Merge pull request #47 from ethz-asl/feature/mav_planning_msgs_removal

Feature/mav planning msgs removal

Author: rikba

README.md

@@ -33,12 +33,12 @@ catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
 catkin config --extend /opt/ros/melodic
 ```
 
-Download package dependencies from [dependencies.rosinstall](install/dependencies.rosinstall).
+Download package dependencies from [dependencies.rosinstall](install/dependencies.rosinstall).<br>
 **Note**: If you have not setup [SSH keys in GitHub](https://help.github.com/en/enterprise/2.16/user/articles/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent) use [dependencies_https.rosinstall](install/dependencies_https.rosinstall).
 ```
 cd ~/catkin_ws/src
 wstool init
-wstool set --git polygon_coverage_planning git@github.com:ethz-asl/polygon_coverage_planning.git -v v1.0.0
+wstool set --git polygon_coverage_planning git@github.com:ethz-asl/polygon_coverage_planning.git -v v2.0.0
 wstool update
 wstool merge polygon_coverage_planning/install/dependencies.rosinstall
 wstool update
@@ -67,7 +67,7 @@ The polygon can be set via
 - RVIZ Polygon Tool as in the video above.
 
 The plan is generated via
-- ROS [service](https://github.com/ethz-asl/mav_comm/blob/master/mav_planning_msgs/srv/PlannerService.srv) call 'rosservice call /coverage_planner/plan_path' or
+- ROS [service](polygon_coverage_msgs/srv/PlannerService.srv) call 'rosservice call /coverage_planner/plan_path' or
 - clicking start and goal points using the RVIZ clicked_point tool as in the video above.
 
 ### Euclidean Shortest Path Planning

install/dependencies.rosinstall

@@ -1,3 +1,3 @@
 - git: {local-name: catkin_simple, uri: 'git@github.com:catkin/catkin_simple.git', version: 0e62848b12da76c8cc58a1add42b4f894d1ac21e}
 - git: {local-name: cgal_catkin, uri: 'git@github.com:ethz-asl/cgal_catkin.git', version: releases/CGAL-5.0.3}
-- git: {local-name: polygon_coverage_planning, uri: 'git@github.com:ethz-asl/polygon_coverage_planning.git', version: v1.0.0}
+- git: {local-name: polygon_coverage_planning, uri: 'git@github.com:ethz-asl/polygon_coverage_planning.git', version: v2.0.0}

install/dependencies_https.rosinstall

@@ -1,3 +1,3 @@
 - git: {local-name: catkin_simple, uri: 'https://github.com/catkin/catkin_simple.git', version: 0e62848b12da76c8cc58a1add42b4f894d1ac21e}
 - git: {local-name: cgal_catkin, uri: 'https://github.com/ethz-asl/cgal_catkin.git', version: releases/CGAL-5.0.3}
-- git: {local-name: polygon_coverage_planning, uri: 'https://github.com/ethz-asl/polygon_coverage_planning.git', version: v1.0.0}
+- git: {local-name: polygon_coverage_planning, uri: 'https://github.com/ethz-asl/polygon_coverage_planning.git', version: v2.0.0}

install/prepare-jenkins-slave.sh

@@ -4,14 +4,14 @@ ROS_VERSION=`rosversion -d`
 echo "ROS version: ${ROS_VERSION}"
 
 # Build dependencies.
-sudo apt install -y python-wstool python-catkin-tools
+sudo apt-get install -y python-wstool python-catkin-tools
 
 # Package dependencies.
 echo "Installing MAV_COMM dependencies."
-sudo apt install -y ros-${ROS_VERSION}-mav-msgs ros-${ROS_VERSION}-mav-planning-msgs
+sudo apt-get install -y ros-${ROS_VERSION}-mav-msgs
 echo "Installing CGAL dependencies."
-sudo apt install -y libgmp-dev libmpfr-dev
+sudo apt-get install -y libgmp-dev libmpfr-dev
 echo "Installing MONO dependencies."
-sudo apt install -y mono-devel
+sudo apt-get install -y mono-devel
 echo "Installig GLOG dependencices."
-sudo apt install -y libgoogle-glog
+sudo apt-get install -y libgoogle-glog-dev

polygon_coverage_benchmark/test/benchmark-test.cpp

@@ -27,7 +27,7 @@
 #include <ros/ros.h>
 #include <yaml-cpp/yaml.h>
 
-#include <mav_planning_msgs/PolygonWithHoles.h>
+#include <polygon_coverage_msgs/PolygonWithHoles.h>
 
 #include <polygon_coverage_geometry/cgal_definitions.h>
 #include <polygon_coverage_planners/cost_functions/path_cost_functions.h>

polygon_coverage_msgs/package.xml

@@ -21,6 +21,7 @@
   <depend>message_runtime</depend>
   <depend>geometry_msgs</depend>
   <depend>std_msgs</depend>
+  <depend>trajectory_msgs</depend>
   <depend>xmlrpcpp</depend>
   <depend>polygon_coverage_geometry</depend>
 </package>

polygon_coverage_msgs/srv/PlannerService.srv

@@ -0,0 +1,8 @@
+#request fields
+geometry_msgs/PoseStamped start_pose #start pose for the planner
+geometry_msgs/PoseStamped goal_pose #start pose for the planner
+---
+# True on success, false on planning failure
+bool success
+# Either contains a polynomial trajectory:
+trajectory_msgs/MultiDOFJointTrajectory sampled_plan

polygon_coverage_ros/cfg/polygons/example_l.yaml

@@ -1,4 +1,4 @@
-# A mav_planning_msgs/PolygonWithHoles.msg to describe a rectangle.
+# A polygon_coverage_msgs/PolygonWithHoles.msg to describe a rectangle.
 polygon:
   header:
     seq: 0

polygon_coverage_ros/cfg/polygons/example_polygon_bcd_cell.yaml

@@ -1,4 +1,4 @@
-# A mav_planning_msgs/PolygonWithHoles.msg to describe a typical BCD cell.
+# A polygon_coverage_msgs/PolygonWithHoles.msg to describe a typical BCD cell.
 polygon:
   header:
     seq: 0

polygon_coverage_ros/cfg/polygons/example_polygon_epfl.yaml

@@ -1,4 +1,4 @@
-# A mav_planning_msgs/PolygonWithHoles.msg to describe a forest.
+# A polygon_coverage_msgs/PolygonWithHoles.msg to describe a forest.
 # The planner always picks the largest z as the fixed altitude it plans in.
 polygon:
   header:

polygon_coverage_ros/cfg/polygons/example_polygon_epfl_simple.yaml

@@ -1,4 +1,4 @@
-# A mav_planning_msgs/PolygonWithHoles.msg to describe a forest.
+# A polygon_coverage_msgs/PolygonWithHoles.msg to describe a forest.
 # The planner always picks the largest z as the fixed altitude it plans in.
 polygon:
   header:

polygon_coverage_ros/cfg/polygons/example_polygon_epfl_trivial.yaml

@@ -1,4 +1,4 @@
-# A mav_planning_msgs/PolygonWithHoles.msg to describe a forest.
+# A polygon_coverage_msgs/PolygonWithHoles.msg to describe a forest.
 # The planner always picks the largest z as the fixed altitude it plans in.
 polygon:
   header:

polygon_coverage_ros/cfg/polygons/example_polygon_piombino.yaml

@@ -1,4 +1,4 @@
-# A mav_planning_msgs/PolygonWithHoles.msg to describe a simple environment that
+# A polygon_coverage_msgs/PolygonWithHoles.msg to describe a simple environment that
 # resambles the ERL arena in Piombino.
 polygon:
   header:

polygon_coverage_ros/include/polygon_coverage_ros/polygon_planner_base.h

@@ -30,7 +30,7 @@
 #include <polygon_coverage_planners/sensor_models/sensor_model_base.h>
 
 #include <geometry_msgs/PointStamped.h>
-#include <mav_planning_msgs/PlannerService.h>
+#include <polygon_coverage_msgs/PlannerService.h>
 #include <ros/ros.h>
 #include <std_srvs/Empty.h>
 #include <visualization_msgs/MarkerArray.h>
@@ -98,8 +98,9 @@ class PolygonPlannerBase {
   void clickPolygonCallback(
       const polygon_coverage_msgs::PolygonWithHolesStamped& msg);
   // Solves the planning problem from start to goal.
-  bool planPathCallback(mav_planning_msgs::PlannerService::Request& request,
-                        mav_planning_msgs::PlannerService::Response& response);
+  bool planPathCallback(
+      polygon_coverage_msgs::PlannerService::Request& request,
+      polygon_coverage_msgs::PlannerService::Response& response);
   bool publishAllCallback(std_srvs::Empty::Request& request,
                           std_srvs::Empty::Response& response);
   bool publishVisualizationCallback(std_srvs::Empty::Request& request,

polygon_coverage_ros/package.xml

@@ -15,7 +15,6 @@
 
   <depend>roscpp</depend>
 
-  <depend>mav_planning_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>mav_msgs</depend>
   <depend>geometry_msgs</depend>

polygon_coverage_ros/src/polygon_planner_base.cc

@@ -350,8 +350,8 @@ bool PolygonPlannerBase::setPolygonCallback(
 }
 
 bool PolygonPlannerBase::planPathCallback(
-    mav_planning_msgs::PlannerService::Request& request,
-    mav_planning_msgs::PlannerService::Response& response) {
+    polygon_coverage_msgs::PlannerService::Request& request,
+    polygon_coverage_msgs::PlannerService::Response& response) {
   planning_complete_ = false;
   if (!polygon_.has_value()) {
     ROS_WARN("Polygon not set. Cannot plan path.");