Merge pull request #1 from lge-ros2/main

merge main to foxy
lge-ros2 · May 27, 2021 · b99af71 · b99af71
2 parents 60ad2f2 + 57da87b
commit b99af71
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Showing 10 changed files with 34 additions and 51 deletions.
diff --git a/README.md b/README.md
@@ -5,5 +5,5 @@ A set of packages which contain cloi common interface files (.msg and .srv).
 
 |message name|description|
 |:----------:|-----------|
+|perception_msgs| this is message for ground truth |
 |elevator_system_msgs|ROS2 messages and services are described for elevator_system_sim in 'sim-device repository'|
-|realsense_adaptor| ROS2 messages are described for realsensor_adaptor|
diff --git a/elevator_system_msgs/package.xml b/elevator_system_msgs/package.xml
@@ -12,11 +12,8 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
-  <depend>std_msgs</depend>
+  <build_depend>std_msgs</build_depend>
 
-  <build_depend>builtin_interfaces</build_depend>
-
-  <exec_depend>builtin_interfaces</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
 
   <test_depend>ament_lint_common</test_depend>

diff --git a/realsense_adaptor_msgs/CMakeLists.txt → perception_msgs/CMakeLists.txt b/realsense_adaptor_msgs/CMakeLists.txt → perception_msgs/CMakeLists.txt
@@ -1,16 +1,17 @@
 cmake_minimum_required(VERSION 3.5)
-project(realsense_adaptor_msgs)
+project(perception_msgs)
 
 find_package(ament_cmake REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
 find_package(builtin_interfaces REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
 file(GLOB_RECURSE msg_files RELATIVE ${PROJECT_SOURCE_DIR} msg/*.msg)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   ${msg_files}
-  DEPENDENCIES builtin_interfaces std_msgs
+  DEPENDENCIES builtin_interfaces std_msgs geometry_msgs
   ADD_LINTER_TESTS
 )
 

diff --git a/perception_msgs/README.md b/perception_msgs/README.md
@@ -0,0 +1 @@
+# perception_msgs
diff --git a/realsense_adaptor_msgs/msg/SyncedImage.msg → perception_msgs/msg/ObjectArray.msg b/realsense_adaptor_msgs/msg/SyncedImage.msg → perception_msgs/msg/ObjectArray.msg
@@ -5,5 +5,5 @@
 ##
 
 std_msgs/Header header
-CameraData color
-CameraData depth
+
+ObjectInfo[] objects
diff --git a/perception_msgs/msg/ObjectInfo.msg b/perception_msgs/msg/ObjectInfo.msg
@@ -0,0 +1,23 @@
+##
+## Copyright (c) 2020 LG Electronics Inc.
+##
+## SPDX-License-Identifier: MIT
+##
+
+std_msgs/Header header
+
+int32 tracking_id
+
+int32 class_id
+
+# x, y, z
+geometry_msgs/Vector3 position
+
+# linear velocity in the direction of x, y, z
+geometry_msgs/Vector3 velocity
+
+# width(x), depth(y), height(z) of bounding box
+geometry_msgs/Vector3 size
+
+# convex hull of 2d projected points (z=0)
+geometry_msgs/Polygon footprint
diff --git a/realsense_adaptor_msgs/package.xml → perception_msgs/package.xml b/realsense_adaptor_msgs/package.xml → perception_msgs/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>realsense_adaptor_msgs</name>
+  <name>perception_msgs</name>
   <version>0.1.0</version>
-  <description>interfaces for realsense_adaptor are defined.</description>
+  <description>interfaces for ground truth</description>
   <maintainer email="[email protected]">Hyunseok Yang</maintainer>
 
   <license>MIT</license>
@@ -12,10 +12,8 @@
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
   <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
 
-  <build_depend>builtin_interfaces</build_depend>
-
-  <exec_depend>builtin_interfaces</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
 
   <test_depend>ament_lint_common</test_depend>

diff --git a/realsense_adaptor_msgs/README.md b/realsense_adaptor_msgs/README.md
diff --git a/realsense_adaptor_msgs/msg/CameraData.msg b/realsense_adaptor_msgs/msg/CameraData.msg
diff --git a/realsense_adaptor_msgs/msg/CameraIntrinsic.msg b/realsense_adaptor_msgs/msg/CameraIntrinsic.msg