )
+void StateManager::asctecDataCallback( const freyja_msgs::AsctecData::ConstPtr &msg )
 {
   double time_since = (ros::Time::now() - lastUpdateTime_).toSec();
   double x, y, z, vx, vy, vz;
@@ -145,7 +145,7 @@ void StateManager::asctecDataCallback( const common_msgs::AsctecData::ConstPtr &
   last_pd_ = state_vector_[2];
 
   /* Copy over and publish right away */
-  common_msgs::CurrentState state_msg;
+  freyja_msgs::CurrentState state_msg;
   state_msg.header.stamp = ros::Time::now();
   for( uint8_t idx = 0; idx < STATE_VECTOR_LEN; idx++ )
     state_msg.state_vector[idx] = state_vector_[idx];
@@ -185,7 +185,7 @@ void StateManager::mavrosGpsVelCallback( const TwStamped::ConstPtr &msg )
 
   lastUpdateTime_ = ros::Time::now();
 
-  common_msgs::CurrentState state_msg;
+  freyja_msgs::CurrentState state_msg;
   state_msg.header.stamp = ros::Time::now();
   for( uint8_t idx = 0; idx < STATE_VECTOR_LEN; idx++ )
     state_msg.state_vector[idx] = state_vector_[idx];
@@ -253,7 +253,7 @@ void StateManager::cameraUpdatesCallback( const CameraOdom::ConstPtr &msg )
   state_vector_[8] = yaw;
 
   // publish away!
-  common_msgs::CurrentState state_msg;
+  freyja_msgs::CurrentState state_msg;
   state_msg.header.stamp = ros::Time::now();
   for( uint8_t idx = 0; idx < STATE_VECTOR_LEN; idx++ )
     state_msg.state_vector[idx] = state_vector_[idx];

diff --git a/state_manager/src/state_estimator.cpp b/state_manager/src/state_estimator.cpp
@@ -22,7 +22,7 @@ StateEstimator::StateEstimator() : nh_(), priv_nh_("~")
   std::string output_topic;
   priv_nh_.param( "output_topic", output_topic, std::string("/current_state_estimate") );
   // for when all is said and done
-  state_pub_ = nh_.advertise <common_msgs::CurrentStateBiasFree>
+  state_pub_ = nh_.advertise <freyja_msgs::CurrentStateBiasFree>
                   ( output_topic, 1, true );
 
   int estimator_rate_default = 70;
@@ -261,7 +261,7 @@ void StateEstimator::medianFilter()
   */
 }
 
-void StateEstimator::stateUpdatesCallback( const common_msgs::CurrentState::ConstPtr & msg )
+void StateEstimator::stateUpdatesCallback( const freyja_msgs::CurrentState::ConstPtr & msg )
 {
 
   // no need to mutexify this, since measurement_z_ is only used in update function

diff --git a/state_manager/src/state_manager.cpp b/state_manager/src/state_manager.cpp
@@ -29,7 +29,7 @@ StateManager::StateManager() : nh_(), priv_nh_("~")
 
 
   /* Announce state publisher */
-  state_pub_ = nh_.advertise <common_msgs::CurrentState>
+  state_pub_ = nh_.advertise <freyja_msgs::CurrentState>
                   ( "current_state", 1, true ); 
 
   /* Instantiate filters. Useful for vicon. Autopilots have their own filters */