diff --git a/CMakeLists.txt b/CMakeLists.txt
index 25706ac4f224dc9a4620079ce5167f3d4dbf84e7..8f2b5a3f78d8db06bd5bf802a28dd8b153698b6b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 2.8.3)
-project(iri_tf_publisher_dynamic)
+project(iri_dynamic_transform_publisher)
## Find catkin macros and libraries
find_package(catkin REQUIRED)
@@ -49,7 +49,7 @@ find_package(catkin REQUIRED COMPONENTS iri_base_algorithm tf)
# ********************************************************************
# Add the dynamic reconfigure file
# ********************************************************************
-generate_dynamic_reconfigure_options(cfg/TfPublisherDynamic.cfg)
+generate_dynamic_reconfigure_options(cfg/config.cfg)
# ********************************************************************
# Add run time dependencies here
@@ -82,7 +82,7 @@ include_directories(${catkin_INCLUDE_DIRS})
# add_library(${PROJECT_NAME} <list of source files>)
## Declare a cpp executable
-add_executable(${PROJECT_NAME} src/tf_publisher_dynamic_alg.cpp src/tf_publisher_dynamic_alg_node.cpp)
+add_executable(${PROJECT_NAME} src/dynamic_transform_publisher_alg.cpp src/dynamic_transform_publisher_alg_node.cpp)
# ********************************************************************
# Add the libraries
diff --git a/cfg/TfPublisherDynamic.cfg b/cfg/config.cfg
similarity index 95%
rename from cfg/TfPublisherDynamic.cfg
rename to cfg/config.cfg
index 49e58ef3eeff8a5516889171c9acdca0e8c070da..e892001a6186fbe43206075236e979b811db7f9a 100755
--- a/cfg/TfPublisherDynamic.cfg
+++ b/cfg/config.cfg
@@ -31,7 +31,7 @@
# Author:
-PACKAGE='iri_tf_publisher_dynamic'
+PACKAGE='iri_dynamic_transform_publisher'
from dynamic_reconfigure.parameter_generator_catkin import *
@@ -52,6 +52,6 @@ gen.add("pitch", double_t, 0, "pitch rotation in radians
gen.add("yaw", double_t, 0, "yaw rotation in radians", 0.0, -3.14159, 3.14159)
gen.add("show_rosrun", bool_t, 0, "outputs ROS_INFO with rosrun equivalent", False)
-exit(gen.generate(PACKAGE, "TfPublisherDynamicAlgorithm", "TfPublisherDynamic"))
+exit(gen.generate(PACKAGE, "DynamicTransformPublisherAlgorithm", "DynamicTransformPublisher"))
diff --git a/include/tf_publisher_dynamic_alg.h b/include/dynamic_transform_publisher_alg.h
similarity index 81%
rename from include/tf_publisher_dynamic_alg.h
rename to include/dynamic_transform_publisher_alg.h
index 81cd699a9d84e050752298c41bb832a089d3f143..3faa564e584dd9982ee42a6b73536ac16ec590f4 100644
--- a/include/tf_publisher_dynamic_alg.h
+++ b/include/dynamic_transform_publisher_alg.h
@@ -22,25 +22,25 @@
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab
-#ifndef _tf_publisher_dynamic_alg_h_
-#define _tf_publisher_dynamic_alg_h_
+#ifndef _dynamic_transform_publisher_alg_h_
+#define _dynamic_transform_publisher_alg_h_
-#include <iri_tf_publisher_dynamic/TfPublisherDynamicConfig.h>
+#include <iri_dynamic_transform_publisher/DynamicTransformPublisherConfig.h>
-//include tf_publisher_dynamic_alg main library
+//include dynamic_transform_publisher_alg main library
/**
* \brief IRI ROS Specific Driver Class
*
*
*/
-class TfPublisherDynamicAlgorithm
+class DynamicTransformPublisherAlgorithm
{
protected:
/**
* \brief define config type
*
- * Define a Config type with the TfPublisherDynamicConfig. All driver implementations
+ * Define a Config type with the DynamicTransformPublisherConfig. All driver implementations
* will then use the same variable type Config.
*/
pthread_mutex_t access_;
@@ -51,10 +51,10 @@ class TfPublisherDynamicAlgorithm
/**
* \brief define config type
*
- * Define a Config type with the TfPublisherDynamicConfig. All driver implementations
+ * Define a Config type with the DynamicTransformPublisherConfig. All driver implementations
* will then use the same variable type Config.
*/
- typedef iri_tf_publisher_dynamic::TfPublisherDynamicConfig Config;
+ typedef iri_dynamic_transform_publisher::DynamicTransformPublisherConfig Config;
/**
* \brief config variable
@@ -72,7 +72,7 @@ class TfPublisherDynamicAlgorithm
* Attributes from the main node driver class IriBaseDriver such as loop_rate,
* may be also overload here.
*/
- TfPublisherDynamicAlgorithm(void);
+ DynamicTransformPublisherAlgorithm(void);
/**
* \brief Lock Algorithm
@@ -116,7 +116,7 @@ class TfPublisherDynamicAlgorithm
*/
void config_update(Config& config, uint32_t level=0);
- // here define all tf_publisher_dynamic_alg interface methods to retrieve and set
+ // here define all dynamic_transform_publisher_alg interface methods to retrieve and set
// the driver parameters
/**
@@ -125,7 +125,7 @@ class TfPublisherDynamicAlgorithm
* This destructor is called when the object is about to be destroyed.
*
*/
- ~TfPublisherDynamicAlgorithm(void);
+ ~DynamicTransformPublisherAlgorithm(void);
};
#endif
diff --git a/include/tf_publisher_dynamic_alg_node.h b/include/dynamic_transform_publisher_alg_node.h
similarity index 91%
rename from include/tf_publisher_dynamic_alg_node.h
rename to include/dynamic_transform_publisher_alg_node.h
index 196ea538119bd4c9df30587d07217ede06ef8561..57f1886456b93c88c3efcd7023e1268c5ee97ae9 100644
--- a/include/tf_publisher_dynamic_alg_node.h
+++ b/include/dynamic_transform_publisher_alg_node.h
@@ -22,11 +22,11 @@
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab
-#ifndef _tf_publisher_dynamic_alg_node_h_
-#define _tf_publisher_dynamic_alg_node_h_
+#ifndef _dynamic_transform_publisher_alg_node_h_
+#define _dynamic_transform_publisher_alg_node_h_
#include <iri_base_algorithm/iri_base_algorithm.h>
-#include "tf_publisher_dynamic_alg.h"
+#include "dynamic_transform_publisher_alg.h"
// [publisher subscriber headers]
@@ -40,7 +40,7 @@
* \brief IRI ROS Specific Algorithm Class
*
*/
-class TfPublisherDynamicAlgNode : public algorithm_base::IriBaseAlgorithm<TfPublisherDynamicAlgorithm>
+class DynamicTransformPublisherAlgNode : public algorithm_base::IriBaseAlgorithm<DynamicTransformPublisherAlgorithm>
{
private:
// [publisher attributes]
@@ -71,7 +71,7 @@ class TfPublisherDynamicAlgNode : public algorithm_base::IriBaseAlgorithm<TfPubl
* This constructor initializes specific class attributes and all ROS
* communications variables to enable message exchange.
*/
- TfPublisherDynamicAlgNode(void);
+ DynamicTransformPublisherAlgNode(void);
/**
* \brief Destructor
@@ -79,7 +79,7 @@ class TfPublisherDynamicAlgNode : public algorithm_base::IriBaseAlgorithm<TfPubl
* This destructor frees all necessary dynamic memory allocated within this
* this class.
*/
- ~TfPublisherDynamicAlgNode(void);
+ ~DynamicTransformPublisherAlgNode(void);
protected:
/**
diff --git a/package.xml b/package.xml
index 2859c0824cd8ea0e8e1f5a441f7682934e84a9c0..3a0eb1feb74b3356a101d56368589ee27b16939c 100644
--- a/package.xml
+++ b/package.xml
@@ -1,9 +1,9 @@
<?xml version="1.0"?>
<package format="2">
- <name>iri_tf_publisher_dynamic</name>
+ <name>iri_dynamic_transform_publisher</name>
<version>0.0.0</version>
<description>
- The iri_tf_publisher_dynamic package broadcasts a tf transform between two frames as defined with dynamic reconfigure parameters.
+ The iri_dynamic_transform_publisher package broadcasts a tf transform between two frames as defined with dynamic reconfigure parameters.
Useful for dynamically adjust and find a desired static transform, to be replaced once found by a tf/static_transform_publisher node</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
@@ -21,7 +21,7 @@
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
- <!-- <url type="website">http://wiki.ros.org/iri_tf_publisher_dynamic</url> -->
+ <!-- <url type="website">http://wiki.ros.org/iri_dynamic_transform_publisher</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
@@ -62,4 +62,4 @@
<!-- Other tools can request additional information be placed here -->
</export>
-</package>
+</package>
\ No newline at end of file
diff --git a/src/dynamic_transform_publisher_alg.cpp b/src/dynamic_transform_publisher_alg.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..66c7159a706051cb8e79d42f848861aa23f956bc
--- /dev/null
+++ b/src/dynamic_transform_publisher_alg.cpp
@@ -0,0 +1,23 @@
+#include "dynamic_transform_publisher_alg.h"
+
+DynamicTransformPublisherAlgorithm::DynamicTransformPublisherAlgorithm(void)
+{
+ pthread_mutex_init(&this->access_,NULL);
+}
+
+DynamicTransformPublisherAlgorithm::~DynamicTransformPublisherAlgorithm(void)
+{
+ pthread_mutex_destroy(&this->access_);
+}
+
+void DynamicTransformPublisherAlgorithm::config_update(Config& config, uint32_t level)
+{
+ this->lock();
+
+ // save the current configuration
+ this->config_=config;
+
+ this->unlock();
+}
+
+// DynamicTransformPublisherAlgorithm Public API
diff --git a/src/tf_publisher_dynamic_alg_node.cpp b/src/dynamic_transform_publisher_alg_node.cpp
similarity index 76%
rename from src/tf_publisher_dynamic_alg_node.cpp
rename to src/dynamic_transform_publisher_alg_node.cpp
index 46611f77839227347599b32dfc2017b6132b34f9..9689101b02e072c515aaffaa00be702a0b83c46b 100644
--- a/src/tf_publisher_dynamic_alg_node.cpp
+++ b/src/dynamic_transform_publisher_alg_node.cpp
@@ -1,7 +1,7 @@
-#include "tf_publisher_dynamic_alg_node.h"
+#include "dynamic_transform_publisher_alg_node.h"
-TfPublisherDynamicAlgNode::TfPublisherDynamicAlgNode(void) :
- algorithm_base::IriBaseAlgorithm<TfPublisherDynamicAlgorithm>()
+DynamicTransformPublisherAlgNode::DynamicTransformPublisherAlgNode(void) :
+ algorithm_base::IriBaseAlgorithm<DynamicTransformPublisherAlgorithm>()
{
//init class attributes if necessary
//this->loop_rate_ = 2; //in [Hz]
@@ -19,12 +19,12 @@ TfPublisherDynamicAlgNode::TfPublisherDynamicAlgNode(void) :
// [init action clients]
}
-TfPublisherDynamicAlgNode::~TfPublisherDynamicAlgNode(void)
+DynamicTransformPublisherAlgNode::~DynamicTransformPublisherAlgNode(void)
{
// [free dynamic memory]
}
-void TfPublisherDynamicAlgNode::mainNodeThread(void)
+void DynamicTransformPublisherAlgNode::mainNodeThread(void)
{
// [fill msg structures]
@@ -53,7 +53,7 @@ void TfPublisherDynamicAlgNode::mainNodeThread(void)
/* [action requests] */
-void TfPublisherDynamicAlgNode::node_config_update(Config &config, uint32_t level)
+void DynamicTransformPublisherAlgNode::node_config_update(Config &config, uint32_t level)
{
this->alg_.lock();
@@ -93,12 +93,12 @@ void TfPublisherDynamicAlgNode::node_config_update(Config &config, uint32_t leve
this->alg_.unlock();
}
-void TfPublisherDynamicAlgNode::addNodeDiagnostics(void)
+void DynamicTransformPublisherAlgNode::addNodeDiagnostics(void)
{
}
/* main function */
int main(int argc,char *argv[])
{
- return algorithm_base::main<TfPublisherDynamicAlgNode>(argc, argv, "tf_publisher_dynamic_alg_node");
+ return algorithm_base::main<DynamicTransformPublisherAlgNode>(argc, argv, "dynamic_transform_publisher_alg_node");
}
diff --git a/src/tf_publisher_dynamic_alg.cpp b/src/tf_publisher_dynamic_alg.cpp
deleted file mode 100644
index 147ae163b0a49d4282bb8ef8c05ab26efe9a6158..0000000000000000000000000000000000000000
--- a/src/tf_publisher_dynamic_alg.cpp
+++ /dev/null
@@ -1,23 +0,0 @@
-#include "tf_publisher_dynamic_alg.h"
-
-TfPublisherDynamicAlgorithm::TfPublisherDynamicAlgorithm(void)
-{
- pthread_mutex_init(&this->access_,NULL);
-}
-
-TfPublisherDynamicAlgorithm::~TfPublisherDynamicAlgorithm(void)
-{
- pthread_mutex_destroy(&this->access_);
-}
-
-void TfPublisherDynamicAlgorithm::config_update(Config& config, uint32_t level)
-{
- this->lock();
-
- // save the current configuration
- this->config_=config;
-
- this->unlock();
-}
-
-// TfPublisherDynamicAlgorithm Public API