diff --git a/de.fraunhofer.ipa.ros.communication.objects/BasicSpecs/Joy.ros b/de.fraunhofer.ipa.ros.communication.objects/BasicSpecs/Joy.ros index 7b6539d..10e03ad 100644 --- a/de.fraunhofer.ipa.ros.communication.objects/BasicSpecs/Joy.ros +++ b/de.fraunhofer.ipa.ros.communication.objects/BasicSpecs/Joy.ros @@ -1,8 +1,8 @@ -PackageSet { package { - CatkinPackage joy { artifact { - Artifact joy_node { node Node { name joy_node - publisher { +PackageSet { + CatkinPackage joy { + Artifact joy_node { Node { name joy_node + Publishers { Publisher { name "joy" message "sensor_msgs.Joy" }, Publisher { name "diagnostics" message "diagnostic_msgs.DiagnosticArray" } }} -}}}}} \ No newline at end of file +}}} \ No newline at end of file diff --git a/de.fraunhofer.ipa.ros.communication.objects/BasicSpecs/Laser2DScan.ros b/de.fraunhofer.ipa.ros.communication.objects/BasicSpecs/Laser2DScan.ros index d62e660..767340b 100644 --- a/de.fraunhofer.ipa.ros.communication.objects/BasicSpecs/Laser2DScan.ros +++ b/de.fraunhofer.ipa.ros.communication.objects/BasicSpecs/Laser2DScan.ros @@ -1,9 +1,9 @@ -PackageSet { package { - CatkinPackage scan_2d { artifact { - Artifact scan_2d { node Node { name scan_2d - publisher { +PackageSet { + CatkinPackage scan_2d { + Artifact scan_2d { Node { name scan_2d + Publishers { Publisher { name scan message "sensor_msgs.LaserScan" } , Publisher { name diagnostics message "diagnostic_msgs.DiagnosticArray" }}}} -}}}} \ No newline at end of file +}} \ No newline at end of file diff --git a/de.fraunhofer.ipa.ros.communication.objects/BasicSpecs/Teleop.ros b/de.fraunhofer.ipa.ros.communication.objects/BasicSpecs/Teleop.ros index 05e0ba8..630c1c8 100644 --- a/de.fraunhofer.ipa.ros.communication.objects/BasicSpecs/Teleop.ros +++ b/de.fraunhofer.ipa.ros.communication.objects/BasicSpecs/Teleop.ros @@ -1,8 +1,8 @@ -PackageSet { package { - CatkinPackage teleop { artifact { +PackageSet { + CatkinPackage teleop { Artifact joystick_teleop_node { - node Node { name joystick_teleop_node - publisher { Publisher { name cmd_vel message "geometry_msgs.Twist" } } - subscriber { Subscriber { name joy message "sensor_msgs.Joy" } } + Node { name joystick_teleop_node + Publishers { Publisher { name cmd_vel message "geometry_msgs.Twist" } } + Subscribers { Subscriber { name joy message "sensor_msgs.Joy" } } } - }}}}} \ No newline at end of file +}}} \ No newline at end of file diff --git a/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/common_msgs.ros b/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/common_msgs.ros index fa27183..69ebe6e 100644 --- a/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/common_msgs.ros +++ b/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/common_msgs.ros @@ -1,5 +1,5 @@ -PackageSet{package{ - Package geometry_msgs{ spec { +PackageSet{ + Package geometry_msgs{ Specs { TopicSpec Accel{ message { Vector3 linear Vector3 angular }}, TopicSpec AccelStamped{ message { Header header Accel accel }}, TopicSpec AccelWithCovariance{ message { Accel accel float64[] covariance }}, @@ -30,19 +30,19 @@ PackageSet{package{ TopicSpec Wrench{ message { Vector3 force Vector3 torque }}, TopicSpec WrenchStamped{ message { Header header Wrench wrench }} }}, - Package actionlib_msgs{ spec { + Package actionlib_msgs{ Specs { TopicSpec GoalID{ message { time stamp string id }}, TopicSpec GoalStatus{ message { GoalID goal_id uint8 status uint8 PENDING=0 uint8 ACTIVE=1 uint8 PREEMPTED=2 uint8 SUCCEEDED=3 uint8 ABORTED=4 uint8 REJECTED=5 uint8 PREEMPTING=6 uint8 RECALLING=7 uint8 RECALLED=8 uint8 LOST=9 string text }}, TopicSpec GoalStatusArray{ message { Header header GoalStatus[] status_list }} }}, - Package diagnostic_msgs{ spec { + Package diagnostic_msgs{ Specs { TopicSpec DiagnosticArray{ message { Header header DiagnosticStatus[] status }}, TopicSpec DiagnosticStatus{ message { byte OK=0 byte WARN=1 byte ERROR=2 byte STALE=3 byte level string name string message string hardware_id KeyValue[] values }}, TopicSpec KeyValue{ message { string key string value }}, ServiceSpec AddDiagnostics{ request { string load_namespace } response { bool success string message } }, ServiceSpec SelfTest{ request { } response { string id byte passed DiagnosticStatus[] status } } }}, - Package nav_msgs{ spec { + Package nav_msgs{ Specs { TopicSpec GetMapAction{ message { GetMapActionGoal action_goal GetMapActionResult action_result GetMapActionFeedback action_feedback }}, TopicSpec GetMapActionFeedback{ message { Header header "actionlib_msgs.GoalStatus" status GetMapFeedback feedback }}, TopicSpec GetMapActionGoal{ message { Header header "actionlib_msgs.GoalID" goal_id GetMapGoal goal }}, @@ -59,7 +59,7 @@ PackageSet{package{ ServiceSpec GetPlan{ request { "geometry_msgs.PoseStamped" start "geometry_msgs.PoseStamped" goal float32 tolerance } response { "nav_msgs.Path" plan } }, ServiceSpec SetMap{ request { "nav_msgs.OccupancyGrid" map "geometry_msgs.PoseWithCovarianceStamped" initial_pose } response { bool success } } }}, - Package sensor_msgs{ spec { + Package sensor_msgs{ Specs { TopicSpec BatteryState{ message { uint8 POWER_SUPPLY_STATUS_UNKNOWN=0 uint8 POWER_SUPPLY_STATUS_CHARGING=1 uint8 POWER_SUPPLY_STATUS_DISCHARGING=2 uint8 POWER_SUPPLY_STATUS_NOT_CHARGING=3 uint8 POWER_SUPPLY_STATUS_FULL=4 uint8 POWER_SUPPLY_HEALTH_UNKNOWN=0 uint8 POWER_SUPPLY_HEALTH_GOOD=1 uint8 POWER_SUPPLY_HEALTH_OVERHEAT=2 uint8 POWER_SUPPLY_HEALTH_DEAD=3 uint8 POWER_SUPPLY_HEALTH_OVERVOLTAGE=4 uint8 POWER_SUPPLY_HEALTH_UNSPEC_FAILURE=5 uint8 POWER_SUPPLY_HEALTH_COLD=6 uint8 POWER_SUPPLY_HEALTH_WATCHDOG_TIMER_EXPIRE=7 uint8 POWER_SUPPLY_HEALTH_SAFETY_TIMER_EXPIRE=8 uint8 POWER_SUPPLY_TECHNOLOGY_UNKNOWN=0 uint8 POWER_SUPPLY_TECHNOLOGY_NIMH=1 uint8 POWER_SUPPLY_TECHNOLOGY_LION=2 uint8 POWER_SUPPLY_TECHNOLOGY_LIPO=3 uint8 POWER_SUPPLY_TECHNOLOGY_LIFE=4 uint8 POWER_SUPPLY_TECHNOLOGY_NICD=5 uint8 POWER_SUPPLY_TECHNOLOGY_LIMN=6 Header header float32 voltage float32 current float32 charge float32 capacity float32 design_capacity float32 percentage uint8 power_supply_status uint8 power_supply_health uint8 power_supply_technology bool present float32[] cell_voltage string location string serial_number }}, TopicSpec CameraInfo{ message { Header header uint32 height uint32 width string distortion_model float64[] D float64[] K float64[] R float64[] P uint32 binning_x uint32 binning_y RegionOfInterest roi }}, TopicSpec ChannelFloat32{ message { string name float32[] values }}, @@ -89,22 +89,22 @@ PackageSet{package{ TopicSpec TimeReference{ message { Header header time time_ref string source }}, ServiceSpec SetCameraInfo{ request { "sensor_msgs.CameraInfo" camera_info } response { bool success string status_message } } }}, - Package shape_msgs{ spec { + Package shape_msgs{ Specs { TopicSpec Mesh{ message { MeshTriangle[] triangles "geometry_msgs.Point"[] vertices }}, TopicSpec MeshTriangle{ message { uint32[] vertex_indices }}, TopicSpec Plane{ message { float64[] coef }}, TopicSpec SolidPrimitive{ message { uint8 BOX=1 uint8 SPHERE=2 uint8 CYLINDER=3 uint8 CONE=4 uint8 type float64[] dimensions uint8 BOX_X=0 uint8 BOX_Y=1 uint8 BOX_Z=2 uint8 SPHERE_RADIUS=0 uint8 CYLINDER_HEIGHT=0 uint8 CYLINDER_RADIUS=1 uint8 CONE_HEIGHT=0 uint8 CONE_RADIUS=1 }} }}, - Package stereo_msgs{ spec { + Package stereo_msgs{ Specs { TopicSpec DisparityImage{ message { Header header "sensor_msgs.Image" image float32 f float32 T "sensor_msgs.RegionOfInterest" valid_window float32 min_disparity float32 max_disparity float32 delta_d }} }}, - Package trajectory_msgs{ spec { + Package trajectory_msgs{ Specs { TopicSpec JointTrajectory{ message { Header header string[] joint_names JointTrajectoryPoint[] points }}, TopicSpec JointTrajectoryPoint{ message { float64[] positions float64[] velocities float64[] accelerations float64[] effort duration time_from_start }}, TopicSpec MultiDOFJointTrajectory{ message { Header header string[] joint_names MultiDOFJointTrajectoryPoint[] points }}, TopicSpec MultiDOFJointTrajectoryPoint{ message { "geometry_msgs.Transform"[] transforms "geometry_msgs.Twist"[] velocities "geometry_msgs.Twist"[] accelerations duration time_from_start }} }}, - Package visualization_msgs{ spec { + Package visualization_msgs{ Specs { TopicSpec ImageMarker{ message { uint8 CIRCLE=0 uint8 LINE_STRIP=1 uint8 LINE_LIST=2 uint8 POLYGON=3 uint8 POINTS=4 uint8 ADD=0 uint8 REMOVE=1 Header header string ns int32 id int32 type int32 action "geometry_msgs.Point" position float32 scale "std_msgs.ColorRGBA" outline_color uint8 filled "std_msgs.ColorRGBA" fill_color duration lifetime "geometry_msgs.Point"[] points "std_msgs.ColorRGBA"[] outline_colors }}, TopicSpec InteractiveMarker{ message { Header header "geometry_msgs.Pose" pose string name string description float32 scale MenuEntry[] menu_entries InteractiveMarkerControl[] controls }}, TopicSpec InteractiveMarkerControl{ message { string name "geometry_msgs.Quaternion" orientation uint8 INHERIT=0 uint8 FIXED=1 uint8 VIEW_FACING=2 uint8 orientation_mode uint8 NONE=0 uint8 MENU=1 uint8 BUTTON=2 uint8 MOVE_AXIS=3 uint8 MOVE_PLANE=4 uint8 ROTATE_AXIS=5 uint8 MOVE_ROTATE=6 uint8 MOVE_3D=7 uint8 ROTATE_3D=8 uint8 MOVE_ROTATE_3D=9 uint8 interaction_mode bool always_visible Marker[] markers bool independent_marker_orientation string description }}, @@ -116,5 +116,4 @@ PackageSet{package{ TopicSpec MarkerArray{ message { Marker[] markers }}, TopicSpec MenuEntry{ message { uint32 id uint32 parent_id string title string command uint8 FEEDBACK=0 uint8 ROSRUN=1 uint8 ROSLAUNCH=2 uint8 command_type }} }} - } } \ No newline at end of file diff --git a/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/control_msgs.ros b/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/control_msgs.ros index 16effa7..6e65cfc 100644 --- a/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/control_msgs.ros +++ b/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/control_msgs.ros @@ -1,5 +1,5 @@ -PackageSet{package{ - Package control_msgs{ spec { +PackageSet{ + Package control_msgs{ Specs { TopicSpec FollowJointTrajectoryAction{ message { FollowJointTrajectoryActionGoal action_goal FollowJointTrajectoryActionResult action_result FollowJointTrajectoryActionFeedback action_feedback }}, TopicSpec FollowJointTrajectoryActionFeedback{ message { Header header "actionlib_msgs.GoalStatus" status FollowJointTrajectoryFeedback feedback }}, TopicSpec FollowJointTrajectoryActionGoal{ message { Header header "actionlib_msgs.GoalID" goal_id FollowJointTrajectoryGoal goal }}, @@ -45,5 +45,4 @@ PackageSet{package{ ServiceSpec QueryTrajectoryState{ request { time time } response { string[] name float64[] position float64[] velocity float64[] acceleration } }, ActionSpec FollowJointTrajectory{ goal { FollowJointTrajectoryActionGoal action_goal} result {FollowJointTrajectoryActionResult action_result} feedback {FollowJointTrajectoryActionFeedback action_feedback}} }} - } } \ No newline at end of file diff --git a/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/controller_manager_msgs.ros b/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/controller_manager_msgs.ros index b66564a..f82e7f2 100644 --- a/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/controller_manager_msgs.ros +++ b/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/controller_manager_msgs.ros @@ -1,5 +1,5 @@ -PackageSet{package{ - Package controller_manager_msgs{spec{ +PackageSet{ + Package controller_manager_msgs{ Specs { TopicSpec ControllerState{}, TopicSpec ControllerStatistics{}, TopicSpec ControllersStatistics{}, @@ -11,5 +11,4 @@ PackageSet{package{ ServiceSpec SwitchController{}, ServiceSpec UnloadController{} }} - } } diff --git a/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/dynamic_reconfigure.ros b/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/dynamic_reconfigure.ros index 929890e..cd4a67b 100644 --- a/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/dynamic_reconfigure.ros +++ b/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/dynamic_reconfigure.ros @@ -1,5 +1,5 @@ -PackageSet{package{ - Package dynamic_reconfigure{spec{ +PackageSet{ + Package dynamic_reconfigure{ Specs { TopicSpec BoolParameter{}, TopicSpec Config{}, TopicSpec ConfigDescription{}, @@ -12,5 +12,4 @@ PackageSet{package{ TopicSpec StrParameter{}, ServiceSpec Reconfigure{} }} - } } diff --git a/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/generate_messages_model_helper.sh b/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/generate_messages_model_helper.sh index 0414df8..099f457 100755 --- a/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/generate_messages_model_helper.sh +++ b/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/generate_messages_model_helper.sh @@ -20,7 +20,7 @@ function parserToRosModel(){ echo $msg_desc } -echo 'PackageSet{package{' +echo 'PackageSet{' arr_pkg=($package_list) cout_pkg=${#arr_pkg[@]} @@ -34,7 +34,7 @@ do arr_srv=($services_fullname) cout_srv=${#arr_srv[@]} - echo ' Package '$p'{ spec { ' + echo ' Package '$p'{ Specs { ' for i in $messages_fullname do @@ -96,5 +96,4 @@ do done echo $'\n }' -echo '}' diff --git a/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/map_msgs.ros b/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/map_msgs.ros index 3adda05..a0c7ed9 100644 --- a/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/map_msgs.ros +++ b/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/map_msgs.ros @@ -1,5 +1,5 @@ -PackageSet{package{ - Package map_msgs{spec{ +PackageSet{ + Package map_msgs { Specs { TopicSpec OccupancyGridUpdate{}, TopicSpec PointCloud2Update{}, TopicSpec ProjectedMap{}, @@ -15,5 +15,4 @@ PackageSet{package{ ServiceSpec octoBoundingBoxQuery{}, ServiceSpec octoGetOctomap{} }} - } } diff --git a/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/move_base_msgs.ros b/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/move_base_msgs.ros index b3aa2f5..a252f2c 100644 --- a/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/move_base_msgs.ros +++ b/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/move_base_msgs.ros @@ -1,5 +1,5 @@ -PackageSet{package{ - Package move_base_msgs{spec{ +PackageSet{ + Package move_base_msgs { Specs { TopicSpec MoveBaseAction{}, TopicSpec MoveBaseActionFeedback{}, TopicSpec MoveBaseActionGoal{}, @@ -9,5 +9,4 @@ PackageSet{package{ TopicSpec MoveBaseResult{}, ActionSpec MoveBase{} }} - } } diff --git a/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/nodelet.ros b/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/nodelet.ros index dc0de0b..91a106d 100644 --- a/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/nodelet.ros +++ b/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/nodelet.ros @@ -1,8 +1,7 @@ -PackageSet{package{ - Package nodelet{spec{ +PackageSet{ + Package nodelet { Specs { ServiceSpec NodeletList{}, ServiceSpec NodeletLoad{}, ServiceSpec NodeletUnload{} }} - } } diff --git a/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/ros_core.ros b/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/ros_core.ros index ab606ec..737eef5 100644 --- a/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/ros_core.ros +++ b/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/ros_core.ros @@ -1,5 +1,5 @@ -PackageSet{package{ - Package std_msgs{ spec { +PackageSet{ + Package std_msgs { Specs { TopicSpec Bool{ message { bool data }}, TopicSpec Byte{ message { byte data }}, TopicSpec ByteMultiArray{ message { MultiArrayLayout layout byte[] data }}, @@ -32,10 +32,9 @@ PackageSet{package{ TopicSpec UInt8{ message { uint8 data }}, TopicSpec UInt8MultiArray{ message { MultiArrayLayout layout uint8[] data }} }}, - Package std_srvs{ spec { + Package std_srvs { Specs { ServiceSpec Empty{ request { } response { } }, ServiceSpec SetBool{ request { bool data } response { bool success string message } }, ServiceSpec Trigger{ request { } response { bool success string message } } }} - } } \ No newline at end of file diff --git a/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/theora_image_transport.ros b/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/theora_image_transport.ros index d9a73ae..3d85406 100644 --- a/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/theora_image_transport.ros +++ b/de.fraunhofer.ipa.ros.communication.objects/basic_msgs/theora_image_transport.ros @@ -1,6 +1,6 @@ -PackageSet{package{ - Package theora_image_transport{spec{ +PackageSet{ + Package theora_image_transport{ Specs { TopicSpec Packet{} }} - } + } diff --git a/de.fraunhofer.ipa.ros.communication.objects/components/joy_node.componentinterface b/de.fraunhofer.ipa.ros.communication.objects/components/joy_node.componentinterface index af6498d..c2319ec 100644 --- a/de.fraunhofer.ipa.ros.communication.objects/components/joy_node.componentinterface +++ b/de.fraunhofer.ipa.ros.communication.objects/components/joy_node.componentinterface @@ -1,4 +1,5 @@ ComponentInterface { name joy_node + FromRosNode "joy.joy_node.joy_node" RosPublishers{ RosPublisher "joy" { RefPublisher "joy.joy_node.joy_node.joy"}, RosPublisher "diagnostics" { RefPublisher "joy.joy_node.joy_node.diagnostics"} diff --git a/de.fraunhofer.ipa.ros.communication.objects/components/joystick_teleop_node.componentinterface b/de.fraunhofer.ipa.ros.communication.objects/components/joystick_teleop_node.componentinterface index a29e426..560f5ca 100644 --- a/de.fraunhofer.ipa.ros.communication.objects/components/joystick_teleop_node.componentinterface +++ b/de.fraunhofer.ipa.ros.communication.objects/components/joystick_teleop_node.componentinterface @@ -1,4 +1,5 @@ ComponentInterface { name joystick_teleop_node + FromRosNode "teleop.joystick_teleop_node.joystick_teleop_node" RosPublishers{ RosPublisher "cmd_vel" { RefPublisher "teleop.joystick_teleop_node.joystick_teleop_node.cmd_vel"} } diff --git a/de.fraunhofer.ipa.ros.communication.objects/components/scan_2d.componentinterface b/de.fraunhofer.ipa.ros.communication.objects/components/scan_2d.componentinterface index 1841d5e..71caea2 100644 --- a/de.fraunhofer.ipa.ros.communication.objects/components/scan_2d.componentinterface +++ b/de.fraunhofer.ipa.ros.communication.objects/components/scan_2d.componentinterface @@ -1,4 +1,5 @@ ComponentInterface { name scan_2d + FromRosNode "scan_2d.scan_2d.scan_2d" RosPublishers{ RosPublisher "scan" { RefPublisher "scan_2d.scan_2d.scan_2d.scan"}, RosPublisher "diagnostics" { RefPublisher "scan_2d.scan_2d.scan_2d.diagnostics"}