From 1cbff648ece2dda292c73f3fd02b9df6a1b943da Mon Sep 17 00:00:00 2001 From: Kentaro Wada Date: Sat, 6 Aug 2016 21:36:23 +0900 Subject: [PATCH] Move service files: jsk_pcl_ros/srv -> jsk_recognition_msgs/srv --- jsk_pcl_ros/CMakeLists.txt | 59 +++++++++++++++---- jsk_pcl_ros/package.xml | 1 + jsk_recognition_msgs/CMakeLists.txt | 25 ++++++-- jsk_recognition_msgs/package.xml | 2 + .../srv/CallPolygon.srv | 0 .../srv/CallSnapIt.srv | 0 .../srv/CheckCircle.srv | 0 .../srv/CheckCollision.srv | 0 .../srv/EnvironmentLock.srv | 0 .../srv/EuclideanSegment.srv | 0 .../srv/ICPAlign.srv | 0 .../srv/ICPAlignWithBox.srv | 0 .../srv/PolygonOnEnvironment.srv | 0 .../srv/RobotPickupReleasePoint.srv | 0 .../srv/SetDepthCalibrationParameter.srv | 0 .../srv/SnapFootstep.srv | 0 .../srv/SwitchTopic.srv | 0 .../srv/TowerPickUp.srv | 0 .../srv/TowerRobotMoveCommand.srv | 0 .../srv/TransformScreenpoint.srv | 0 .../srv/UpdateOffset.srv | 0 21 files changed, 71 insertions(+), 16 deletions(-) rename {jsk_pcl_ros => jsk_recognition_msgs}/srv/CallPolygon.srv (100%) rename {jsk_pcl_ros => jsk_recognition_msgs}/srv/CallSnapIt.srv (100%) rename {jsk_pcl_ros => jsk_recognition_msgs}/srv/CheckCircle.srv (100%) rename {jsk_pcl_ros => jsk_recognition_msgs}/srv/CheckCollision.srv (100%) rename {jsk_pcl_ros => jsk_recognition_msgs}/srv/EnvironmentLock.srv (100%) rename {jsk_pcl_ros => jsk_recognition_msgs}/srv/EuclideanSegment.srv (100%) rename {jsk_pcl_ros => jsk_recognition_msgs}/srv/ICPAlign.srv (100%) rename {jsk_pcl_ros => jsk_recognition_msgs}/srv/ICPAlignWithBox.srv (100%) rename {jsk_pcl_ros => jsk_recognition_msgs}/srv/PolygonOnEnvironment.srv (100%) rename {jsk_pcl_ros => jsk_recognition_msgs}/srv/RobotPickupReleasePoint.srv (100%) rename {jsk_pcl_ros => jsk_recognition_msgs}/srv/SetDepthCalibrationParameter.srv (100%) rename {jsk_pcl_ros => jsk_recognition_msgs}/srv/SnapFootstep.srv (100%) rename {jsk_pcl_ros => jsk_recognition_msgs}/srv/SwitchTopic.srv (100%) rename {jsk_pcl_ros => jsk_recognition_msgs}/srv/TowerPickUp.srv (100%) rename {jsk_pcl_ros => jsk_recognition_msgs}/srv/TowerRobotMoveCommand.srv (100%) rename {jsk_pcl_ros => jsk_recognition_msgs}/srv/TransformScreenpoint.srv (100%) rename {jsk_pcl_ros => jsk_recognition_msgs}/srv/UpdateOffset.srv (100%) diff --git a/jsk_pcl_ros/CMakeLists.txt b/jsk_pcl_ros/CMakeLists.txt index a0363b1337..f4f7ad4fdc 100644 --- a/jsk_pcl_ros/CMakeLists.txt +++ b/jsk_pcl_ros/CMakeLists.txt @@ -41,22 +41,57 @@ IF(${yaml_cpp_VERSION} VERSION_LESS "0.5.0") add_definitions("-DUSE_OLD_YAML") ENDIF() -add_service_files(FILES SwitchTopic.srv - UpdateOffset.srv - SnapFootstep.srv - SetDepthCalibrationParameter.srv - TransformScreenpoint.srv +macro(add_deprecated_service_files) + cmake_parse_arguments(ARG "" "UPSTREAM" "FILES" ${ARGN}) + if(ARG_UNPARSED_ARGUMENTS) + message(FATAL_ERROR "add_deprecated_service_files() called with unused arguments: ${ARG_UNPARSED_ARGUMENTS}") + endif() + + if(${PROJECT_NAME}_GENERATE_MESSAGES) + message(FATAL_ERROR "generate_messages() must be called after add_deprecated_service_files()") + endif() + + if(EXISTS ${${ARG_UPSTREAM}_SOURCE_PREFIX}/srv) + set(_srv_prefix ${${ARG_UPSTREAM}_SOURCE_PREFIX}) + else() + set(_srv_prefix ${${ARG_UPSTREAM}_PREFIX}/share/${ARG_UPSTREAM}) + endif() + + set(FILES_W_PATH "") + foreach(file ${ARG_FILES}) + list(APPEND FILES_W_PATH ${_srv_prefix}/srv/${file}) + list(APPEND ${PROJECT_NAME}_SERVICE_FILES ${_srv_prefix}/srv/${file}) + assert_file_exists(${_srv_prefix}/srv/${file} "service file not found") + endforeach() + + install(FILES ${FILES_W_PATH} DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/srv) + foreach(file ${ARG_FILES}) + list(APPEND ${PROJECT_NAME}_INSTALLED_SERVICE_FILES "srv/${file}") + endforeach() +endmacro() + +# Service files which are moved to the upstream package 'jsk_recognition_msgs' +add_deprecated_service_files( + UPSTREAM jsk_recognition_msgs + FILES + CallPolygon.srv + CallSnapIt.srv CheckCircle.srv + CheckCollision.srv + EnvironmentLock.srv + EuclideanSegment.srv + ICPAlign.srv + ICPAlignWithBox.srv + PolygonOnEnvironment.srv RobotPickupReleasePoint.srv + SetDepthCalibrationParameter.srv + SnapFootstep.srv + SwitchTopic.srv TowerPickUp.srv - EuclideanSegment.srv TowerRobotMoveCommand.srv - CallSnapIt.srv CallPolygon.srv - EnvironmentLock.srv - PolygonOnEnvironment.srv - ICPAlignWithBox.srv - ICPAlign.srv - CheckCollision.srv) + TransformScreenpoint.srv + UpdateOffset.srv +) # generate the dynamic_reconfigure config file generate_dynamic_reconfigure_options( diff --git a/jsk_pcl_ros/package.xml b/jsk_pcl_ros/package.xml index 14e2d4dec6..0e003401fe 100644 --- a/jsk_pcl_ros/package.xml +++ b/jsk_pcl_ros/package.xml @@ -20,6 +20,7 @@ cv_bridge tf sensor_msgs + genmsg geometry_msgs stereo_msgs nodelet diff --git a/jsk_recognition_msgs/CMakeLists.txt b/jsk_recognition_msgs/CMakeLists.txt index 74c1662709..906d864512 100644 --- a/jsk_recognition_msgs/CMakeLists.txt +++ b/jsk_recognition_msgs/CMakeLists.txt @@ -1,7 +1,7 @@ cmake_minimum_required(VERSION 2.8.3) project(jsk_recognition_msgs) find_package(catkin REQUIRED - std_msgs sensor_msgs geometry_msgs message_generation pcl_msgs) + std_msgs sensor_msgs geometry_msgs message_generation pcl_msgs jsk_footstep_msgs) add_message_files( FILES BoundingBoxArray.msg @@ -60,15 +60,32 @@ add_message_files( ) add_service_files(FILES + CallPolygon.srv + CallSnapIt.srv + CheckCircle.srv + CheckCollision.srv + EnvironmentLock.srv + EuclideanSegment.srv + ICPAlign.srv + ICPAlignWithBox.srv + PolygonOnEnvironment.srv + RobotPickupReleasePoint.srv + SetDepthCalibrationParameter.srv SetPointCloud2.srv - ) + SnapFootstep.srv + SwitchTopic.srv + TowerPickUp.srv + TowerRobotMoveCommand.srv + TransformScreenpoint.srv + UpdateOffset.srv +) generate_messages( DEPENDENCIES - std_msgs sensor_msgs geometry_msgs pcl_msgs + std_msgs sensor_msgs geometry_msgs pcl_msgs jsk_footstep_msgs ) catkin_package( - CATKIN_DEPENDS std_msgs sensor_msgs geometry_msgs pcl_msgs + CATKIN_DEPENDS std_msgs sensor_msgs geometry_msgs pcl_msgs jsk_footstep_msgs ) install(DIRECTORY scripts diff --git a/jsk_recognition_msgs/package.xml b/jsk_recognition_msgs/package.xml index 3daded1927..cba30c1af8 100644 --- a/jsk_recognition_msgs/package.xml +++ b/jsk_recognition_msgs/package.xml @@ -16,6 +16,8 @@ sensor_msgs message_generation message_generation + jsk_footstep_msgs + jsk_footstep_msgs diff --git a/jsk_pcl_ros/srv/CallPolygon.srv b/jsk_recognition_msgs/srv/CallPolygon.srv similarity index 100% rename from jsk_pcl_ros/srv/CallPolygon.srv rename to jsk_recognition_msgs/srv/CallPolygon.srv diff --git a/jsk_pcl_ros/srv/CallSnapIt.srv b/jsk_recognition_msgs/srv/CallSnapIt.srv similarity index 100% rename from jsk_pcl_ros/srv/CallSnapIt.srv rename to jsk_recognition_msgs/srv/CallSnapIt.srv diff --git a/jsk_pcl_ros/srv/CheckCircle.srv b/jsk_recognition_msgs/srv/CheckCircle.srv similarity index 100% rename from jsk_pcl_ros/srv/CheckCircle.srv rename to jsk_recognition_msgs/srv/CheckCircle.srv diff --git a/jsk_pcl_ros/srv/CheckCollision.srv b/jsk_recognition_msgs/srv/CheckCollision.srv similarity index 100% rename from jsk_pcl_ros/srv/CheckCollision.srv rename to jsk_recognition_msgs/srv/CheckCollision.srv diff --git a/jsk_pcl_ros/srv/EnvironmentLock.srv b/jsk_recognition_msgs/srv/EnvironmentLock.srv similarity index 100% rename from jsk_pcl_ros/srv/EnvironmentLock.srv rename to jsk_recognition_msgs/srv/EnvironmentLock.srv diff --git a/jsk_pcl_ros/srv/EuclideanSegment.srv b/jsk_recognition_msgs/srv/EuclideanSegment.srv similarity index 100% rename from jsk_pcl_ros/srv/EuclideanSegment.srv rename to jsk_recognition_msgs/srv/EuclideanSegment.srv diff --git a/jsk_pcl_ros/srv/ICPAlign.srv b/jsk_recognition_msgs/srv/ICPAlign.srv similarity index 100% rename from jsk_pcl_ros/srv/ICPAlign.srv rename to jsk_recognition_msgs/srv/ICPAlign.srv diff --git a/jsk_pcl_ros/srv/ICPAlignWithBox.srv b/jsk_recognition_msgs/srv/ICPAlignWithBox.srv similarity index 100% rename from jsk_pcl_ros/srv/ICPAlignWithBox.srv rename to jsk_recognition_msgs/srv/ICPAlignWithBox.srv diff --git a/jsk_pcl_ros/srv/PolygonOnEnvironment.srv b/jsk_recognition_msgs/srv/PolygonOnEnvironment.srv similarity index 100% rename from jsk_pcl_ros/srv/PolygonOnEnvironment.srv rename to jsk_recognition_msgs/srv/PolygonOnEnvironment.srv diff --git a/jsk_pcl_ros/srv/RobotPickupReleasePoint.srv b/jsk_recognition_msgs/srv/RobotPickupReleasePoint.srv similarity index 100% rename from jsk_pcl_ros/srv/RobotPickupReleasePoint.srv rename to jsk_recognition_msgs/srv/RobotPickupReleasePoint.srv diff --git a/jsk_pcl_ros/srv/SetDepthCalibrationParameter.srv b/jsk_recognition_msgs/srv/SetDepthCalibrationParameter.srv similarity index 100% rename from jsk_pcl_ros/srv/SetDepthCalibrationParameter.srv rename to jsk_recognition_msgs/srv/SetDepthCalibrationParameter.srv diff --git a/jsk_pcl_ros/srv/SnapFootstep.srv b/jsk_recognition_msgs/srv/SnapFootstep.srv similarity index 100% rename from jsk_pcl_ros/srv/SnapFootstep.srv rename to jsk_recognition_msgs/srv/SnapFootstep.srv diff --git a/jsk_pcl_ros/srv/SwitchTopic.srv b/jsk_recognition_msgs/srv/SwitchTopic.srv similarity index 100% rename from jsk_pcl_ros/srv/SwitchTopic.srv rename to jsk_recognition_msgs/srv/SwitchTopic.srv diff --git a/jsk_pcl_ros/srv/TowerPickUp.srv b/jsk_recognition_msgs/srv/TowerPickUp.srv similarity index 100% rename from jsk_pcl_ros/srv/TowerPickUp.srv rename to jsk_recognition_msgs/srv/TowerPickUp.srv diff --git a/jsk_pcl_ros/srv/TowerRobotMoveCommand.srv b/jsk_recognition_msgs/srv/TowerRobotMoveCommand.srv similarity index 100% rename from jsk_pcl_ros/srv/TowerRobotMoveCommand.srv rename to jsk_recognition_msgs/srv/TowerRobotMoveCommand.srv diff --git a/jsk_pcl_ros/srv/TransformScreenpoint.srv b/jsk_recognition_msgs/srv/TransformScreenpoint.srv similarity index 100% rename from jsk_pcl_ros/srv/TransformScreenpoint.srv rename to jsk_recognition_msgs/srv/TransformScreenpoint.srv diff --git a/jsk_pcl_ros/srv/UpdateOffset.srv b/jsk_recognition_msgs/srv/UpdateOffset.srv similarity index 100% rename from jsk_pcl_ros/srv/UpdateOffset.srv rename to jsk_recognition_msgs/srv/UpdateOffset.srv