Putting niut message in a specific file

dkurzaj · Apr 21, 2015 · 50dec6a · 50dec6a
1 parent 6aaa235
commit 50dec6a
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Showing 14 changed files with 106 additions and 32 deletions.
diff --git a/niut_msgs/CMakeLists.txt b/niut_msgs/CMakeLists.txt
@@ -0,0 +1,45 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(niut_msgs)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  message_generation
+)
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+# Generate messages in the 'msg' folder
+add_message_files(
+   FILES
+   niut_GEN_POINT_3D.msg
+   niut_HUMAN_LIST.msg
+   niut_JOINT.msg
+   niut_JOINT_STR.msg
+   niut_SKELETON_STR.msg
+   niut_TIME_STR.msg
+   niut_TRACK_STATE.msg
+   niut_USER_STR.msg
+)
+
+# Generate services in the 'srv' folder
+#add_service_files(
+#  FILES
+#  GetPersonTrajectories.srv
+#)
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+   DEPENDENCIES
+   std_msgs
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+catkin_package(
+  CATKIN_DEPENDS roscpp rospy std_msgs message_runtime 
+)
diff --git a/pdg/msg/niut_GEN_POINT_3D.msg → niut_msgs/msg/niut_GEN_POINT_3D.msg b/pdg/msg/niut_GEN_POINT_3D.msg → niut_msgs/msg/niut_GEN_POINT_3D.msg
diff --git a/pdg/msg/niut_HUMAN_LIST.msg → niut_msgs/msg/niut_HUMAN_LIST.msg b/pdg/msg/niut_HUMAN_LIST.msg → niut_msgs/msg/niut_HUMAN_LIST.msg
diff --git a/pdg/msg/niut_JOINT.msg → niut_msgs/msg/niut_JOINT.msg b/pdg/msg/niut_JOINT.msg → niut_msgs/msg/niut_JOINT.msg
diff --git a/pdg/msg/niut_JOINT_STR.msg → niut_msgs/msg/niut_JOINT_STR.msg b/pdg/msg/niut_JOINT_STR.msg → niut_msgs/msg/niut_JOINT_STR.msg
diff --git a/pdg/msg/niut_SKELETON_STR.msg → niut_msgs/msg/niut_SKELETON_STR.msg b/pdg/msg/niut_SKELETON_STR.msg → niut_msgs/msg/niut_SKELETON_STR.msg
diff --git a/pdg/msg/niut_TIME_STR.msg → niut_msgs/msg/niut_TIME_STR.msg b/pdg/msg/niut_TIME_STR.msg → niut_msgs/msg/niut_TIME_STR.msg
diff --git a/pdg/msg/niut_TRACK_STATE.msg → niut_msgs/msg/niut_TRACK_STATE.msg b/pdg/msg/niut_TRACK_STATE.msg → niut_msgs/msg/niut_TRACK_STATE.msg
diff --git a/pdg/msg/niut_USER_STR.msg → niut_msgs/msg/niut_USER_STR.msg b/pdg/msg/niut_USER_STR.msg → niut_msgs/msg/niut_USER_STR.msg
diff --git a/niut_msgs/package.xml b/niut_msgs/package.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<package>
+
+  <name>niut_msgs</name>
+  <version>0.0.0</version>
+  <description>Messages used for Person Detection and Tracking</description>
+
+  <maintainer email="[email protected]">Grégoire Milliez</maintainer>
+
+  <license>TODO</license>
+
+  <author email="[email protected]">Gregoire Milliez</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>rospy</build_depend>
+
+  <run_depend>message_runtime</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>rospy</run_depend>
+
+</package>
diff --git a/pdg/CMakeLists.txt b/pdg/CMakeLists.txt
@@ -9,6 +9,8 @@ find_package(catkin REQUIRED COMPONENTS
   rospy
   std_msgs
   message_generation
+  spencer_tracking_msgs
+  niut_msgs
   tf
 )
 
@@ -51,10 +53,10 @@ find_package(catkin REQUIRED COMPONENTS
 #   Message1.msg
 #   Message2.msg
 # )
-add_message_files(FILES Agent.msg     HumanList.msg	     niut_HUMAN_LIST.msg    niut_TIME_STR.msg	  Object.msg
-Entity.msg    Human.msg		     niut_JOINT.msg	    niut_TRACK_STATE.msg  RobotList.msg
-FactList.msg  Joint.msg		     niut_JOINT_STR.msg     niut_USER_STR.msg	  Robot.msg
-Fact.msg      niut_GEN_POINT_3D.msg  niut_SKELETON_STR.msg  ObjectList.msg)
+add_message_files(FILES Agent.msg     HumanList.msg
+Entity.msg    Human.msg		      RobotList.msg
+FactList.msg  Joint.msg		      Robot.msg
+Fact.msg      ObjectList.msg          Object.msg)
 
 ## Generate services in the 'srv' folder
 # add_service_files(
@@ -75,6 +77,7 @@ Fact.msg      niut_GEN_POINT_3D.msg  niut_SKELETON_STR.msg  ObjectList.msg)
    DEPENDENCIES
     std_msgs
     spencer_tracking_msgs
+    niut_msgs
  )
 ###################################
 ## catkin specific configuration ##
@@ -88,7 +91,7 @@ Fact.msg      niut_GEN_POINT_3D.msg  niut_SKELETON_STR.msg  ObjectList.msg)
 catkin_package(
   INCLUDE_DIRS include
 #  LIBRARIES pdg
-  CATKIN_DEPENDS roscpp rospy std_msgs spencer_tracking_msgs message_generation message_runtime tf
+  CATKIN_DEPENDS roscpp rospy std_msgs spencer_tracking_msgs niut_msgs message_generation message_runtime tf
 #  DEPENDS system_lib
 )
 

diff --git a/pdg/include/pdg/NiutHumanReader.h b/pdg/include/pdg/NiutHumanReader.h
@@ -13,25 +13,24 @@
 #define	NIUTHUMANREADER_H
 
 #include <ros/ros.h>
-#include "pdg/niut_HUMAN_LIST.h"
+#include "niut_msgs/niut_HUMAN_LIST.h"
 #include "toaster-lib/Human.h"
 #include "HumanReader.h"
 
-class NiutHumanReader : public HumanReader{
-
-    public:
-        NiutHumanReader(ros::NodeHandle& node, double * kinectPos, bool fullHuman);
-
-    private:
-        static const unsigned short NB_MAX_NIUT = 16;
-        double* kinectPos_;
-        ros::Subscriber sub_;
-
-        //Functions
-        void humanJointCallBack(const pdg::niut_HUMAN_LIST::ConstPtr& msg);
-        void projectJoint(Joint& joint, double* kinectPos);
-        void updateJoint(int i, int j, Joint& curJoint, int toasterId, std::vector<int>& trackedJoints,
-             const pdg::niut_HUMAN_LIST::ConstPtr& msg);
+class NiutHumanReader : public HumanReader {
+public:
+    NiutHumanReader(ros::NodeHandle& node, double * kinectPos, bool fullHuman);
+
+private:
+    static const unsigned short NB_MAX_NIUT = 16;
+    double* kinectPos_;
+    ros::Subscriber sub_;
+
+    //Functions
+    void humanJointCallBack(const niut_msgs::niut_HUMAN_LIST::ConstPtr& msg);
+    void projectJoint(Joint& joint, double* kinectPos);
+    void updateJoint(int i, int j, Joint& curJoint, int toasterId, std::vector<int>& trackedJoints,
+            const niut_msgs::niut_HUMAN_LIST::ConstPtr& msg);
 
 };
 

diff --git a/pdg/package.xml b/pdg/package.xml
@@ -39,18 +39,20 @@
   <!--   <run_depend>message_runtime</run_depend> -->
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>spencer_tracking_msgs</build_depend>
+  <buildtool_depend> catkin </buildtool_depend>
+  <build_depend> roscpp </build_depend>
+  <build_depend> rospy </build_depend>
+  <build_depend> std_msgs </build_depend>
+  <build_depend> spencer_tracking_msgs </build_depend>
+  <build_depend> niut_msgs </build_depend>
   <build_depend> message_generation </build_depend>
   <build_depend> tf </build_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>rospy</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>spencer_tracking_msgs</run_depend>
+  <run_depend> roscpp </run_depend>
+  <run_depend> rospy </run_depend>
+  <run_depend> std_msgs </run_depend>
+  <run_depend> spencer_tracking_msgs </run_depend>
   <run_depend> message_generation </run_depend>
+  <run_depend> niut_msgs </run_depend>
   <run_depend> message_runtime </run_depend>
   <run_depend> tf </run_depend>
 

diff --git a/pdg/src/NiutHumanReader.cpp b/pdg/src/NiutHumanReader.cpp
@@ -13,7 +13,7 @@ NiutHumanReader::NiutHumanReader(ros::NodeHandle& node, double * kinectPos,
     sub_ = node_.subscribe("/niut/Human", 1, &NiutHumanReader::humanJointCallBack, this);
 }
 
-void NiutHumanReader::humanJointCallBack(const pdg::niut_HUMAN_LIST::ConstPtr& msg) {
+void NiutHumanReader::humanJointCallBack(const niut_msgs::niut_HUMAN_LIST::ConstPtr& msg) {
     Joint curJoint(10000, 100);
     std::vector<int> trackedJoints;
     trackedJoints.push_back(0);
@@ -75,7 +75,7 @@ void NiutHumanReader::humanJointCallBack(const pdg::niut_HUMAN_LIST::ConstPtr& m
     }
 }
 
-void NiutHumanReader::updateJoint(int i, int j, Joint& curJoint, int toasterId, std::vector<int>& trackedJoints, const pdg::niut_HUMAN_LIST::ConstPtr& msg) {
+void NiutHumanReader::updateJoint(int i, int j, Joint& curJoint, int toasterId, std::vector<int>& trackedJoints, const niut_msgs::niut_HUMAN_LIST::ConstPtr& msg) {
 
     std::map<int, std::string> niutToString;
     niutToString[0] = "HEAD";