From 6c0893285f2fabe9330daa6782db00cbf075c098 Mon Sep 17 00:00:00 2001 From: Jaeyoung Lim Date: Tue, 9 Apr 2024 11:09:29 +0200 Subject: [PATCH] Add geo_map_msgs for custom messages (#62) * Encapsulate grid_map_geo package * Add gridmap geo messages grid_map_geo_msgs --- CMakeLists.txt => grid_map_geo/CMakeLists.txt | 0 .../include}/grid_map_geo/grid_map_geo.h | 0 .../include}/grid_map_geo/transform.h | 0 {launch => grid_map_geo/launch}/config.rviz | 0 .../launch}/load_multiple_tif.launch | 0 .../launch}/load_tif.launch | 0 package.xml => grid_map_geo/package.xml | 0 {src => grid_map_geo/src}/grid_map_geo.cpp | 0 {src => grid_map_geo/src}/test_tif_loader.cpp | 0 {test => grid_map_geo/test}/main.cpp | 0 .../test}/test_grid_map_geo.cpp | 0 grid_map_geo_msgs/CMakeLists.txt | 18 +++++++++++++ grid_map_geo_msgs/include/dummy | 0 grid_map_geo_msgs/msg/GeographicMapInfo.msg | 26 +++++++++++++++++++ grid_map_geo_msgs/package.xml | 24 +++++++++++++++++ 15 files changed, 68 insertions(+) rename CMakeLists.txt => grid_map_geo/CMakeLists.txt (100%) rename {include => grid_map_geo/include}/grid_map_geo/grid_map_geo.h (100%) rename {include => grid_map_geo/include}/grid_map_geo/transform.h (100%) rename {launch => grid_map_geo/launch}/config.rviz (100%) rename {launch => grid_map_geo/launch}/load_multiple_tif.launch (100%) rename {launch => grid_map_geo/launch}/load_tif.launch (100%) rename package.xml => grid_map_geo/package.xml (100%) rename {src => grid_map_geo/src}/grid_map_geo.cpp (100%) rename {src => grid_map_geo/src}/test_tif_loader.cpp (100%) rename {test => grid_map_geo/test}/main.cpp (100%) rename {test => grid_map_geo/test}/test_grid_map_geo.cpp (100%) create mode 100644 grid_map_geo_msgs/CMakeLists.txt create mode 100644 grid_map_geo_msgs/include/dummy create mode 100644 grid_map_geo_msgs/msg/GeographicMapInfo.msg create mode 100644 grid_map_geo_msgs/package.xml diff --git a/CMakeLists.txt b/grid_map_geo/CMakeLists.txt similarity index 100% rename from CMakeLists.txt rename to grid_map_geo/CMakeLists.txt diff --git a/include/grid_map_geo/grid_map_geo.h b/grid_map_geo/include/grid_map_geo/grid_map_geo.h similarity index 100% rename from include/grid_map_geo/grid_map_geo.h rename to grid_map_geo/include/grid_map_geo/grid_map_geo.h diff --git a/include/grid_map_geo/transform.h b/grid_map_geo/include/grid_map_geo/transform.h similarity index 100% rename from include/grid_map_geo/transform.h rename to grid_map_geo/include/grid_map_geo/transform.h diff --git a/launch/config.rviz b/grid_map_geo/launch/config.rviz similarity index 100% rename from launch/config.rviz rename to grid_map_geo/launch/config.rviz diff --git a/launch/load_multiple_tif.launch b/grid_map_geo/launch/load_multiple_tif.launch similarity index 100% rename from launch/load_multiple_tif.launch rename to grid_map_geo/launch/load_multiple_tif.launch diff --git a/launch/load_tif.launch b/grid_map_geo/launch/load_tif.launch similarity index 100% rename from launch/load_tif.launch rename to grid_map_geo/launch/load_tif.launch diff --git a/package.xml b/grid_map_geo/package.xml similarity index 100% rename from package.xml rename to grid_map_geo/package.xml diff --git a/src/grid_map_geo.cpp b/grid_map_geo/src/grid_map_geo.cpp similarity index 100% rename from src/grid_map_geo.cpp rename to grid_map_geo/src/grid_map_geo.cpp diff --git a/src/test_tif_loader.cpp b/grid_map_geo/src/test_tif_loader.cpp similarity index 100% rename from src/test_tif_loader.cpp rename to grid_map_geo/src/test_tif_loader.cpp diff --git a/test/main.cpp b/grid_map_geo/test/main.cpp similarity index 100% rename from test/main.cpp rename to grid_map_geo/test/main.cpp diff --git a/test/test_grid_map_geo.cpp b/grid_map_geo/test/test_grid_map_geo.cpp similarity index 100% rename from test/test_grid_map_geo.cpp rename to grid_map_geo/test/test_grid_map_geo.cpp diff --git a/grid_map_geo_msgs/CMakeLists.txt b/grid_map_geo_msgs/CMakeLists.txt new file mode 100644 index 0000000..cc0f05f --- /dev/null +++ b/grid_map_geo_msgs/CMakeLists.txt @@ -0,0 +1,18 @@ +cmake_minimum_required(VERSION 2.8.3) +project(grid_map_geo_msgs) + +find_package(catkin REQUIRED COMPONENTS message_generation std_msgs) + +include_directories(include) + +add_message_files( + DIRECTORY msg + FILES + GeographicMapInfo.msg +) + +generate_messages(DEPENDENCIES std_msgs) + +catkin_package( + INCLUDE_DIRS include + CATKIN_DEPENDS message_runtime std_msgs) diff --git a/grid_map_geo_msgs/include/dummy b/grid_map_geo_msgs/include/dummy new file mode 100644 index 0000000..e69de29 diff --git a/grid_map_geo_msgs/msg/GeographicMapInfo.msg b/grid_map_geo_msgs/msg/GeographicMapInfo.msg new file mode 100644 index 0000000..6bad139 --- /dev/null +++ b/grid_map_geo_msgs/msg/GeographicMapInfo.msg @@ -0,0 +1,26 @@ +# Geomap Message +# + +std_msgs/Header header + + +# ESPG of the coordinate the map is in +uint16 geo_coordinate + +# Size of the map in pixels +uint16 width +uint16 height + + +# Resolution of the map +float64 x_resolution +float64 y_resolution + +# x value in the specified geocoordinate system +float64 origin_x + +# y value in the specified geocoordinate system +float64 origin_y + +# Altitude in the specified vertical datum +float64 origin_altitude diff --git a/grid_map_geo_msgs/package.xml b/grid_map_geo_msgs/package.xml new file mode 100644 index 0000000..91a7412 --- /dev/null +++ b/grid_map_geo_msgs/package.xml @@ -0,0 +1,24 @@ + + + + grid_map_geo_msgs + 0.0.1 + + geomap_msgs includes the definition for custom services and messages for the grid_map_geo package. + + + Jaeyoung Lim + BSD + + catkin + message_generation + message_runtime + std_msgs + + + + + +