ed_msgs seperated

.travis.yml

@@ -1,39 +1,17 @@
-sudo: required
-dist: trusty
-language: generic
-env:
-  - ROS_DISTRO=indigo
-  - ROS_DISTRO=jade
-notifications:
-  email:
-    on_success: change # [always|never|change], default=change
-    on_failure: change # [always|never|change], default=always
+sudo: true
 
-before_install:
-  - CI_SOURCE_PATH=$(pwd)
-  - REPOSITORY_NAME=${PWD##*/}
-  - echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
-
-install:
-  - source <(wget -O- https://raw.githubusercontent.com/tue-robotics/tue-env/master/installer/scripts/bootstrap-ros-$ROS_DISTRO)
-  - tue-get install ros-$REPOSITORY_NAME
-  - source ~/.tue/setup.bash # source all target setup files
+language: cpp
 
-before_script:
-  # remove the tue-get version of our repo with the travis one
-  - cd "$TUE_ENV_DIR/repos/https_/github.com/tue-robotics"
-  - mv "$REPOSITORY_NAME.git" "$REPOSITORY_NAME.old"
-  - ln -s "$CI_SOURCE_PATH" "$REPOSITORY_NAME.git"
+services:
+  - docker
 
-  # install travis' package dependencies
-  - cd "$TUE_SYSTEM_DIR/src"
-  - rm *
-  - tue-get update ros-$REPOSITORY_NAME
-  - ls -l
+before_install:
+  - wget https://raw.githubusercontent.com/tue-robotics/tue-env/master/ci/install-package.sh
+  - wget https://raw.githubusercontent.com/tue-robotics/tue-env/master/ci/build-package.sh
+  - export PACKAGE=${TRAVIS_REPO_SLUG#*/}
 
-  # go to the catkin workspace
-  - cd "$TUE_SYSTEM_DIR"
+install:
+  - bash install-package.sh --package=$PACKAGE --branch=$TRAVIS_BRANCH --commit=$TRAVIS_COMMIT --pullrequest=$TRAVIS_PULL_REQUEST
 
-script:
-  - catkin build
-  - catkin run_tests
+script: 
+  - bash build-package.sh --package=$PACKAGE

CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(head_ref_ed_client)
 
 find_package(catkin REQUIRED COMPONENTS
-  ed
+  ed_msgs
   head_ref
   roscpp
   geolib2

package.xml

@@ -10,12 +10,12 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>ed</build_depend>
+  <build_depend>ed_msgs</build_depend>
   <build_depend>head_ref</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>geolib2</build_depend>
 
-  <run_depend>ed</run_depend>
+  <run_depend>ed_msgs</run_depend>
   <run_depend>head_ref</run_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>geolib2</run_depend>

src/head_ref_ed_client.cpp

@@ -1,7 +1,7 @@
 #include <actionlib/client/action_client.h>
 #include "head_ref/HeadReferenceAction.h"
 
-#include <ed/SimpleQuery.h>
+#include <ed_msgs/SimpleQuery.h>
 
 #include <geolib/datatypes.h>
 #include <geolib/ros/tf_conversions.h>
@@ -12,7 +12,7 @@
 
 struct Comp
 {
-    bool operator()(const ed::EntityInfo& a, const ed::EntityInfo& b)
+    bool operator()(const ed_msgs::EntityInfo& a, const ed_msgs::EntityInfo& b)
     {
         geo::Vector3 a_cp, b_cp, a_diff, b_diff;
         geo::convert(a.pose.position, a_cp);
@@ -63,15 +63,15 @@ bool inFrontOf(const geo::Vector3& p, const geo::Pose3D& pose)
 
 // Keep track of last seen
 boost::circular_buffer<std::pair<std::string, double> > cb(10);
-bool getTargetEntityBasedOnLastSeen(const std::vector<ed::EntityInfo>& entities, ed::EntityInfo& e_target)
+bool getTargetEntityBasedOnLastSeen(const std::vector<ed_msgs::EntityInfo>& entities, ed_msgs::EntityInfo& e_target)
 {
     double now = ros::Time::now().toSec();
     double last_seen = now;
 
-    for (std::vector<ed::EntityInfo>::const_iterator it = entities.begin(); it != entities.end(); ++it)
+    for (std::vector<ed_msgs::EntityInfo>::const_iterator it = entities.begin(); it != entities.end(); ++it)
     {
         // Closest
-        const ed::EntityInfo& e = *it;
+        const ed_msgs::EntityInfo& e = *it;
 
         // Loop over the circular buffer and try to find the element
         bool found = false;
@@ -110,7 +110,7 @@ int main(int argc, char** argv){
     ros::NodeHandle nh("~");
     ros::NodeHandle gnh;
 
-    ros::ServiceClient ed_client = gnh.serviceClient<ed::SimpleQuery>("ed/simple_query");
+    ros::ServiceClient ed_client = gnh.serviceClient<ed_msgs::SimpleQuery>("ed/simple_query");
     actionlib::ActionClient<head_ref::HeadReferenceAction> ac("head_ref/action_server");
     tf_listener = new tf::TransformListener(nh);
 
@@ -127,8 +127,8 @@ int main(int argc, char** argv){
         if (getRobotPoseMap(ros::Time(0), robot_pose))
         {
             //! Request and response
-            ed::SimpleQueryRequest req;
-            ed::SimpleQueryResponse resp;
+            ed_msgs::SimpleQueryRequest req;
+            ed_msgs::SimpleQueryResponse resp;
 
             //! Fill the request
             geo::convert(robot_pose.getOrigin(), req.center_point);
@@ -142,12 +142,12 @@ int main(int argc, char** argv){
                     continue;
                 }
 
-                std::vector<ed::EntityInfo> entities;
+                std::vector<ed_msgs::EntityInfo> entities;
 
                 // Get all valid entities
-                for (std::vector<ed::EntityInfo>::const_iterator it = resp.entities.begin(); it != resp.entities.end(); ++it)
+                for (std::vector<ed_msgs::EntityInfo>::const_iterator it = resp.entities.begin(); it != resp.entities.end(); ++it)
                 {
-                    const ed::EntityInfo& e = *it;
+                    const ed_msgs::EntityInfo& e = *it;
                     if (!e.has_pose)
                         continue;
 
@@ -163,7 +163,7 @@ int main(int argc, char** argv){
                 comp.p = robot_pose.getOrigin();
                 std::sort(entities.begin(), entities.end(), comp);
 
-                ed::EntityInfo e_target;
+                ed_msgs::EntityInfo e_target;
                 if (getTargetEntityBasedOnLastSeen(entities, e_target))
                 {
 //                    std::cout << "Found target with id: " << e_target.id << std::endl;