Update namespace name from kr_planning_rviz_plugins -> kr

per @versatran01 's request

Author: ljarin

.github/workflows/cpplint-reviewdog.yaml

@@ -5,12 +5,12 @@ jobs:
   cpplint:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@master
-    - uses: reviewdog/action-cpplint@master
-      with:
-        github_token: ${{ secrets.KR_AUTONOMOUS_FLIGHT_TOKEN_REVIEWDOG }}
-        reporter: github-pr-check
-        flags: --exclude=autonomy_core/map_plan/jps3d/include/jps/graph_search.h --exclude autonomy_core/map_plan/jps3d/src/graph_search.cpp --exclude autonomy_core/map_plan/planning_ros_utils/src/planning_rviz_plugins/map_display.h --exclude autonomy_core/state_machine/action_trackers/src/take_off_tracker.cpp --exclude autonomy_core/map_plan/mpl/include/mpl_basis/lambda.h --exclude autonomy_core/map_plan/mpl/include/mpl_planner/env_base.h --exclude autonomy_core/map_plan/mpl/src/env_base.cpp --exclude autonomy_core/map_plan/mpl/src/env_map.cpp
-        filter: "-whitespace/comments,-whitespace/indent,-build/include_order,-whitespace/ending_newline,-runtime/references"
-        # Note: runtime/references was added to address google benchmark
-        # issues, as requested by https://github.com/KumarRobotics/kr_autonomous_flight/pull/171
+      - uses: actions/checkout@master
+      - uses: reviewdog/action-cpplint@master
+        with:
+          github_token: ${{ secrets.KR_AUTONOMOUS_FLIGHT_TOKEN_REVIEWDOG }}
+          reporter: github-pr-check
+          flags: --exclude=autonomy_core/map_plan/jps3d/include/jps/graph_search.h --exclude autonomy_core/map_plan/jps3d/src/graph_search.cpp --exclude autonomy_core/state_machine/action_trackers/src/take_off_tracker.cpp --exclude autonomy_core/map_plan/mpl/include/mpl_basis/lambda.h --exclude autonomy_core/map_plan/mpl/include/mpl_planner/env_base.h --exclude autonomy_core/map_plan/mpl/src/env_base.cpp --exclude autonomy_core/map_plan/mpl/src/env_map.cpp
+          filter: "-whitespace/comments,-whitespace/indent,-build/include_order,-whitespace/ending_newline,-runtime/references"
+          # Note: runtime/references was added to address google benchmark
+          # issues, as requested by https://github.com/KumarRobotics/kr_autonomous_flight/pull/171

autonomy_core/client/client_launch/rviz/client.rviz

@@ -76,8 +76,7 @@ Visualization Manager:
       Show Arrows: true
       Show Axes: true
       Show Names: true
-      Tree:
-        {}
+      Tree: {}
       Update Interval: 0
       Value: false
     - Class: rviz/InteractiveMarkers
@@ -95,15 +94,14 @@ Visualization Manager:
           Enabled: true
           Marker Topic: /env_vis/env
           Name: Environment
-          Namespaces:
-            {}
+          Namespaces: {}
           Queue Size: 100
           Value: true
       Enabled: false
       Name: Env
     - Class: rviz/Group
       Displays:
-        - Class: planning_rviz_plugins/Path
+        - Class: kr_planning_rviz_plugins/Path
           Enabled: true
           LineColor: 204; 51; 204
           LineScale: 0.4000000059604645
@@ -114,7 +112,7 @@ Visualization Manager:
           Topic: /quadrotor/global_plan_server/path
           Unreliable: false
           Value: true
-        - Class: planning_rviz_plugins/Path
+        - Class: kr_planning_rviz_plugins/Path
           Enabled: true
           LineColor: 0; 255; 0
           LineScale: 0.800000011920929
@@ -153,7 +151,7 @@ Visualization Manager:
           Use Fixed Frame: true
           Use rainbow: true
           Value: true
-        - Class: planning_rviz_plugins/Path
+        - Class: kr_planning_rviz_plugins/Path
           Enabled: true
           LineColor: 78; 154; 6
           LineScale: 0.800000011920929
@@ -167,7 +165,7 @@ Visualization Manager:
         - AccColor: 10; 200; 55
           AccScale: 0.014999999664723873
           AccVis: true
-          Class: planning_rviz_plugins/Trajectory
+          Class: kr_planning_rviz_plugins/Trajectory
           Enabled: true
           JrkColor: 200; 20; 55
           JrkScale: 0.014999999664723873
@@ -189,7 +187,7 @@ Visualization Manager:
           YawTriangleAngle: 0.699999988079071
           YawTriangleScale: 0.5
           YawVis: true
-        - Class: planning_rviz_plugins/Path
+        - Class: kr_planning_rviz_plugins/Path
           Enabled: true
           LineColor: 0; 170; 255
           LineScale: 0.5
@@ -222,7 +220,7 @@ Visualization Manager:
           Axis: Z
           BoundScale: 0.5
           Channel Name: intensity
-          Class: planning_rviz_plugins/VoxelMap
+          Class: kr_planning_rviz_plugins/VoxelMap
           Color: 239; 41; 41
           Color Transformer: AxisColor
           Decay Time: 0
@@ -255,7 +253,7 @@ Visualization Manager:
           Axis: Z
           BoundScale: 3
           Channel Name: intensity
-          Class: planning_rviz_plugins/VoxelMap
+          Class: kr_planning_rviz_plugins/VoxelMap
           Color: 252; 233; 79
           Color Transformer: FlatColor
           Decay Time: 0

autonomy_core/map_plan/action_planner/src/global_plan_server.cpp

@@ -257,8 +257,8 @@ void GlobalPlanServer::process_goal() {
   }
 
   // record current odometry as start
-  start.pos = kr_planning_rviz_plugins::pose_to_eigen(odom_msg_->pose.pose);
-  goal.pos = kr_planning_rviz_plugins::pose_to_eigen(goal_->p_final);
+  start.pos = kr::pose_to_eigen(odom_msg_->pose.pose);
+  goal.pos = kr::pose_to_eigen(goal_->p_final);
 
   // call the planner
 
@@ -395,7 +395,7 @@ bool GlobalPlanServer::global_plan_process(
       }
 
       // publish global_path_msg_
-      global_path_msg_ = kr_planning_rviz_plugins::path_to_ros(global_path);
+      global_path_msg_ = kr::path_to_ros(global_path);
       global_path_msg_.header.frame_id = map_frame;
       path_pub_.publish(global_path_msg_);
     }
@@ -414,7 +414,7 @@ bool GlobalPlanServer::global_plan_process(
       }
 
       // publish
-      global_path_msg_ = kr_planning_rviz_plugins::path_to_ros(global_path);
+      global_path_msg_ = kr::path_to_ros(global_path);
       global_path_msg_.header.frame_id = map_frame;
       path_pub_.publish(global_path_msg_);
     }

autonomy_core/map_plan/action_planner/src/local_plan_server.cpp

@@ -325,10 +325,10 @@ void LocalPlanServer::process_goal() {
   MPL::Waypoint3D start, goal;
   // instead of using current odometry as start, we use the given start position
   // for consistency between old and new trajectories in replan process
-  start.pos = kr_planning_rviz_plugins::pose_to_eigen(goal_->p_init);
-  start.vel = kr_planning_rviz_plugins::twist_to_eigen(goal_->v_init);
-  start.acc = kr_planning_rviz_plugins::twist_to_eigen(goal_->a_init);
-  start.jrk = kr_planning_rviz_plugins::twist_to_eigen(goal_->j_init);
+  start.pos = kr::pose_to_eigen(goal_->p_init);
+  start.vel = kr::twist_to_eigen(goal_->v_init);
+  start.acc = kr::twist_to_eigen(goal_->a_init);
+  start.jrk = kr::twist_to_eigen(goal_->j_init);
 
   // Important: define use position, velocity, acceleration or jerk as control
   // inputs, note that the lowest order "false" term will be used as control
@@ -342,10 +342,10 @@ void LocalPlanServer::process_goal() {
   // in trajectory_tracker)
   start.use_yaw = false;
 
-  goal.pos = kr_planning_rviz_plugins::pose_to_eigen(goal_->p_final);
-  goal.vel = kr_planning_rviz_plugins::twist_to_eigen(goal_->v_final);
-  goal.acc = kr_planning_rviz_plugins::twist_to_eigen(goal_->a_final);
-  goal.jrk = kr_planning_rviz_plugins::twist_to_eigen(goal_->j_final);
+  goal.pos = kr::pose_to_eigen(goal_->p_final);
+  goal.vel = kr::twist_to_eigen(goal_->v_final);
+  goal.acc = kr::twist_to_eigen(goal_->a_final);
+  goal.jrk = kr::twist_to_eigen(goal_->j_final);
   goal.use_yaw = start.use_yaw;
   goal.use_pos = start.use_pos;
   goal.use_vel = start.use_vel;
@@ -440,7 +440,7 @@ bool LocalPlanServer::local_plan_process(
   vec_Vec3f sg;
   sg.push_back(start.pos);
   sg.push_back(goal.pos);
-  kr_planning_msgs::Path sg_msg = kr_planning_rviz_plugins::path_to_ros(sg);
+  kr_planning_msgs::Path sg_msg = kr::path_to_ros(sg);
   std::string map_frame;  // set frame id
   map_frame = map.header.frame_id;
   sg_msg.header.frame_id = map_frame;
@@ -458,7 +458,7 @@ bool LocalPlanServer::local_plan_process(
   }
 
   // for visualization: publish expanded nodes as a point cloud
-  sensor_msgs::PointCloud expanded_ps = kr_planning_rviz_plugins::vec_to_cloud(
+  sensor_msgs::PointCloud expanded_ps = kr::vec_to_cloud(
       mp_planner_util_->getExpandedNodes());
   expanded_ps.header.frame_id = map_frame;
   expanded_cloud_pub.publish(expanded_ps);

autonomy_core/map_plan/mapper/CMakeLists.txt

@@ -12,7 +12,8 @@ find_package(
              depth_image_proc
              sensor_msgs
              eigen_conversions
-             tf_conversions)
+             tf_conversions
+             motion_primitive_library)
 
 find_package(Boost REQUIRED COMPONENTS timer)
 

autonomy_core/map_plan/mapper/launch/test.rviz

@@ -73,7 +73,7 @@ Visualization Manager:
       Axis: Z
       BoundScale: 0.10000000149011612
       Channel Name: intensity
-      Class: planning_rviz_plugins/VoxelMap
+      Class: kr_planning_rviz_plugins/VoxelMap
       Color: 164; 0; 0
       Color Transformer: FlatColor
       Decay Time: 0
@@ -168,13 +168,10 @@ Visualization Manager:
       Show Names: true
       Tree:
         world:
-          base_link:
-            {}
-          map:
-            {}
+          base_link: {}
+          map: {}
           vision:
-            odom:
-              {}
+            odom: {}
       Update Interval: 0
       Value: true
     - Alpha: 1

autonomy_core/map_plan/mapper/src/local_global_mapper.cpp

@@ -272,10 +272,8 @@ void LocalGlobalMapperNode::processCloud(const sensor_msgs::PointCloud& cloud) {
   geometry_msgs::Pose pose_odom_lidar;
   getLidarPoses(cloud.header, &pose_map_lidar, &pose_odom_lidar);
 
-  const Eigen::Affine3d T_map_lidar =
-      kr_planning_rviz_plugins::toTF(pose_map_lidar);
-  const Eigen::Affine3d T_odom_lidar =
-      kr_planning_rviz_plugins::toTF(pose_odom_lidar);
+  const Eigen::Affine3d T_map_lidar = kr::toTF(pose_map_lidar);
+  const Eigen::Affine3d T_odom_lidar = kr::toTF(pose_odom_lidar);
 
   // This is the lidar position in the odom frame, used for raytracing &
   // cropping local map
@@ -295,8 +293,7 @@ void LocalGlobalMapperNode::processCloud(const sensor_msgs::PointCloud& cloud) {
   double min_range = 0.75;  // points within this distance will be discarded
   double min_range_squared;
   min_range_squared = min_range * min_range;
-  const auto pts =
-      kr_planning_rviz_plugins::cloud_to_vec_filter(cloud, min_range_squared);
+  const auto pts = kr::cloud_to_vec_filter(cloud, min_range_squared);
 
   timer.start();
   // local raytracing using lidar position in the map frame (not odom frame)

autonomy_core/state_machine/state_machine_core/src/local_global_replan_server.cpp

@@ -5,7 +5,7 @@
  */
 void RePlanner::GlobalPathCb(const kr_planning_msgs::Path& path) {
   global_path_.clear();
-  global_path_ = kr_planning_rviz_plugins::ros_to_path(
+  global_path_ = kr::ros_to_path(
       path);  // extract the global path information
 }
 
@@ -283,7 +283,7 @@ void RePlanner::setup_replanner() {
   }
   auto global_result = global_plan_client_->getResult();
   if (global_result->success) {
-    global_path_ = kr_planning_rviz_plugins::ros_to_path(
+    global_path_ = kr::ros_to_path(
         global_result->path);  // extract the global path information
     ROS_WARN("initial global plan succeeded!");
   } else {
@@ -460,7 +460,7 @@ bool RePlanner::PlanTrajectory(int horizon) {
                                 &local_tpgoal.a_init,
                                 &local_tpgoal.j_init);
   Vec3f start_pos;
-  start_pos = kr_planning_rviz_plugins::pose_to_eigen(local_tpgoal.p_init);
+  start_pos = kr::pose_to_eigen(local_tpgoal.p_init);
 
   // Replan step 1: Global plan
   // ########################################################################################################
@@ -772,7 +772,7 @@ vec_Vec3f RePlanner::PathCropIntersect(const vec_Vec3f& path) {
 
   // publish for visualization
   kr_planning_msgs::Path local_path_msg_ =
-      kr_planning_rviz_plugins::path_to_ros(cropped_path);
+      kr::path_to_ros(cropped_path);
   local_path_msg_.header.frame_id = map_frame_;
   cropped_path_pub_.publish(local_path_msg_);
 
@@ -817,7 +817,7 @@ vec_Vec3f RePlanner::TransformGlobalPath(const vec_Vec3f& path_original) {
   map_to_odom.orientation.z = transformStamped.transform.rotation.z;
 
   // TF transform from the map frame to odom frame
-  auto map_to_odom_tf = kr_planning_rviz_plugins::toTF(map_to_odom);
+  auto map_to_odom_tf = kr::toTF(map_to_odom);
   Vec3f waypoint_wrt_map;
 
   vec_Vec3f path_wrt_map;
@@ -829,7 +829,7 @@ vec_Vec3f RePlanner::TransformGlobalPath(const vec_Vec3f& path_original) {
 
   // publish transformed global path for visualization
   kr_planning_msgs::Path path_wrt_map_msg =
-      kr_planning_rviz_plugins::path_to_ros(path_wrt_map);
+      kr::path_to_ros(path_wrt_map);
   path_wrt_map_msg.header.frame_id = map_frame_;
   global_path_wrt_map_pub_.publish(path_wrt_map_msg);
   return path_wrt_map;

autonomy_sim/unity_sim/dcist_utils/rviz/sim.rviz

@@ -193,7 +193,7 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: false
-    - Class: planning_rviz_plugins/PathArray
+    - Class: kr_planning_rviz_plugins/PathArray
       Enabled: true
       ID: All
       LineColor: 204; 51; 204