Update ur_calibration to new template structure

Author: Felix Exner

ur_calibration/include/ur_calibration/calibration_consumer.h

@@ -35,15 +35,13 @@
 
 namespace ur_calibration
 {
-class CalibrationConsumer
-  : public ur_driver::comm::IConsumer<ur_driver::comm::URPackage<ur_driver::primary_interface::PackageHeader>>
+class CalibrationConsumer : public ur_driver::comm::IConsumer<ur_driver::primary_interface::PrimaryPackage>
 {
 public:
   CalibrationConsumer();
   virtual ~CalibrationConsumer() = default;
 
-  virtual bool
-  consume(std::shared_ptr<ur_driver::comm::URPackage<ur_driver::primary_interface::PackageHeader>> product);
+  virtual bool consume(std::shared_ptr<ur_driver::primary_interface::PrimaryPackage> product);
 
   bool isCalibrated() const
   {

ur_calibration/src/calibration_consumer.cpp

@@ -33,8 +33,7 @@ CalibrationConsumer::CalibrationConsumer() : calibrated_(false)
 {
 }
 
-bool CalibrationConsumer::consume(
-    std::shared_ptr<ur_driver::comm::URPackage<ur_driver::primary_interface::PackageHeader>> product)
+bool CalibrationConsumer::consume(std::shared_ptr<ur_driver::primary_interface::PrimaryPackage> product)
 {
   auto kin_info = std::dynamic_pointer_cast<ur_driver::primary_interface::KinematicsInfo>(product);
   if (kin_info != nullptr)

ur_calibration/src/calibration_correction.cpp

@@ -80,14 +80,14 @@ class CalibrationCorrection
 
   void run()
   {
-    comm::URStream<PackageHeader> stream(robot_ip_, UR_PRIMARY_PORT);
+    comm::URStream<PrimaryPackage> stream(robot_ip_, UR_PRIMARY_PORT);
     primary_interface::PrimaryParser parser;
-    comm::URProducer<PackageHeader> prod(stream, parser);
+    comm::URProducer<PrimaryPackage> prod(stream, parser);
     CalibrationConsumer consumer;
 
     comm::INotifier notifier;
 
-    comm::Pipeline<PackageHeader> pipeline(prod, consumer, "Pipeline", notifier);
+    comm::Pipeline<PrimaryPackage> pipeline(prod, &consumer, "Pipeline", notifier);
     pipeline.run();
     while (!consumer.isCalibrated())
     {