From 4f270e7077caedb66d99c97ad11713c9b0046230 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Tue, 24 Dec 2024 08:50:10 +0900 Subject: [PATCH] consai_visualizer_msgs->crane_visualization_interfaces --- consai_ros2/consai_visualizer/package.xml | 2 +- .../src/consai_visualizer/field_widget.py | 6 +- .../src/consai_visualizer/visualizer.py | 2 +- crane_game_analyzer/package.xml | 2 +- crane_local_planner/package.xml | 2 +- crane_play_switcher/package.xml | 2 +- crane_robot_receiver/package.xml | 2 +- crane_robot_skills/package.xml | 2 +- crane_sender/package.xml | 2 +- crane_simple_ai/package.xml | 2 +- .../manual_conversions.hpp | 10 -- .../manual_conversions.hpp | 12 ++ .../src/manual_conversions.cpp | 5 +- .../visualization_data_handler.hpp | 6 +- crane_world_model_publisher/package.xml | 2 +- .../src/visualization_data_handler.cpp | 30 ++--- session/crane_planner_base/package.xml | 2 +- session/crane_planner_plugins/package.xml | 2 +- session/crane_session_controller/package.xml | 2 +- utility/crane_grsim_operator/package.xml | 2 +- .../consai_visualizer_wrapper.hpp | 118 ++++++++++-------- utility/crane_msg_wrappers/package.xml | 2 +- 22 files changed, 117 insertions(+), 100 deletions(-) delete mode 100644 crane_visualization_interfaces/include/consai_visualizer_msgs/manual_conversions.hpp create mode 100644 crane_visualization_interfaces/include/crane_visualization_interfaces/manual_conversions.hpp diff --git a/consai_ros2/consai_visualizer/package.xml b/consai_ros2/consai_visualizer/package.xml index 96cd8ea6b..628dcda37 100644 --- a/consai_ros2/consai_visualizer/package.xml +++ b/consai_ros2/consai_visualizer/package.xml @@ -10,7 +10,7 @@ ament_cmake ament_index_python - consai_visualizer_msgs + crane_visualization_interfaces python_qt_binding rclpy rqt_gui diff --git a/consai_ros2/consai_visualizer/src/consai_visualizer/field_widget.py b/consai_ros2/consai_visualizer/src/consai_visualizer/field_widget.py index b109be0e0..36057482f 100644 --- a/consai_ros2/consai_visualizer/src/consai_visualizer/field_widget.py +++ b/consai_ros2/consai_visualizer/src/consai_visualizer/field_widget.py @@ -19,9 +19,9 @@ import math from typing import Dict -from consai_visualizer_msgs.msg import Color as VisColor -from consai_visualizer_msgs.msg import Objects as VisObjects -from consai_visualizer_msgs.msg import ( +from crane_visualization_interfaces.msg import Color as VisColor +from crane_visualization_interfaces.msg import Objects as VisObjects +from crane_visualization_interfaces.msg import ( ShapeAnnotation, ShapeArc, ShapeCircle, diff --git a/consai_ros2/consai_visualizer/src/consai_visualizer/visualizer.py b/consai_ros2/consai_visualizer/src/consai_visualizer/visualizer.py index df6487f7b..5ff997b38 100644 --- a/consai_ros2/consai_visualizer/src/consai_visualizer/visualizer.py +++ b/consai_ros2/consai_visualizer/src/consai_visualizer/visualizer.py @@ -24,7 +24,7 @@ from ament_index_python.resources import get_resource from consai_visualizer.field_widget import FieldWidget -from consai_visualizer_msgs.msg import ObjectsArray +from crane_visualization_interfaces.msg import ObjectsArray from crane_msgs.msg import PingStatusArray, RobotFeedbackArray from python_qt_binding import loadUi from python_qt_binding.QtCore import QPointF, Qt, QTimer diff --git a/crane_game_analyzer/package.xml b/crane_game_analyzer/package.xml index 6d16789e6..35813995a 100755 --- a/crane_game_analyzer/package.xml +++ b/crane_game_analyzer/package.xml @@ -10,9 +10,9 @@ ament_cmake_auto closest_point_vendor - consai_visualizer_msgs crane_msg_wrappers crane_msgs + crane_visualization_interfaces rclcpp rclcpp_components std_msgs diff --git a/crane_local_planner/package.xml b/crane_local_planner/package.xml index b248c279f..f53e46002 100755 --- a/crane_local_planner/package.xml +++ b/crane_local_planner/package.xml @@ -11,9 +11,9 @@ backward_ros closest_point_vendor - consai_visualizer_msgs crane_msg_wrappers crane_msgs + crane_visualization_interfaces rclcpp rclcpp_components rvo2_vendor diff --git a/crane_play_switcher/package.xml b/crane_play_switcher/package.xml index ca55b2c7e..0210e0dd6 100755 --- a/crane_play_switcher/package.xml +++ b/crane_play_switcher/package.xml @@ -9,9 +9,9 @@ ament_cmake_auto - consai_visualizer_msgs crane_msg_wrappers crane_msgs + crane_visualization_interfaces rclcpp rclcpp_components robocup_ssl_msgs diff --git a/crane_robot_receiver/package.xml b/crane_robot_receiver/package.xml index b25e632f8..98a08f02a 100755 --- a/crane_robot_receiver/package.xml +++ b/crane_robot_receiver/package.xml @@ -10,9 +10,9 @@ ament_cmake_auto boost - consai_visualizer_msgs crane_msg_wrappers crane_msgs + crane_visualization_interfaces rclcpp std_msgs diff --git a/crane_robot_skills/package.xml b/crane_robot_skills/package.xml index 49aa4f222..e9a2fa328 100755 --- a/crane_robot_skills/package.xml +++ b/crane_robot_skills/package.xml @@ -10,11 +10,11 @@ ament_cmake_auto boost - consai_visualizer_msgs crane_basics crane_game_analyzer crane_msg_wrappers crane_msgs + crane_visualization_interfaces magic_enum rclcpp rclcpp_components diff --git a/crane_sender/package.xml b/crane_sender/package.xml index 7e3937d48..aff620c63 100755 --- a/crane_sender/package.xml +++ b/crane_sender/package.xml @@ -9,10 +9,10 @@ ament_cmake_auto - consai_visualizer_msgs crane_basics crane_msg_wrappers crane_msgs + crane_visualization_interfaces libboost-dev rclcpp rclcpp_components diff --git a/crane_simple_ai/package.xml b/crane_simple_ai/package.xml index dadc36550..f8b825880 100755 --- a/crane_simple_ai/package.xml +++ b/crane_simple_ai/package.xml @@ -9,10 +9,10 @@ ament_cmake_auto - consai_visualizer_msgs crane_msg_wrappers crane_msgs crane_robot_skills + crane_visualization_interfaces libqt5-core libqt5-gui libqt5-widgets diff --git a/crane_visualization_interfaces/include/consai_visualizer_msgs/manual_conversions.hpp b/crane_visualization_interfaces/include/consai_visualizer_msgs/manual_conversions.hpp deleted file mode 100644 index a25f6043b..000000000 --- a/crane_visualization_interfaces/include/consai_visualizer_msgs/manual_conversions.hpp +++ /dev/null @@ -1,10 +0,0 @@ -// Copyright (c) 2024 ibis-ssl -// -// Use of this source code is governed by an MIT-style -// license that can be found in the LICENSE file or at -// https://opensource.org/licenses/MIT. - -#ifndef CONSAI_VISUALIZER_MSGS__MANUAL_CONVERSIONS_HPP_ -#define CONSAI_VISUALIZER_MSGS__MANUAL_CONVERSIONS_HPP_ - -#endif // CONSAI_VISUALIZER_MSGS__MANUAL_CONVERSIONS_HPP_ diff --git a/crane_visualization_interfaces/include/crane_visualization_interfaces/manual_conversions.hpp b/crane_visualization_interfaces/include/crane_visualization_interfaces/manual_conversions.hpp new file mode 100644 index 000000000..af6da20ba --- /dev/null +++ b/crane_visualization_interfaces/include/crane_visualization_interfaces/manual_conversions.hpp @@ -0,0 +1,12 @@ +// Copyright (c) 2024 ibis-ssl +// +// Use of this source code is governed by an MIT-style +// license that can be found in the LICENSE file or at +// https://opensource.org/licenses/MIT. + +#ifndef CRANE_VISUALIZATION_INTERFACES__MANUAL_CONVERSIONS_HPP_ +#define CRANE_VISUALIZATION_INTERFACES__MANUAL_CONVERSIONS_HPP_ + +// IMPLEMENT MANUAL CONVERSIONS HERE + +#endif // CRANE_VISUALIZATION_INTERFACES__MANUAL_CONVERSIONS_HPP_ diff --git a/crane_visualization_interfaces/src/manual_conversions.cpp b/crane_visualization_interfaces/src/manual_conversions.cpp index b62e885bc..74c6c210b 100644 --- a/crane_visualization_interfaces/src/manual_conversions.cpp +++ b/crane_visualization_interfaces/src/manual_conversions.cpp @@ -4,5 +4,6 @@ // license that can be found in the LICENSE file or at // https://opensource.org/licenses/MIT. -// NOTE: 名前もmanual_conversions.cppで固定 -#include +#include + +// IMPLEMENT MANUAL CONVERSIONS HERE diff --git a/crane_world_model_publisher/include/crane_world_model_publisher/visualization_data_handler.hpp b/crane_world_model_publisher/include/crane_world_model_publisher/visualization_data_handler.hpp index c992e8e25..cd5dd247b 100644 --- a/crane_world_model_publisher/include/crane_world_model_publisher/visualization_data_handler.hpp +++ b/crane_world_model_publisher/include/crane_world_model_publisher/visualization_data_handler.hpp @@ -18,15 +18,15 @@ #include #include -#include +#include #include #include namespace crane { -using VisualizerObjects = consai_visualizer_msgs::msg::Objects; -using VisualizerObjectsArray = consai_visualizer_msgs::msg::ObjectsArray; +using VisualizerObjects = crane_visualization_interfaces::msg::Objects; +using VisualizerObjectsArray = crane_visualization_interfaces::msg::ObjectsArray; using Referee = robocup_ssl_msgs::msg::Referee; class VisualizationDataHandler diff --git a/crane_world_model_publisher/package.xml b/crane_world_model_publisher/package.xml index 13ad0fe5f..d44321a45 100755 --- a/crane_world_model_publisher/package.xml +++ b/crane_world_model_publisher/package.xml @@ -10,10 +10,10 @@ ament_cmake_auto boost - consai_visualizer_msgs crane_basics crane_msg_wrappers crane_msgs + crane_visualization_interfaces libgoogle-glog-dev rclcpp rclcpp_components diff --git a/crane_world_model_publisher/src/visualization_data_handler.cpp b/crane_world_model_publisher/src/visualization_data_handler.cpp index 9dc4cc1e6..25956873a 100644 --- a/crane_world_model_publisher/src/visualization_data_handler.cpp +++ b/crane_world_model_publisher/src/visualization_data_handler.cpp @@ -14,25 +14,25 @@ #include "crane_world_model_publisher/visualization_data_handler.hpp" -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include #include namespace crane { -using VisColor = consai_visualizer_msgs::msg::Color; -using VisArc = consai_visualizer_msgs::msg::ShapeArc; -using VisAnnotation = consai_visualizer_msgs::msg::ShapeAnnotation; -using VisCircle = consai_visualizer_msgs::msg::ShapeCircle; -using VisLine = consai_visualizer_msgs::msg::ShapeLine; -using VisPoint = consai_visualizer_msgs::msg::ShapePoint; -using VisRect = consai_visualizer_msgs::msg::ShapeRectangle; -using VisRobot = consai_visualizer_msgs::msg::ShapeRobot; -using VisText = consai_visualizer_msgs::msg::ShapeText; +using VisColor = crane_visualization_interfaces::msg::Color; +using VisArc = crane_visualization_interfaces::msg::ShapeArc; +using VisAnnotation = crane_visualization_interfaces::msg::ShapeAnnotation; +using VisCircle = crane_visualization_interfaces::msg::ShapeCircle; +using VisLine = crane_visualization_interfaces::msg::ShapeLine; +using VisPoint = crane_visualization_interfaces::msg::ShapePoint; +using VisRect = crane_visualization_interfaces::msg::ShapeRectangle; +using VisRobot = crane_visualization_interfaces::msg::ShapeRobot; +using VisText = crane_visualization_interfaces::msg::ShapeText; using RobotId = robocup_ssl_msgs::msg::RobotId; VisualizationDataHandler::VisualizationDataHandler(rclcpp::Node & node) diff --git a/session/crane_planner_base/package.xml b/session/crane_planner_base/package.xml index a71d65360..b798c7958 100755 --- a/session/crane_planner_base/package.xml +++ b/session/crane_planner_base/package.xml @@ -9,9 +9,9 @@ ament_cmake_auto - consai_visualizer_msgs crane_msg_wrappers crane_msgs + crane_visualization_interfaces rclcpp std_msgs diff --git a/session/crane_planner_plugins/package.xml b/session/crane_planner_plugins/package.xml index 0636ab80d..a9af05b80 100755 --- a/session/crane_planner_plugins/package.xml +++ b/session/crane_planner_plugins/package.xml @@ -9,13 +9,13 @@ ament_cmake_auto - consai_visualizer_msgs crane_basics crane_game_analyzer crane_msg_wrappers crane_msgs crane_planner_base crane_robot_skills + crane_visualization_interfaces matplotlib_cpp_17_vendor pluginlib rclcpp diff --git a/session/crane_session_controller/package.xml b/session/crane_session_controller/package.xml index 7d79b5199..e4b8ff70b 100755 --- a/session/crane_session_controller/package.xml +++ b/session/crane_session_controller/package.xml @@ -10,10 +10,10 @@ ament_cmake_auto closest_point_vendor - consai_visualizer_msgs crane_msg_wrappers crane_msgs crane_planner_plugins + crane_visualization_interfaces libgoogle-glog-dev rclcpp rclcpp_components diff --git a/utility/crane_grsim_operator/package.xml b/utility/crane_grsim_operator/package.xml index b5c8b4296..93efcd310 100755 --- a/utility/crane_grsim_operator/package.xml +++ b/utility/crane_grsim_operator/package.xml @@ -9,8 +9,8 @@ ament_cmake_auto - consai_visualizer_msgs crane_msgs + crane_visualization_interfaces rclcpp robocup_ssl_msgs std_msgs diff --git a/utility/crane_msg_wrappers/include/crane_msg_wrappers/consai_visualizer_wrapper.hpp b/utility/crane_msg_wrappers/include/crane_msg_wrappers/consai_visualizer_wrapper.hpp index d395d69ff..3a0fa9ba6 100644 --- a/utility/crane_msg_wrappers/include/crane_msg_wrappers/consai_visualizer_wrapper.hpp +++ b/utility/crane_msg_wrappers/include/crane_msg_wrappers/consai_visualizer_wrapper.hpp @@ -7,8 +7,8 @@ #ifndef CRANE_MSG_WRAPPERS__CONSAI_VISUALIZER_WRAPPER_HPP_ #define CRANE_MSG_WRAPPERS__CONSAI_VISUALIZER_WRAPPER_HPP_ -#include #include +#include #include #include #include @@ -132,15 +132,17 @@ struct FillShapeColorBuilder } }; -struct ShapeAnnotationBuilder : public ColorBuilder +struct ShapeAnnotationBuilder +: public ColorBuilder { - consai_visualizer_msgs::msg::ShapeAnnotation annotation; - ShapeAnnotationBuilder() : ColorBuilder(annotation) + crane_visualization_interfaces::msg::ShapeAnnotation annotation; + ShapeAnnotationBuilder() + : ColorBuilder(annotation) { annotation.color.name = "white"; annotation.color.alpha = 1.0; } - operator consai_visualizer_msgs::msg::ShapeAnnotation() const { return annotation; } + operator crane_visualization_interfaces::msg::ShapeAnnotation() const { return annotation; } ShapeAnnotationBuilder & text(const std::string & text) { @@ -180,16 +182,16 @@ struct ShapeAnnotationBuilder : public ColorBuilder +struct ShapePointBuilder : public ColorBuilder { - consai_visualizer_msgs::msg::ShapePoint point; - ShapePointBuilder() : ColorBuilder(point) + crane_visualization_interfaces::msg::ShapePoint point; + ShapePointBuilder() : ColorBuilder(point) { point.color.name = "white"; point.color.alpha = 1.0; point.size = 1; } - operator consai_visualizer_msgs::msg::ShapePoint() const { return point; } + operator crane_visualization_interfaces::msg::ShapePoint() const { return point; } ShapePointBuilder & x(double x) { @@ -223,11 +225,11 @@ struct ShapePointBuilder : public ColorBuilder +struct ShapeArcBuilder : public ColorBuilder { - consai_visualizer_msgs::msg::ShapeArc arc; - ShapeArcBuilder() : ColorBuilder(arc) {} - operator consai_visualizer_msgs::msg::ShapeArc() const { return arc; } + crane_visualization_interfaces::msg::ShapeArc arc; + ShapeArcBuilder() : ColorBuilder(arc) {} + operator crane_visualization_interfaces::msg::ShapeArc() const { return arc; } ShapeArcBuilder & center(double x, double y) { @@ -280,14 +282,16 @@ struct ShapeArcBuilder : public ColorBuilder +struct ShapeCircleBuilder +: public FillShapeColorBuilder { - consai_visualizer_msgs::msg::ShapeCircle circle; - ShapeCircleBuilder() : FillShapeColorBuilder(circle) + crane_visualization_interfaces::msg::ShapeCircle circle; + ShapeCircleBuilder() + : FillShapeColorBuilder(circle) { circle.line_size = 1; } - operator consai_visualizer_msgs::msg::ShapeCircle() const { return circle; } + operator crane_visualization_interfaces::msg::ShapeCircle() const { return circle; } ShapeCircleBuilder & center(double x, double y) { @@ -322,12 +326,15 @@ struct ShapeCircleBuilder : public FillShapeColorBuilder +struct ShapeLineBuilder : public ColorBuilder { - consai_visualizer_msgs::msg::ShapeLine line; - ShapeLineBuilder() : ColorBuilder(line) { line.size = 1; } + crane_visualization_interfaces::msg::ShapeLine line; + ShapeLineBuilder() : ColorBuilder(line) + { + line.size = 1; + } - operator consai_visualizer_msgs::msg::ShapeLine() const { return line; } + operator crane_visualization_interfaces::msg::ShapeLine() const { return line; } ShapeLineBuilder & p1(double x, double y) { @@ -371,14 +378,15 @@ struct ShapeLineBuilder : public ColorBuilder +: public FillShapeColorBuilder { - consai_visualizer_msgs::msg::ShapeRectangle rect; - ShapeRectangleBuilder() : FillShapeColorBuilder(rect) + crane_visualization_interfaces::msg::ShapeRectangle rect; + ShapeRectangleBuilder() + : FillShapeColorBuilder(rect) { } - operator consai_visualizer_msgs::msg::ShapeRectangle() const { return rect; } + operator crane_visualization_interfaces::msg::ShapeRectangle() const { return rect; } ShapeRectangleBuilder & center(double x, double y) { @@ -421,15 +429,17 @@ struct ShapeRectangleBuilder } }; -struct ShapeRobotBuilder : public FillShapeColorBuilder +struct ShapeRobotBuilder +: public FillShapeColorBuilder { - consai_visualizer_msgs::msg::ShapeRobot robot; - ShapeRobotBuilder() : FillShapeColorBuilder(robot) + crane_visualization_interfaces::msg::ShapeRobot robot; + ShapeRobotBuilder() + : FillShapeColorBuilder(robot) { robot.radius = 0.09; robot.line_size = 1; } - operator consai_visualizer_msgs::msg::ShapeRobot() const { return robot; } + operator crane_visualization_interfaces::msg::ShapeRobot() const { return robot; } ShapeRobotBuilder & x(double x) { @@ -499,14 +509,15 @@ struct ShapeRobotBuilder : public FillShapeColorBuilder +struct ShapeTubeBuilder +: public FillShapeColorBuilder { - consai_visualizer_msgs::msg::ShapeTube tube; - ShapeTubeBuilder() : FillShapeColorBuilder(tube) + crane_visualization_interfaces::msg::ShapeTube tube; + ShapeTubeBuilder() : FillShapeColorBuilder(tube) { tube.line_size = 1; } - operator consai_visualizer_msgs::msg::ShapeTube() const { return tube; } + operator crane_visualization_interfaces::msg::ShapeTube() const { return tube; } ShapeTubeBuilder & p1(double x, double y) { @@ -557,12 +568,12 @@ struct ShapeTubeBuilder : public FillShapeColorBuilder buffer = nullptr; rclcpp::Publisher::SharedPtr publisher; - consai_visualizer_msgs::msg::ObjectsArray message_buffer; + crane_visualization_interfaces::msg::ObjectsArray message_buffer; template ConsaiVisualizerBuffer(Node & node, const std::string topic) @@ -627,7 +638,7 @@ struct ConsaiVisualizerBuffer } } - using Objects = consai_visualizer_msgs::msg::Objects; + using Objects = crane_visualization_interfaces::msg::Objects; Objects message_buffer; @@ -635,7 +646,7 @@ struct ConsaiVisualizerBuffer const std::string & text, double normed_x, double normed_y, double normed_width, double normed_height, const std::string & color = "white", double alpha = 1.0) { - consai_visualizer_msgs::msg::ShapeAnnotation annotation; + crane_visualization_interfaces::msg::ShapeAnnotation annotation; annotation.text = text; annotation.normalized_x = normed_x; annotation.normalized_y = normed_y; @@ -646,7 +657,7 @@ struct ConsaiVisualizerBuffer message_buffer.annotations.push_back(annotation); } - void addAnnotation(consai_visualizer_msgs::msg::ShapeAnnotation annotation) + void addAnnotation(crane_visualization_interfaces::msg::ShapeAnnotation annotation) { message_buffer.annotations.push_back(annotation); } @@ -655,7 +666,7 @@ struct ConsaiVisualizerBuffer double x, double y, int size, const std::string & color = "white", double alpha = 1.0, const std::string & caption = "") { - consai_visualizer_msgs::msg::ShapePoint point; + crane_visualization_interfaces::msg::ShapePoint point; point.x = x; point.y = y; point.color.name = color; @@ -672,7 +683,7 @@ struct ConsaiVisualizerBuffer addPoint(p.x(), p.y(), size, color, alpha, caption); } - void addPoint(consai_visualizer_msgs::msg::ShapePoint point) + void addPoint(crane_visualization_interfaces::msg::ShapePoint point) { message_buffer.points.push_back(point); } @@ -681,7 +692,7 @@ struct ConsaiVisualizerBuffer double x1, double y1, double x2, double y2, int size, const std::string & color = "white", double alpha = 1.0, const std::string & caption = "") { - consai_visualizer_msgs::msg::ShapeLine line; + crane_visualization_interfaces::msg::ShapeLine line; line.p1.x = x1; line.p1.y = y1; line.p2.x = x2; @@ -700,7 +711,7 @@ struct ConsaiVisualizerBuffer addLine(p1.x(), p1.y(), p2.x(), p2.y(), size, color, alpha, caption); } - void addLine(consai_visualizer_msgs::msg::ShapeLine line) + void addLine(crane_visualization_interfaces::msg::ShapeLine line) { message_buffer.lines.push_back(line); } @@ -709,7 +720,7 @@ struct ConsaiVisualizerBuffer double x, double y, double radius, double start_angle, double end_angle, int size, const std::string & color = "white", double alpha = 1.0, const std::string & caption = "") { - consai_visualizer_msgs::msg::ShapeArc arc; + crane_visualization_interfaces::msg::ShapeArc arc; arc.center.x = x; arc.center.y = y; arc.radius = radius; @@ -729,14 +740,17 @@ struct ConsaiVisualizerBuffer addArc(center.x(), center.y(), radius, start_angle, end_angle, size, color, alpha, caption); } - void addArc(consai_visualizer_msgs::msg::ShapeArc arc) { message_buffer.arcs.push_back(arc); } + void addArc(crane_visualization_interfaces::msg::ShapeArc arc) + { + message_buffer.arcs.push_back(arc); + } void addRect( double x, double y, double width, double height, int line_size, const std::string & line_color = "white", const std::string & fill_color = "white", double alpha = 1.0, const std::string & caption = "") { - consai_visualizer_msgs::msg::ShapeRectangle rect; + crane_visualization_interfaces::msg::ShapeRectangle rect; rect.center.x = x; rect.center.y = y; rect.width = width; @@ -775,7 +789,7 @@ struct ConsaiVisualizerBuffer addRect(center, width, height, line_size, line_color, fill_color, alpha, caption); } - void addRect(consai_visualizer_msgs::msg::ShapeRectangle rect) + void addRect(crane_visualization_interfaces::msg::ShapeRectangle rect) { message_buffer.rects.push_back(rect); } @@ -785,7 +799,7 @@ struct ConsaiVisualizerBuffer const std::string & fill_color = "white", double alpha = 1.0, const std::string & caption = "") { - consai_visualizer_msgs::msg::ShapeCircle circle; + crane_visualization_interfaces::msg::ShapeCircle circle; circle.center.x = x; circle.center.y = y; circle.radius = radius; @@ -810,7 +824,7 @@ struct ConsaiVisualizerBuffer addCircle(center.x(), center.y(), radius, line_size, line_color, fill_color, alpha, caption); } - void addCircle(consai_visualizer_msgs::msg::ShapeCircle circle) + void addCircle(crane_visualization_interfaces::msg::ShapeCircle circle) { message_buffer.circles.push_back(circle); } @@ -820,7 +834,7 @@ struct ConsaiVisualizerBuffer const std::string & line_color = "white", const std::string & fill_color = "white", double alpha = 1.0, const std::string & caption = "") { - consai_visualizer_msgs::msg::ShapeTube tube; + crane_visualization_interfaces::msg::ShapeTube tube; tube.p1.x = x1; tube.p1.y = y1; tube.p2.x = x2; @@ -844,7 +858,7 @@ struct ConsaiVisualizerBuffer p1.x(), p1.y(), p2.x(), p2.y(), radius, line_size, line_color, fill_color, alpha, caption); } - void addTube(consai_visualizer_msgs::msg::ShapeTube tube) + void addTube(crane_visualization_interfaces::msg::ShapeTube tube) { message_buffer.tubes.push_back(tube); } @@ -854,7 +868,7 @@ struct ConsaiVisualizerBuffer const std::string & fill_color = "white", double alpha = 1.0, double line_size = 1, const std::string & caption = "", bool color_type = false) { - consai_visualizer_msgs::msg::ShapeRobot robot; + crane_visualization_interfaces::msg::ShapeRobot robot; robot.x = x; robot.y = y; robot.theta = theta; @@ -879,7 +893,7 @@ struct ConsaiVisualizerBuffer id, p.x(), p.y(), theta, line_color, fill_color, alpha, line_size, caption, color_type); } - void addRobot(consai_visualizer_msgs::msg::ShapeRobot robot) + void addRobot(crane_visualization_interfaces::msg::ShapeRobot robot) { message_buffer.robots.push_back(robot); } diff --git a/utility/crane_msg_wrappers/package.xml b/utility/crane_msg_wrappers/package.xml index e462c8819..dcb8e9d34 100755 --- a/utility/crane_msg_wrappers/package.xml +++ b/utility/crane_msg_wrappers/package.xml @@ -10,9 +10,9 @@ ament_cmake_auto closest_point_vendor - consai_visualizer_msgs crane_basics crane_msgs + crane_visualization_interfaces eigen geometry_msgs nav_msgs