From 745a2f66d9ec287d88cf72bfde093ba51aac89d2 Mon Sep 17 00:00:00 2001 From: Michael Carlstrom Date: Wed, 27 Sep 2023 13:49:18 -0400 Subject: [PATCH 1/2] start of rov_msgs branch --- README.md | 4 ++-- src/pi/manipulators/README.md | 2 +- src/pi/manipulators/manipulators/manipulators.py | 2 +- src/pi/pixhawk_communication/package.xml | 2 -- src/{interfaces => rov_msgs}/CMakeLists.txt | 2 +- src/{interfaces => rov_msgs}/README.md | 2 +- src/{interfaces => rov_msgs}/action/BasicTask.action | 0 src/{interfaces => rov_msgs}/action/Example.action | 0 .../msg/CameraControllerSwitch.msg | 0 src/{interfaces => rov_msgs}/msg/Manip.msg | 0 src/{interfaces => rov_msgs}/msg/TaskFeedback.msg | 0 src/{interfaces => rov_msgs}/package.xml | 4 ++-- src/{interfaces => rov_msgs}/srv/TaskRequest.srv | 0 src/surface/gui/gui/widgets/logger.py | 2 +- src/surface/gui/gui/widgets/task_selector.py | 4 ++-- src/surface/gui/gui/widgets/video_widget.py | 2 +- .../keyboard_driver/keyboard_driver_node.py | 2 +- src/surface/task_selector/package.xml | 2 +- .../task_selector/task_selector/basic_task_node.py | 2 +- .../task_selector/task_selector/basic_task_timed_node.py | 2 +- .../task_selector/task_selector/example_request_client.py | 2 +- .../task_selector/task_selector/is_morning_node.py | 2 +- .../task_selector/task_selector/manual_control_node.py | 4 ++-- src/surface/task_selector/task_selector/task_selector.py | 8 ++++---- 24 files changed, 24 insertions(+), 26 deletions(-) rename src/{interfaces => rov_msgs}/CMakeLists.txt (98%) rename src/{interfaces => rov_msgs}/README.md (98%) rename src/{interfaces => rov_msgs}/action/BasicTask.action (100%) rename src/{interfaces => rov_msgs}/action/Example.action (100%) rename src/{interfaces => rov_msgs}/msg/CameraControllerSwitch.msg (100%) rename src/{interfaces => rov_msgs}/msg/Manip.msg (100%) rename src/{interfaces => rov_msgs}/msg/TaskFeedback.msg (100%) rename src/{interfaces => rov_msgs}/package.xml (91%) rename src/{interfaces => rov_msgs}/srv/TaskRequest.srv (100%) diff --git a/README.md b/README.md index 81d5989a..3ff556db 100644 --- a/README.md +++ b/README.md @@ -35,7 +35,7 @@ Now select `🏃‍♂️ ROS All` to run all dependency download and building s This whole process should become `F1`, `Enter`, `Enter` once you've done it once, although the magic of symlink should mean you won't need to build again for most things. -If you're working on package metadata (e.g. `package.xml`) or interfaces, you'll need to run `🏃‍♂️ ROS Quick Build` or use `Control + Shift + B` every time you change something. +If you're working on package metadata (e.g. `package.xml`) or rov_msgs, you'll need to run `🏃‍♂️ ROS Quick Build` or use `Control + Shift + B` every time you change something. ### Automatic building for non-VSCode heathens @@ -47,7 +47,7 @@ Run this command from your workspace folder The magic of symlink should mean you won't need to build again for most things, but if you're working on package metadata (e.g. `package.xml`) or -interfaces, you'll need to run this every time you change something: +rov_msgs, you'll need to run this every time you change something: ```bash . src/.vscode/easy_build.sh diff --git a/src/pi/manipulators/README.md b/src/pi/manipulators/README.md index 5658fb1d..1f8b484c 100644 --- a/src/pi/manipulators/README.md +++ b/src/pi/manipulators/README.md @@ -50,4 +50,4 @@ On receiving a msg it toggles a manipulator on or off. Sends on and off signals to the IC2 board to confirm it is working. There is no ROS features being used. -[msg/Manip]:../../interfaces/msg/Manip.msg +[msg/Manip]:../../rov_msgs/msg/Manip.msg diff --git a/src/pi/manipulators/manipulators/manipulators.py b/src/pi/manipulators/manipulators/manipulators.py index f0d36459..dd31c65b 100644 --- a/src/pi/manipulators/manipulators/manipulators.py +++ b/src/pi/manipulators/manipulators/manipulators.py @@ -2,7 +2,7 @@ from manipulators.tca9555 import TCA9555 from rclpy.node import Node, Subscription from rclpy.qos import qos_profile_system_default -from interfaces.msg import Manip +from rov_msgs.msg import Manip class Manipulator(Node): diff --git a/src/pi/pixhawk_communication/package.xml b/src/pi/pixhawk_communication/package.xml index aeab31a5..c3c881d4 100644 --- a/src/pi/pixhawk_communication/package.xml +++ b/src/pi/pixhawk_communication/package.xml @@ -9,8 +9,6 @@ ros2launch - interfaces - ament_flake8 ament_pep257 python3-pytest diff --git a/src/interfaces/CMakeLists.txt b/src/rov_msgs/CMakeLists.txt similarity index 98% rename from src/interfaces/CMakeLists.txt rename to src/rov_msgs/CMakeLists.txt index 4bc88961..64407199 100644 --- a/src/interfaces/CMakeLists.txt +++ b/src/rov_msgs/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.8) -project(interfaces) +project(rov_msgs) if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) diff --git a/src/interfaces/README.md b/src/rov_msgs/README.md similarity index 98% rename from src/interfaces/README.md rename to src/rov_msgs/README.md index 1f089cd2..3deb881e 100644 --- a/src/interfaces/README.md +++ b/src/rov_msgs/README.md @@ -1,4 +1,4 @@ -# interfaces +# rov_msgs ## Overview diff --git a/src/interfaces/action/BasicTask.action b/src/rov_msgs/action/BasicTask.action similarity index 100% rename from src/interfaces/action/BasicTask.action rename to src/rov_msgs/action/BasicTask.action diff --git a/src/interfaces/action/Example.action b/src/rov_msgs/action/Example.action similarity index 100% rename from src/interfaces/action/Example.action rename to src/rov_msgs/action/Example.action diff --git a/src/interfaces/msg/CameraControllerSwitch.msg b/src/rov_msgs/msg/CameraControllerSwitch.msg similarity index 100% rename from src/interfaces/msg/CameraControllerSwitch.msg rename to src/rov_msgs/msg/CameraControllerSwitch.msg diff --git a/src/interfaces/msg/Manip.msg b/src/rov_msgs/msg/Manip.msg similarity index 100% rename from src/interfaces/msg/Manip.msg rename to src/rov_msgs/msg/Manip.msg diff --git a/src/interfaces/msg/TaskFeedback.msg b/src/rov_msgs/msg/TaskFeedback.msg similarity index 100% rename from src/interfaces/msg/TaskFeedback.msg rename to src/rov_msgs/msg/TaskFeedback.msg diff --git a/src/interfaces/package.xml b/src/rov_msgs/package.xml similarity index 91% rename from src/interfaces/package.xml rename to src/rov_msgs/package.xml index ac655667..6568450b 100644 --- a/src/interfaces/package.xml +++ b/src/rov_msgs/package.xml @@ -1,9 +1,9 @@ - interfaces + rov_msgs 1.0.0 - MATE ROV Custom ROS Interfaces + MATE ROV Custom ROS messages Benjamin Poulin Eric Yarnot Michael Carlstrom diff --git a/src/interfaces/srv/TaskRequest.srv b/src/rov_msgs/srv/TaskRequest.srv similarity index 100% rename from src/interfaces/srv/TaskRequest.srv rename to src/rov_msgs/srv/TaskRequest.srv diff --git a/src/surface/gui/gui/widgets/logger.py b/src/surface/gui/gui/widgets/logger.py index ae01773d..d1bc745e 100644 --- a/src/surface/gui/gui/widgets/logger.py +++ b/src/surface/gui/gui/widgets/logger.py @@ -3,7 +3,7 @@ from PyQt6.QtGui import QColor, QFont, QTextCursor from PyQt6.QtWidgets import (QCheckBox, QHBoxLayout, QTextEdit, QVBoxLayout, QWidget) -from rcl_interfaces.msg import Log +from rcl_rov_msgs.msg import Log from rclpy.logging import LoggingSeverity # Dictionary linking LoggingSeverity to a QColor diff --git a/src/surface/gui/gui/widgets/task_selector.py b/src/surface/gui/gui/widgets/task_selector.py index 8cdc841f..df9c8806 100644 --- a/src/surface/gui/gui/widgets/task_selector.py +++ b/src/surface/gui/gui/widgets/task_selector.py @@ -4,8 +4,8 @@ from PyQt6.QtWidgets import QGridLayout, QLabel, QPushButton, QWidget from task_selector.tasks import Tasks -from interfaces.msg import TaskFeedback -from interfaces.srv import TaskRequest +from rov_msgs.msg import TaskFeedback +from rov_msgs.srv import TaskRequest WIDTH = 200 diff --git a/src/surface/gui/gui/widgets/video_widget.py b/src/surface/gui/gui/widgets/video_widget.py index c0f468e4..a50be17e 100644 --- a/src/surface/gui/gui/widgets/video_widget.py +++ b/src/surface/gui/gui/widgets/video_widget.py @@ -9,7 +9,7 @@ from PyQt6.QtWidgets import QLabel, QPushButton, QVBoxLayout, QWidget from sensor_msgs.msg import Image -from interfaces.msg import CameraControllerSwitch +from rov_msgs.msg import CameraControllerSwitch WIDTH = 1280 HEIGHT = 720 diff --git a/src/surface/keyboard_driver/keyboard_driver/keyboard_driver_node.py b/src/surface/keyboard_driver/keyboard_driver/keyboard_driver_node.py index 9cdca9e4..26aaf4a5 100644 --- a/src/surface/keyboard_driver/keyboard_driver/keyboard_driver_node.py +++ b/src/surface/keyboard_driver/keyboard_driver/keyboard_driver_node.py @@ -6,7 +6,7 @@ from rclpy.node import Node from rclpy.qos import qos_profile_system_default -from interfaces.msg import ROVControl +from rov_msgs.msg import ROVControl # key bindings diff --git a/src/surface/task_selector/package.xml b/src/surface/task_selector/package.xml index 994c92c3..88db9ac6 100644 --- a/src/surface/task_selector/package.xml +++ b/src/surface/task_selector/package.xml @@ -10,7 +10,7 @@ rclpy sensor_msgs - interfaces + rov_msgs ros2launch ament_flake8 diff --git a/src/surface/task_selector/task_selector/basic_task_node.py b/src/surface/task_selector/task_selector/basic_task_node.py index 7554725c..5fc30734 100644 --- a/src/surface/task_selector/task_selector/basic_task_node.py +++ b/src/surface/task_selector/task_selector/basic_task_node.py @@ -4,7 +4,7 @@ from rclpy.executors import MultiThreadedExecutor from rclpy.node import Node -from interfaces.action import BasicTask +from rov_msgs.action import BasicTask class BasicTaskNode(Node): diff --git a/src/surface/task_selector/task_selector/basic_task_timed_node.py b/src/surface/task_selector/task_selector/basic_task_timed_node.py index 90a8f9a9..cc6d14bc 100644 --- a/src/surface/task_selector/task_selector/basic_task_timed_node.py +++ b/src/surface/task_selector/task_selector/basic_task_timed_node.py @@ -6,7 +6,7 @@ from rclpy.executors import MultiThreadedExecutor from rclpy.node import Node -from interfaces.action import BasicTask +from rov_msgs.action import BasicTask class BasicTaskTimedNode(Node): diff --git a/src/surface/task_selector/task_selector/example_request_client.py b/src/surface/task_selector/task_selector/example_request_client.py index c2db8abc..c348816d 100644 --- a/src/surface/task_selector/task_selector/example_request_client.py +++ b/src/surface/task_selector/task_selector/example_request_client.py @@ -4,7 +4,7 @@ from rclpy.node import Node from task_selector.tasks import Tasks -from interfaces.srv import TaskRequest +from rov_msgs.srv import TaskRequest class ExampleRequestClient(Node): diff --git a/src/surface/task_selector/task_selector/is_morning_node.py b/src/surface/task_selector/task_selector/is_morning_node.py index b2b924b1..110146d6 100644 --- a/src/surface/task_selector/task_selector/is_morning_node.py +++ b/src/surface/task_selector/task_selector/is_morning_node.py @@ -4,7 +4,7 @@ from rclpy.executors import MultiThreadedExecutor from rclpy.node import Node -from interfaces.action import Example +from rov_msgs.action import Example class IsMorning(Node): diff --git a/src/surface/task_selector/task_selector/manual_control_node.py b/src/surface/task_selector/task_selector/manual_control_node.py index 65d9e4ba..26fd7bad 100644 --- a/src/surface/task_selector/task_selector/manual_control_node.py +++ b/src/surface/task_selector/task_selector/manual_control_node.py @@ -9,8 +9,8 @@ from rclpy.qos import qos_profile_system_default, qos_profile_sensor_data from sensor_msgs.msg import Joy -from interfaces.action import BasicTask -from interfaces.msg import CameraControllerSwitch, Manip +from rov_msgs.action import BasicTask +from rov_msgs.msg import CameraControllerSwitch, Manip # Button meanings for PS5 Control might be different for others X_BUTTON: int = 0 # Manipulator 0 diff --git a/src/surface/task_selector/task_selector/task_selector.py b/src/surface/task_selector/task_selector/task_selector.py index 64cbbd34..ae9edc43 100644 --- a/src/surface/task_selector/task_selector/task_selector.py +++ b/src/surface/task_selector/task_selector/task_selector.py @@ -4,10 +4,10 @@ from rclpy.qos import qos_profile_system_default from task_selector.tasks import Tasks -# from interfaces.action import Example -from interfaces.action import BasicTask -from interfaces.msg import TaskFeedback -from interfaces.srv import TaskRequest +# from rov_msgs.action import Example +from rov_msgs.action import BasicTask +from rov_msgs.msg import TaskFeedback +from rov_msgs.srv import TaskRequest class TaskSelector(Node): From 1ae869e29958fbb7809939ea77e050c92a514e57 Mon Sep 17 00:00:00 2001 From: Michael Carlstrom Date: Wed, 27 Sep 2023 13:52:36 -0400 Subject: [PATCH 2/2] fixed bug --- src/surface/gui/gui/widgets/logger.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/surface/gui/gui/widgets/logger.py b/src/surface/gui/gui/widgets/logger.py index d1bc745e..ae01773d 100644 --- a/src/surface/gui/gui/widgets/logger.py +++ b/src/surface/gui/gui/widgets/logger.py @@ -3,7 +3,7 @@ from PyQt6.QtGui import QColor, QFont, QTextCursor from PyQt6.QtWidgets import (QCheckBox, QHBoxLayout, QTextEdit, QVBoxLayout, QWidget) -from rcl_rov_msgs.msg import Log +from rcl_interfaces.msg import Log from rclpy.logging import LoggingSeverity # Dictionary linking LoggingSeverity to a QColor