control: Rename message types for tilt_sensor node

Author: eigendude

oasis_control/oasis_control/nodes/tilt_sensor_node.py

@@ -17,9 +17,9 @@
 import rclpy.publisher
 import rclpy.qos
 import rclpy.subscription
-from builtin_interfaces.msg import Time
-from geometry_msgs.msg import Vector3Stamped
-from sensor_msgs.msg import Imu
+from builtin_interfaces.msg import Time as TimeMsg
+from geometry_msgs.msg import Vector3Stamped as Vector3StampedMsg
+from sensor_msgs.msg import Imu as ImuMsg
 
 from oasis_control.localization.tilt_pose_estimator import ImuCalibration
 from oasis_control.localization.tilt_pose_estimator import TiltPoseEstimator
@@ -117,15 +117,15 @@ def __init__(self) -> None:
         )
 
         self._tilt_pub: rclpy.publisher.Publisher = self.create_publisher(
-            msg_type=Imu,
+            msg_type=ImuMsg,
             topic=tilt_topic,
             qos_profile=qos_profile,
         )
 
         self._tilt_rp_pub: Optional[rclpy.publisher.Publisher] = None
         if publish_tilt_rp:
             self._tilt_rp_pub = self.create_publisher(
-                msg_type=Vector3Stamped,
+                msg_type=Vector3StampedMsg,
                 topic=f"{tilt_topic}_rp",
                 qos_profile=qos_profile,
             )
@@ -138,7 +138,7 @@ def __init__(self) -> None:
         )
 
         self._imu_sub: rclpy.subscription.Subscription = self.create_subscription(
-            msg_type=Imu,
+            msg_type=ImuMsg,
             topic=imu_topic,
             callback=self._handle_imu,
             qos_profile=qos_profile,
@@ -167,11 +167,11 @@ def _handle_calibration(self, message: ImuCalibrationMsg) -> None:
 
         self._calibration = calibration
 
-    def _handle_imu(self, message: Imu) -> None:
+    def _handle_imu(self, message: ImuMsg) -> None:
         if self._calibration is None:
             return
 
-        stamp: Time = message.header.stamp
+        stamp: TimeMsg = message.header.stamp
         timestamp: float = float(stamp.sec) + float(stamp.nanosec) * 1.0e-9
         if self._last_imu_time is None:
             dt_s: float = 0.0
@@ -211,7 +211,7 @@ def _handle_imu(self, message: Imu) -> None:
         if not updated:
             return
 
-        tilt_message: Imu = Imu()
+        tilt_message: ImuMsg = ImuMsg()
         tilt_message.header.stamp = message.header.stamp
         tilt_message.header.frame_id = (
             self._frame_id if self._frame_id else message.header.frame_id
@@ -246,7 +246,7 @@ def _handle_imu(self, message: Imu) -> None:
             roll: float
             pitch: float
             roll, pitch, _ = self._estimator.attitude_rpy()
-            rp_message: Vector3Stamped = Vector3Stamped()
+            rp_message: Vector3StampedMsg = Vector3StampedMsg()
             rp_message.header.stamp = message.header.stamp
             rp_message.header.frame_id = tilt_message.header.frame_id
             rp_message.vector.x = roll