* rename planning_ros_msgs -> kr_planning_msgs

* rename planning_ros_utils -> kr_planning_rviz_plugins
* remove both of the above from kr_autonomous flight (todo: add to external repos)
* move primitive_ros_utils (converts btw MPL and kr_planning_msgs) to the action_planner since it is only used there
* still todo: data_type.h (defines common datatypes like Vec3f) and data_ros_utils (random data conversions) should not live in kr_planning_rviz_plugins, and should be in some common location. data_type is also copied from mpl/jps. state_machine, action_trackers, and action_planner are the packages that use data_ros_utils

Author: ljarin

autonomy_core/client/rqt_quadrotor_safety/package.xml

@@ -14,7 +14,7 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <run_depend>geometry_msgs</run_depend>
-  <run_depend>planning_ros_msgs</run_depend>
+  <run_depend>kr_planning_msgs</run_depend>
   <run_depend>mavros_msgs</run_depend>
   <run_depend>python-rospkg</run_depend>
   <run_depend>rostopic</run_depend>

autonomy_core/client/rqt_quadrotor_safety/src/rqt_quadrotor_safety/quadrotor_safety.py

@@ -18,7 +18,7 @@
 from rqt_gui_py.plugin import Plugin
 
 import std_msgs.msg
-import planning_ros_msgs.msg as MHL
+import kr_planning_msgs.msg as MHL
 from nav_msgs.msg import Odometry
 import kr_mav_msgs.msg as QM
 import numpy as np

autonomy_core/map_plan/action_planner/CMakeLists.txt

@@ -15,17 +15,17 @@ find_package(
              pcl_ros
              mapper
              jps3d
-             planning_ros_utils
-             planning_ros_msgs
+             kr_planning_rviz_plugins
+             kr_planning_msgs
              traj_opt_ros
              dynamic_reconfigure
              motion_primitive_library)
 
 generate_dynamic_reconfigure_options(cfg/ActionPlanner.cfg)
 
-catkin_package(CATKIN_DEPENDS dynamic_reconfigure planning_ros_msgs)
+catkin_package(CATKIN_DEPENDS dynamic_reconfigure kr_planning_msgs)
 
-add_library(${PROJECT_NAME} src/data_conversions.cpp)
+add_library(${PROJECT_NAME} src/data_conversions.cpp src/primitive_ros_utils.cpp)
 target_include_directories(${PROJECT_NAME} PUBLIC src ${catkin_INCLUDE_DIRS})
 target_link_libraries(${PROJECT_NAME} PUBLIC ${catkin_LIBRARIES})
 

autonomy_core/map_plan/action_planner/package.xml

@@ -26,8 +26,8 @@
   <depend>pcl_ros</depend>
   <depend>mapper</depend>
   <depend>jps3d</depend>
-  <depend>planning_ros_utils</depend>
-  <depend>planning_ros_msgs</depend>
+  <depend>kr_planning_rviz_plugins</depend>
+  <depend>kr_planning_msgs</depend>
   <depend>traj_opt_ros</depend>
   <depend>motion_primitive_library</depend>
 

autonomy_core/map_plan/action_planner/src/data_conversions.cpp

@@ -1,14 +1,14 @@
 #include "data_conversions.h"
 
 void setMap(std::shared_ptr<MPL::VoxelMapUtil>& map_util,
-            const planning_ros_msgs::VoxelMap& msg) {
+            const kr_planning_msgs::VoxelMap& msg) {
   Vec3f ori(msg.origin.x, msg.origin.y, msg.origin.z);
   Vec3i dim(msg.dim.x, msg.dim.y, msg.dim.z);
   map_util->setMap(ori, dim, msg.data, msg.resolution);
 }
 
 void getMap(std::shared_ptr<MPL::VoxelMapUtil>& map_util,
-            planning_ros_msgs::VoxelMap& map) {
+            kr_planning_msgs::VoxelMap& map) {
   Vec3f ori = map_util->getOrigin();
   Vec3i dim = map_util->getDim();
   double res = map_util->getRes();
@@ -26,14 +26,14 @@ void getMap(std::shared_ptr<MPL::VoxelMapUtil>& map_util,
 }
 
 void setMap(std::shared_ptr<JPS::VoxelMapUtil>& map_util,
-            const planning_ros_msgs::VoxelMap& msg) {
+            const kr_planning_msgs::VoxelMap& msg) {
   Vec3f ori(msg.origin.x, msg.origin.y, msg.origin.z);
   Vec3i dim(msg.dim.x, msg.dim.y, msg.dim.z);
   map_util->setMap(ori, dim, msg.data, msg.resolution);
 }
 
 void getMap(std::shared_ptr<JPS::VoxelMapUtil>& map_util,
-            planning_ros_msgs::VoxelMap& map) {
+            kr_planning_msgs::VoxelMap& map) {
   Vec3f ori = map_util->getOrigin();
   Vec3i dim = map_util->getDim();
   double res = map_util->getRes();
@@ -51,14 +51,14 @@ void getMap(std::shared_ptr<JPS::VoxelMapUtil>& map_util,
 }
 
 void setMap(std::shared_ptr<JPS::OccMapUtil>& map_util,
-            const planning_ros_msgs::VoxelMap& msg) {
+            const kr_planning_msgs::VoxelMap& msg) {
   Vec2f ori(msg.origin.x, msg.origin.y);
   Vec2i dim(msg.dim.x, msg.dim.y);
   map_util->setMap(ori, dim, msg.data, msg.resolution);
 }
 
 void getMap(std::shared_ptr<JPS::OccMapUtil>& map_util,
-            planning_ros_msgs::VoxelMap& map) {
+            kr_planning_msgs::VoxelMap& map) {
   Vec2f ori = map_util->getOrigin();
   Vec2i dim = map_util->getDim();
   double res = map_util->getRes();
@@ -75,7 +75,7 @@ void getMap(std::shared_ptr<JPS::OccMapUtil>& map_util,
   map.data = map_util->getMap();
 }
 
-planning_ros_msgs::VoxelMap sliceMap(const planning_ros_msgs::VoxelMap& map,
+kr_planning_msgs::VoxelMap sliceMap(const kr_planning_msgs::VoxelMap& map,
                                      double h, double hh) {
   // slice a 3D voxel map
   double res = map.resolution;
@@ -88,7 +88,7 @@ planning_ros_msgs::VoxelMap sliceMap(const planning_ros_msgs::VoxelMap& map,
   h_max = h_max <= map.dim.z ? h_max : map.dim.z;
 
   // slice a 3D voxel map
-  planning_ros_msgs::VoxelMap voxel_map;
+  kr_planning_msgs::VoxelMap voxel_map;
   voxel_map.origin.x = map.origin.x;
   voxel_map.origin.y = map.origin.y;
   voxel_map.origin.z = h;

autonomy_core/map_plan/action_planner/src/data_conversions.h

@@ -2,27 +2,27 @@
 
 #include <jps/map_util.h>
 #include <mpl_collision/map_util.h>
-#include <planning_ros_msgs/VoxelMap.h>
+#include <kr_planning_msgs/VoxelMap.h>
 
 void setMap(std::shared_ptr<MPL::VoxelMapUtil>& map_util,
-            const planning_ros_msgs::VoxelMap& msg);
+            const kr_planning_msgs::VoxelMap& msg);
 
 void getMap(std::shared_ptr<MPL::VoxelMapUtil>& map_util,
-            planning_ros_msgs::VoxelMap& map);
+            kr_planning_msgs::VoxelMap& map);
 
 void setMap(std::shared_ptr<JPS::VoxelMapUtil>& map_util,
-            const planning_ros_msgs::VoxelMap& msg);
+            const kr_planning_msgs::VoxelMap& msg);
 
 void getMap(std::shared_ptr<JPS::VoxelMapUtil>& map_util,
-            planning_ros_msgs::VoxelMap& map);
+            kr_planning_msgs::VoxelMap& map);
 
 void setMap(std::shared_ptr<JPS::OccMapUtil>& map_util,
-            const planning_ros_msgs::VoxelMap& msg);
+            const kr_planning_msgs::VoxelMap& msg);
 
 void getMap(std::shared_ptr<JPS::OccMapUtil>& map_util,
-            planning_ros_msgs::VoxelMap& map);
+            kr_planning_msgs::VoxelMap& map);
 
 // NOTE: This function is the same as getInflatedOccMap function in
 // voxel_mapper.cpp, should merge them.
-planning_ros_msgs::VoxelMap sliceMap(const planning_ros_msgs::VoxelMap& map,
+kr_planning_msgs::VoxelMap sliceMap(const kr_planning_msgs::VoxelMap& map,
                                      double h, double hh = 0);