Convert all moveit_msg messages namespace (#30)

moveit_core/collision_detection/include/moveit/collision_detection/collision_matrix.h

@@ -90,7 +90,7 @@ class AllowedCollisionMatrix
   AllowedCollisionMatrix(const std::vector<std::string>& names, bool allowed = false);
 
   /** @brief Construct the structure from a message representation */
-  AllowedCollisionMatrix(const moveit_msgs::AllowedCollisionMatrix& msg);
+  AllowedCollisionMatrix(const moveit_msgs::msg::AllowedCollisionMatrix& msg);
 
   /** @brief Copy constructor */
   AllowedCollisionMatrix(const AllowedCollisionMatrix& acm);
@@ -191,7 +191,7 @@ class AllowedCollisionMatrix
   void getAllEntryNames(std::vector<std::string>& names) const;
 
   /** @brief Get the allowed collision matrix as a message */
-  void getMessage(moveit_msgs::AllowedCollisionMatrix& msg) const;
+  void getMessage(moveit_msgs::msg::AllowedCollisionMatrix& msg) const;
 
   /** @brief Clear the allowed collision matrix */
   void clear();

moveit_core/collision_detection/include/moveit/collision_detection/collision_robot.h

@@ -279,16 +279,16 @@ class CollisionRobot
   void setScale(double scale);
 
   /** @brief Set the link padding from a vector of messages*/
-  void setPadding(const std::vector<moveit_msgs::LinkPadding>& padding);
+  void setPadding(const std::vector<moveit_msgs::msg::LinkPadding>& padding);
 
   /** @brief Get the link padding as a vector of messages*/
-  void getPadding(std::vector<moveit_msgs::LinkPadding>& padding) const;
+  void getPadding(std::vector<moveit_msgs::msg::LinkPadding>& padding) const;
 
   /** @brief Set the link scaling from a vector of messages*/
-  void setScale(const std::vector<moveit_msgs::LinkScale>& scale);
+  void setScale(const std::vector<moveit_msgs::msg::LinkScale>& scale);
 
   /** @brief Get the link scaling as a vector of messages*/
-  void getScale(std::vector<moveit_msgs::LinkScale>& scale) const;
+  void getScale(std::vector<moveit_msgs::msg::LinkScale>& scale) const;
 
 protected:
   /** @brief When the scale or padding is changed for a set of links by any of the functions in this class,

moveit_core/collision_detection/include/moveit/collision_detection/collision_tools.h

@@ -69,8 +69,8 @@ void removeOverlapping(std::set<CostSource>& cost_sources, double overlap_fracti
 
 bool getSensorPositioning(geometry_msgs::Point& point, const std::set<CostSource>& cost_sources);
 
-void costSourceToMsg(const CostSource& cost_source, moveit_msgs::CostSource& msg);
-void contactToMsg(const Contact& contact, moveit_msgs::ContactInformation& msg);
+void costSourceToMsg(const CostSource& cost_source, moveit_msgs::msg::CostSource& msg);
+void contactToMsg(const Contact& contact, moveit_msgs::msg::ContactInformation& msg);
 }
 
 #endif

moveit_core/collision_detection/src/collision_matrix.cpp

@@ -51,7 +51,7 @@ AllowedCollisionMatrix::AllowedCollisionMatrix(const std::vector<std::string>& n
       setEntry(names[i], names[j], allowed);
 }
 
-AllowedCollisionMatrix::AllowedCollisionMatrix(const moveit_msgs::AllowedCollisionMatrix& msg)
+AllowedCollisionMatrix::AllowedCollisionMatrix(const moveit_msgs::msg::AllowedCollisionMatrix& msg)
 {
   if (msg.entry_names.size() != msg.entry_values.size() ||
       msg.default_entry_names.size() != msg.default_entry_values.size())
@@ -332,7 +332,7 @@ void AllowedCollisionMatrix::getAllEntryNames(std::vector<std::string>& names) c
       names.push_back(entry.first);
 }
 
-void AllowedCollisionMatrix::getMessage(moveit_msgs::AllowedCollisionMatrix& msg) const
+void AllowedCollisionMatrix::getMessage(moveit_msgs::msg::AllowedCollisionMatrix& msg) const
 {
   msg.entry_names.clear();
   msg.entry_values.clear();

moveit_core/collision_detection/src/collision_robot.cpp

@@ -202,7 +202,7 @@ const std::map<std::string, double>& CollisionRobot::getLinkScale() const
   return link_scale_;
 }
 
-void CollisionRobot::setPadding(const std::vector<moveit_msgs::LinkPadding>& padding)
+void CollisionRobot::setPadding(const std::vector<moveit_msgs::msg::LinkPadding>& padding)
 {
   std::vector<std::string> u;
   for (const auto& p : padding)
@@ -216,7 +216,7 @@ void CollisionRobot::setPadding(const std::vector<moveit_msgs::LinkPadding>& pad
     updatedPaddingOrScaling(u);
 }
 
-void CollisionRobot::setScale(const std::vector<moveit_msgs::LinkScale>& scale)
+void CollisionRobot::setScale(const std::vector<moveit_msgs::msg::LinkScale>& scale)
 {
   std::vector<std::string> u;
   for (const auto& s : scale)
@@ -230,24 +230,24 @@ void CollisionRobot::setScale(const std::vector<moveit_msgs::LinkScale>& scale)
     updatedPaddingOrScaling(u);
 }
 
-void CollisionRobot::getPadding(std::vector<moveit_msgs::LinkPadding>& padding) const
+void CollisionRobot::getPadding(std::vector<moveit_msgs::msg::LinkPadding>& padding) const
 {
   padding.clear();
   for (const auto& lp : link_padding_)
   {
-    moveit_msgs::LinkPadding lp_msg;
+    moveit_msgs::msg::LinkPadding lp_msg;
     lp_msg.link_name = lp.first;
     lp_msg.padding = lp.second;
     padding.push_back(lp_msg);
   }
 }
 
-void CollisionRobot::getScale(std::vector<moveit_msgs::LinkScale>& scale) const
+void CollisionRobot::getScale(std::vector<moveit_msgs::msg::LinkScale>& scale) const
 {
   scale.clear();
   for (const auto& ls : link_scale_)
   {
-    moveit_msgs::LinkScale ls_msg;
+    moveit_msgs::msg::LinkScale ls_msg;
     ls_msg.link_name = ls.first;
     ls_msg.scale = ls.second;
     scale.push_back(ls_msg);

moveit_core/collision_detection/src/collision_tools.cpp

@@ -259,7 +259,7 @@ void removeCostSources(std::set<CostSource>& cost_sources, const std::set<CostSo
   }
 }
 
-void costSourceToMsg(const CostSource& cost_source, moveit_msgs::CostSource& msg)
+void costSourceToMsg(const CostSource& cost_source, moveit_msgs::msg::CostSource& msg)
 {
   msg.cost_density = cost_source.cost;
   msg.aabb_min.x = cost_source.aabb_min[0];
@@ -270,25 +270,25 @@ void costSourceToMsg(const CostSource& cost_source, moveit_msgs::CostSource& msg
   msg.aabb_max.z = cost_source.aabb_max[2];
 }
 
-void contactToMsg(const Contact& contact, moveit_msgs::ContactInformation& msg)
+void contactToMsg(const Contact& contact, moveit_msgs::msg::ContactInformation& msg)
 {
   msg.position = tf2::toMsg(contact.pos);
   tf2::toMsg(contact.normal, msg.normal);
   msg.depth = contact.depth;
   msg.contact_body_1 = contact.body_name_1;
   msg.contact_body_2 = contact.body_name_2;
   if (contact.body_type_1 == BodyTypes::ROBOT_LINK)
-    msg.body_type_1 = moveit_msgs::ContactInformation::ROBOT_LINK;
+    msg.body_type_1 = moveit_msgs::msg::ContactInformation::ROBOT_LINK;
   else if (contact.body_type_1 == BodyTypes::ROBOT_ATTACHED)
-    msg.body_type_1 = moveit_msgs::ContactInformation::ROBOT_ATTACHED;
+    msg.body_type_1 = moveit_msgs::msg::ContactInformation::ROBOT_ATTACHED;
   else
-    msg.body_type_1 = moveit_msgs::ContactInformation::WORLD_OBJECT;
+    msg.body_type_1 = moveit_msgs::msg::ContactInformation::WORLD_OBJECT;
   if (contact.body_type_2 == BodyTypes::ROBOT_LINK)
-    msg.body_type_2 = moveit_msgs::ContactInformation::ROBOT_LINK;
+    msg.body_type_2 = moveit_msgs::msg::ContactInformation::ROBOT_LINK;
   else if (contact.body_type_2 == BodyTypes::ROBOT_ATTACHED)
-    msg.body_type_2 = moveit_msgs::ContactInformation::ROBOT_ATTACHED;
+    msg.body_type_2 = moveit_msgs::msg::ContactInformation::ROBOT_ATTACHED;
   else
-    msg.body_type_2 = moveit_msgs::ContactInformation::WORLD_OBJECT;
+    msg.body_type_2 = moveit_msgs::msg::ContactInformation::WORLD_OBJECT;
 }
 
 }  // end of namespace collision_detection

moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler.h

@@ -87,7 +87,7 @@ class ConstraintSampler
    * @return True if the configuration is successful.  If true, \ref isValid should also true.
    *         If false, \ref isValid should return false
    */
-  virtual bool configure(const moveit_msgs::Constraints& constr) = 0;
+  virtual bool configure(const moveit_msgs::msg::Constraints& constr) = 0;
 
   /**
    * \brief Gets the group name set in the constructor

moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_allocator.h

@@ -56,10 +56,10 @@ class ConstraintSamplerAllocator
   }
 
   virtual ConstraintSamplerPtr alloc(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name,
-                                     const moveit_msgs::Constraints& constr) = 0;
+                                     const moveit_msgs::msg::Constraints& constr) = 0;
 
   virtual bool canService(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name,
-                          const moveit_msgs::Constraints& constr) const = 0;
+                          const moveit_msgs::msg::Constraints& constr) const = 0;
 };
 }
 

moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_manager.h

@@ -46,7 +46,7 @@ MOVEIT_CLASS_FORWARD(ConstraintSamplerManager);
 
 /**
  * \brief This class assists in the generation of a ConstraintSampler for a
- * particular group from a moveit_msgs::Constraints.
+ * particular group from a moveit_msgs::msg::Constraints.
  *
  * It contains logic that will generate either a
  * JointConstraintSampler, an IKConstraintSampler, or a
@@ -90,7 +90,7 @@ class ConstraintSamplerManager
    * or an empty pointer if none could be allocated
    */
   ConstraintSamplerPtr selectSampler(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name,
-                                     const moveit_msgs::Constraints& constr) const;
+                                     const moveit_msgs::msg::Constraints& constr) const;
 
   /**
    * \brief Default logic to select a ConstraintSampler given a
@@ -137,7 +137,7 @@ class ConstraintSamplerManager
    */
   static ConstraintSamplerPtr selectDefaultSampler(const planning_scene::PlanningSceneConstPtr& scene,
                                                    const std::string& group_name,
-                                                   const moveit_msgs::Constraints& constr);
+                                                   const moveit_msgs::msg::Constraints& constr);
 
 private:
   std::vector<ConstraintSamplerAllocatorPtr>

moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler_tools.h

@@ -46,13 +46,13 @@ void visualizeDistribution(const ConstraintSamplerPtr& sampler, const robot_stat
                            const std::string& link_name, unsigned int sample_count,
                            visualization_msgs::MarkerArray& markers);
 
-void visualizeDistribution(const moveit_msgs::Constraints& constr, const planning_scene::PlanningSceneConstPtr& scene,
+void visualizeDistribution(const moveit_msgs::msg::Constraints& constr, const planning_scene::PlanningSceneConstPtr& scene,
                            const std::string& group, const std::string& link_name, unsigned int sample_count,
                            visualization_msgs::MarkerArray& markers);
 
 double countSamplesPerSecond(const ConstraintSamplerPtr& sampler, const robot_state::RobotState& reference_state);
 
-double countSamplesPerSecond(const moveit_msgs::Constraints& constr, const planning_scene::PlanningSceneConstPtr& scene,
+double countSamplesPerSecond(const moveit_msgs::msg::Constraints& constr, const planning_scene::PlanningSceneConstPtr& scene,
                              const std::string& group);
 }
 

moveit_core/constraint_samplers/include/moveit/constraint_samplers/default_constraint_samplers.h

@@ -88,7 +88,7 @@ class JointConstraintSampler : public ConstraintSampler
    *
    * @return True if the conditions are met, otherwise false
    */
-  bool configure(const moveit_msgs::Constraints& constr) override;
+  bool configure(const moveit_msgs::msg::Constraints& constr) override;
 
   /**
    * \brief Configures a joint constraint given a vector of constraints.
@@ -332,7 +332,7 @@ class IKConstraintSampler : public ConstraintSampler
    * exist and the overloaded configuration function returns true.
    * Otherwise, returns false.
    */
-  bool configure(const moveit_msgs::Constraints& constr) override;
+  bool configure(const moveit_msgs::msg::Constraints& constr) override;
 
   /**
    * \brief Configures the Constraint given a IKSamplingPose.

moveit_core/constraint_samplers/include/moveit/constraint_samplers/union_constraint_sampler.h

@@ -117,7 +117,7 @@ class UnionConstraintSampler : public ConstraintSampler
    *
    * @return Always true
    */
-  bool configure(const moveit_msgs::Constraints& constr) override
+  bool configure(const moveit_msgs::msg::Constraints& constr) override
   {
     return true;
   }
@@ -129,7 +129,7 @@ class UnionConstraintSampler : public ConstraintSampler
    *
    * @return Always true
    */
-  virtual bool canService(const moveit_msgs::Constraints& constr) const
+  virtual bool canService(const moveit_msgs::msg::Constraints& constr) const
   {
     return true;
   }

moveit_core/constraint_samplers/src/constraint_sampler_manager.cpp

@@ -42,7 +42,7 @@
 constraint_samplers::ConstraintSamplerPtr
 constraint_samplers::ConstraintSamplerManager::selectSampler(const planning_scene::PlanningSceneConstPtr& scene,
                                                              const std::string& group_name,
-                                                             const moveit_msgs::Constraints& constr) const
+                                                             const moveit_msgs::msg::Constraints& constr) const
 {
   for (std::size_t i = 0; i < sampler_alloc_.size(); ++i)
     if (sampler_alloc_[i]->canService(scene, group_name, constr))
@@ -55,7 +55,7 @@ constraint_samplers::ConstraintSamplerManager::selectSampler(const planning_scen
 constraint_samplers::ConstraintSamplerPtr
 constraint_samplers::ConstraintSamplerManager::selectDefaultSampler(const planning_scene::PlanningSceneConstPtr& scene,
                                                                     const std::string& group_name,
-                                                                    const moveit_msgs::Constraints& constr)
+                                                                    const moveit_msgs::msg::Constraints& constr)
 {
   const robot_model::JointModelGroup* jmg = scene->getRobotModel()->getJointModelGroup(group_name);
   if (!jmg)
@@ -301,7 +301,7 @@ constraint_samplers::ConstraintSamplerManager::selectDefaultSampler(const planni
          it != ik_subgroup_alloc.end(); ++it)
     {
       // construct a sub-set of constraints that operate on the sub-group for which we have an IK allocator
-      moveit_msgs::Constraints sub_constr;
+      moveit_msgs::msg::Constraints sub_constr;
       for (std::size_t p = 0; p < constr.position_constraints.size(); ++p)
         if (it->first->hasLinkModel(constr.position_constraints[p].link_name))
           if (used_p.find(p) == used_p.end())

moveit_core/constraint_samplers/src/constraint_sampler_tools.cpp

@@ -37,7 +37,7 @@
 #include <moveit/constraint_samplers/constraint_sampler_tools.h>
 #include <moveit/constraint_samplers/constraint_sampler_manager.h>
 
-void constraint_samplers::visualizeDistribution(const moveit_msgs::Constraints& constr,
+void constraint_samplers::visualizeDistribution(const moveit_msgs::msg::Constraints& constr,
                                                 const planning_scene::PlanningSceneConstPtr& scene,
                                                 const std::string& group, const std::string& link_name,
                                                 unsigned int sample_count, visualization_msgs::MarkerArray& markers)
@@ -46,7 +46,7 @@ void constraint_samplers::visualizeDistribution(const moveit_msgs::Constraints&
                         link_name, sample_count, markers);
 }
 
-double constraint_samplers::countSamplesPerSecond(const moveit_msgs::Constraints& constr,
+double constraint_samplers::countSamplesPerSecond(const moveit_msgs::msg::Constraints& constr,
                                                   const planning_scene::PlanningSceneConstPtr& scene,
                                                   const std::string& group)
 {

moveit_core/constraint_samplers/src/default_constraint_samplers.cpp

@@ -41,7 +41,7 @@
 
 namespace constraint_samplers
 {
-bool JointConstraintSampler::configure(const moveit_msgs::Constraints& constr)
+bool JointConstraintSampler::configure(const moveit_msgs::msg::Constraints& constr)
 {
   // construct the constraints
   std::vector<kinematic_constraints::JointConstraint> jc;
@@ -276,7 +276,7 @@ bool IKConstraintSampler::configure(const IKSamplingPose& sp)
   return is_valid_;
 }
 
-bool IKConstraintSampler::configure(const moveit_msgs::Constraints& constr)
+bool IKConstraintSampler::configure(const moveit_msgs::msg::Constraints& constr)
 {
   for (std::size_t p = 0; p < constr.position_constraints.size(); ++p)
     for (std::size_t o = 0; o < constr.orientation_constraints.size(); ++o)
@@ -509,16 +509,16 @@ namespace
 void samplingIkCallbackFnAdapter(robot_state::RobotState* state, const robot_model::JointModelGroup* jmg,
                                  const robot_state::GroupStateValidityCallbackFn& constraint,
                                  const geometry_msgs::Pose& /*unused*/, const std::vector<double>& ik_sol,
-                                 moveit_msgs::MoveItErrorCodes& error_code)
+                                 moveit_msgs::msg::MoveItErrorCodes& error_code)
 {
   const std::vector<unsigned int>& bij = jmg->getKinematicsSolverJointBijection();
   std::vector<double> solution(bij.size());
   for (std::size_t i = 0; i < bij.size(); ++i)
     solution[i] = ik_sol[bij[i]];
   if (constraint(state, jmg, &solution[0]))
-    error_code.val = moveit_msgs::MoveItErrorCodes::SUCCESS;
+    error_code.val = moveit_msgs::msg::MoveItErrorCodes::SUCCESS;
   else
-    error_code.val = moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION;
+    error_code.val = moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION;
 }
 }
 
@@ -622,7 +622,7 @@ bool IKConstraintSampler::callIK(const geometry_msgs::Pose& ik_query,
     seed[i] = vals[ik_joint_bijection[i]];
 
   std::vector<double> ik_sol;
-  moveit_msgs::MoveItErrorCodes error;
+  moveit_msgs::msg::MoveItErrorCodes error;
 
   if (adapted_ik_validity_callback ?
           kb_->searchPositionIK(ik_query, seed, timeout, ik_sol, adapted_ik_validity_callback, error) :
@@ -638,9 +638,9 @@ bool IKConstraintSampler::callIK(const geometry_msgs::Pose& ik_query,
   }
   else
   {
-    if (error.val != moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION &&
-        error.val != moveit_msgs::MoveItErrorCodes::INVALID_ROBOT_STATE &&
-        error.val != moveit_msgs::MoveItErrorCodes::TIMED_OUT)
+    if (error.val != moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION &&
+        error.val != moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE &&
+        error.val != moveit_msgs::msg::MoveItErrorCodes::TIMED_OUT)
       ROS_ERROR_NAMED("constraint_samplers", "IK solver failed with error %d", error.val);
     else if (verbose_)
       ROS_INFO_NAMED("constraint_samplers", "IK failed");

moveit_core/constraint_samplers/test/pr2_arm_ik.cpp

@@ -151,9 +151,9 @@ bool PR2ArmIK::init(const urdf::ModelInterface& robot_model, const std::string&
   return true;
 }
 
-void PR2ArmIK::addJointToChainInfo(const urdf::JointConstSharedPtr& joint, moveit_msgs::KinematicSolverInfo& info)
+void PR2ArmIK::addJointToChainInfo(const urdf::JointConstSharedPtr& joint, moveit_msgs::msg::KinematicSolverInfo& info)
 {
-  moveit_msgs::JointLimits limit;
+  moveit_msgs::msg::JointLimits limit;
   info.joint_names.push_back(joint->name);  // Joints are coming in reverse order
 
   if (joint->type != urdf::Joint::CONTINUOUS)
@@ -189,7 +189,7 @@ void PR2ArmIK::addJointToChainInfo(const urdf::JointConstSharedPtr& joint, movei
   info.limits.push_back(limit);
 }
 
-void PR2ArmIK::getSolverInfo(moveit_msgs::KinematicSolverInfo& info)
+void PR2ArmIK::getSolverInfo(moveit_msgs::msg::KinematicSolverInfo& info)
 {
   info = solver_info_;
 }