Merge branch 'devel' of

ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_ros/wolf_ros_gnss.git
into devel

Conflicts:
	CMakeLists.txt
	src/wolf_subscriber_gnss_ublox.cpp

CMakeLists.txt

@@ -137,10 +137,10 @@ include_directories(
 # add_library(${PROJECT_NAME}
 #   src/${PROJECT_NAME}/wolf_ros.cpp
 # )
-add_library(wolf_subscriber_gnss src/wolf_subscriber_gnss.cpp)
-add_library(wolf_subscriber_gnss_fix src/wolf_subscriber_gnss_fix.cpp)
-add_library(wolf_subscriber_gnss_TDCP src/wolf_subscriber_gnss_TDCP.cpp)
-add_library(wolf_subscriber_gnss_ublox src/wolf_subscriber_gnss_ublox.cpp)
+add_library(subscriber_gnss src/subscriber_gnss.cpp)
+add_library(subscriber_gnss_fix src/subscriber_gnss_fix.cpp)
+add_library(subscriber_gnss_Tdcp src/subscriber_gnss_Tdcp.cpp)
+add_library(subscriber_gnss_ublox src/subscriber_gnss_ublox.cpp)
 
 ## Add cmake target dependencies of the library
 ## as an example, code may need to be generated before libraries
@@ -164,22 +164,22 @@ add_library(wolf_subscriber_gnss_ublox src/wolf_subscriber_gnss_ublox.cpp)
 #add_dependencies(${PROJECT_NAME}_visualizer ${PROJECT_NAME}_gencfg)
 
 ## Specify libraries to link a library or executable target against
-target_link_libraries(wolf_subscriber_gnss 
+target_link_libraries(subscriber_gnss
 					  ${wolf_LIBRARIES} 
 					  ${wolfgnss_LIBRARIES} 
 					  ${iri_gnss_msgs_LIBRARIES}
 					  )
-target_link_libraries(wolf_subscriber_gnss_fix 
+target_link_libraries(subscriber_gnss_fix
 					  ${wolf_LIBRARIES} 
 					  ${wolfgnss_LIBRARIES} 
 					  ${iri_gnss_msgs_LIBRARIES}
 					  )
-target_link_libraries(wolf_subscriber_gnss_TDCP 
+target_link_libraries(subscriber_gnss_Tdcp
 					  ${wolf_LIBRARIES} 
 					  ${wolfgnss_LIBRARIES} 
 					  ${iri_gnss_msgs_LIBRARIES}
             		  )
-target_link_libraries(wolf_subscriber_gnss_ublox 
+target_link_libraries(subscriber_gnss_ublox
 					  ${wolf_LIBRARIES} 
 					  ${wolfgnss_LIBRARIES} 
 					  ${iri_gnss_msgs_LIBRARIES}

include/wolf_subscriber_gnss.h → include/subscriber_gnss.h

@@ -26,13 +26,13 @@
 /**************************
  *    WOLF-ROS includes   *
  **************************/
-#include "wolf_subscriber.h"
+#include "subscriber.h"
 #include "subscriber_factory.h"
 #include "gnss_utils/gnss_utils.h"
 
 using namespace wolf;
 
-class WolfSubscriberGnss : public WolfSubscriber
+class SubscriberGnss : public Subscriber
 {
     protected:
 
@@ -47,7 +47,7 @@ class WolfSubscriberGnss : public WolfSubscriber
 
     public:
         // Constructor
-        WolfSubscriberGnss(const SensorBasePtr& sensor_ptr);
+        SubscriberGnss(const SensorBasePtr& sensor_ptr);
 
         virtual void initSubscriber(ros::NodeHandle& nh, const std::string& topic);
 
@@ -55,6 +55,6 @@ class WolfSubscriberGnss : public WolfSubscriber
 
         void callbackNavigation(const iri_gnss_msgs::Navigation::ConstPtr& msg);
 
-        static std::shared_ptr<WolfSubscriber> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr);
+        static std::shared_ptr<Subscriber> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr);
 };
-WOLF_REGISTER_SUBSCRIBER(WolfSubscriberGnss)
+WOLF_REGISTER_SUBSCRIBER(SubscriberGnss)

include/wolf_subscriber_gnss_TDCP.h → include/subscriber_gnss_Tdcp.h

@@ -26,13 +26,13 @@
 /**************************
  *    WOLF-ROS includes   *
  **************************/
-#include "wolf_subscriber.h"
+#include "subscriber.h"
 #include "subscriber_factory.h"
 #include "gnss_utils/gnss_utils.h"
 
 using namespace wolf;
 
-class WolfSubscriberGnssTDCP : public WolfSubscriber
+class SubscriberGnssTdcp : public Subscriber
 {
     protected:
 
@@ -44,7 +44,7 @@ class WolfSubscriberGnssTDCP : public WolfSubscriber
 
     public:
         // Constructor
-        WolfSubscriberGnssTDCP(const SensorBasePtr& sensor_ptr);
+        SubscriberGnssTdcp(const SensorBasePtr& sensor_ptr);
 
         virtual void initSubscriber(ros::NodeHandle& nh, const std::string& topic);
 
@@ -52,6 +52,6 @@ class WolfSubscriberGnssTDCP : public WolfSubscriber
 
         void callbackNavigation(const iri_gnss_msgs::Navigation::ConstPtr& msg);
 
-        static std::shared_ptr<WolfSubscriber> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr);
+        static std::shared_ptr<Subscriber> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr);
 };
-WOLF_REGISTER_SUBSCRIBER(WolfSubscriberGnssTDCP)
+WOLF_REGISTER_SUBSCRIBER(SubscriberGnssTdcp)

include/wolf_subscriber_gnss_fix.h → include/subscriber_gnss_fix.h

@@ -24,22 +24,22 @@
 /**************************
  *    WOLF-ROS includes   *
  **************************/
-#include "wolf_subscriber.h"
+#include "subscriber.h"
 #include "subscriber_factory.h"
 #include "gnss_utils/gnss_utils.h"
 
 using namespace wolf;
 
-class WolfSubscriberGnssFix : public WolfSubscriber
+class SubscriberGnssFix : public Subscriber
 {
     public:
         // Constructor
-        WolfSubscriberGnssFix(const SensorBasePtr& sensor_ptr);
+        SubscriberGnssFix(const SensorBasePtr& sensor_ptr);
 
         virtual void initSubscriber(ros::NodeHandle& nh, const std::string& topic);
 
         void callback(const sensor_msgs::NavSatFix::ConstPtr& msg);
 
-        static std::shared_ptr<WolfSubscriber> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr);
+        static std::shared_ptr<Subscriber> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr);
 };
-WOLF_REGISTER_SUBSCRIBER(WolfSubscriberGnssFix)
+WOLF_REGISTER_SUBSCRIBER(SubscriberGnssFix)

include/wolf_subscriber_gnss_ublox.h → include/subscriber_gnss_ublox.h

@@ -17,27 +17,27 @@
 /**************************
  *    WOLF-ROS includes   *
  **************************/
-#include "wolf_subscriber.h"
+#include "subscriber.h"
 #include "subscriber_factory.h"
 #include "gnss_utils/gnss_utils.h"
 #include "gnss_utils/ublox_raw.h"
 
 using namespace wolf;
 
-class WolfSubscriberGnssUblox : public WolfSubscriber
+class SubscriberGnssUblox : public Subscriber
 {
     public:
         // Constructor
-        WolfSubscriberGnssUblox(const SensorBasePtr& sensor_ptr);
+        SubscriberGnssUblox(const SensorBasePtr& sensor_ptr);
 
         virtual void initSubscriber(ros::NodeHandle& nh, const std::string& topic);
 
         void callback(const std_msgs::UInt8MultiArray& msg);
 
-        static std::shared_ptr<WolfSubscriber> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr);
+        static std::shared_ptr<Subscriber> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr);
 
     protected:
 
         GNSSUtils::UBloxRaw ublox_raw_;
 };
-WOLF_REGISTER_SUBSCRIBER(WolfSubscriberGnssUblox)
+WOLF_REGISTER_SUBSCRIBER(SubscriberGnssUblox)

src/wolf_subscriber_gnss.cpp → src/subscriber_gnss.cpp

@@ -3,8 +3,8 @@
 using namespace wolf;
 
 // Constructor
-WolfSubscriberGnss::WolfSubscriberGnss(const SensorBasePtr& sensor_ptr) :
-        WolfSubscriber(sensor_ptr)
+SubscriberGnss::SubscriberGnss(const SensorBasePtr& sensor_ptr) :
+        Subscriber(sensor_ptr)
 {
     //prcopt_ = prcopt_default;
     //prcopt_.mode = PMODE_SINGLE;
@@ -22,14 +22,14 @@ WolfSubscriberGnss::WolfSubscriberGnss(const SensorBasePtr& sensor_ptr) :
 }
 
 
-void WolfSubscriberGnss::initSubscriber(ros::NodeHandle& nh, const std::string& topic)
+void SubscriberGnss::initSubscriber(ros::NodeHandle& nh, const std::string& topic)
 {
-    sub_     = nh.subscribe(topic+std::string("_obs"), 1, &WolfSubscriberGnss::callbackObservation, this);
-    sub_nav_ = nh.subscribe(topic+std::string("_nav"), 1, &WolfSubscriberGnss::callbackNavigation, this);
+    sub_     = nh.subscribe(topic+std::string("_obs"), 1, &SubscriberGnss::callbackObservation, this);
+    sub_nav_ = nh.subscribe(topic+std::string("_nav"), 1, &SubscriberGnss::callbackNavigation, this);
 }
 
 
-void WolfSubscriberGnss::callbackObservation(const iri_gnss_msgs::Observation::ConstPtr& msg)
+void SubscriberGnss::callbackObservation(const iri_gnss_msgs::Observation::ConstPtr& msg)
 {
     ROS_INFO("callbackObs!");
     if (last_nav_ptr_==nullptr)
@@ -44,7 +44,7 @@ void WolfSubscriberGnss::callbackObservation(const iri_gnss_msgs::Observation::C
     new_capture->process();
 }
 
-void WolfSubscriberGnss::callbackNavigation(const iri_gnss_msgs::Navigation::ConstPtr& msg)
+void SubscriberGnss::callbackNavigation(const iri_gnss_msgs::Navigation::ConstPtr& msg)
 {
     ROS_INFO("callbackNav!");
 
@@ -61,7 +61,7 @@ void WolfSubscriberGnss::callbackNavigation(const iri_gnss_msgs::Navigation::Con
 //    }
 }
 
-std::shared_ptr<WolfSubscriber> WolfSubscriberGnss::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
+std::shared_ptr<Subscriber> SubscriberGnss::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
 {
-    return std::make_shared<WolfSubscriberGnss>(_sensor_ptr);
+    return std::make_shared<SubscriberGnss>(_sensor_ptr);
 }

src/wolf_subscriber_gnss_TDCP.cpp → src/subscriber_gnss_Tdcp.cpp

-#include "../include/wolf_subscriber_gnss_TDCP.h"
+#include "../include/wolf_subscriber_gnss_Tdcp.h"
 
 using namespace wolf;
 
 // Constructor
-WolfSubscriberGnssTDCP::WolfSubscriberGnssTDCP(const SensorBasePtr& sensor_ptr) :
-        WolfSubscriber(sensor_ptr)
+SubscriberGnssTdcp::SubscriberGnssTdcp(const SensorBasePtr& sensor_ptr) :
+        Subscriber(sensor_ptr)
 {
-    // TODO copied from TDCP_ros
+    // TODO copied from Tdcp_ros
 }
 
-void WolfSubscriberGnssTDCP::initSubscriber(ros::NodeHandle& nh, const std::string& topic)
+void SubscriberGnssTdcp::initSubscriber(ros::NodeHandle& nh, const std::string& topic)
 {
-    sub_     = nh.subscribe(topic+std::string("_obs"), 1, &WolfSubscriberGnssTDCP::callbackObservation, this);
-    sub_nav_ = nh.subscribe(topic+std::string("_nav"), 1, &WolfSubscriberGnssTDCP::callbackNavigation, this);
+    sub_     = nh.subscribe(topic+std::string("_obs"), 1, &SubscriberGnssTdcp::callbackObservation, this);
+    sub_nav_ = nh.subscribe(topic+std::string("_nav"), 1, &SubscriberGnssTdcp::callbackNavigation, this);
 }
 
-void WolfSubscriberGnssTDCP::callbackObservation(const iri_gnss_msgs::Observation::ConstPtr& msg)
+void SubscriberGnssTdcp::callbackObservation(const iri_gnss_msgs::Observation::ConstPtr& msg)
 {
     ROS_INFO("callbackObs!");
     if (last_nav_ptr_==nullptr)
         return;
 
-    // TODO copied from TDCP_ros
+    // TODO copied from Tdcp_ros
 
 //    GNSSUtils::ObservationsPtr obs_ptr = std::make_shared<GNSSUtils::Observations>();
 //    GNSSUtils::fillObservation(*obs_ptr, msg);
@@ -33,7 +33,7 @@ void WolfSubscriberGnssTDCP::callbackObservation(const iri_gnss_msgs::Observatio
 //
 }
 
-void WolfSubscriberGnssTDCP::callbackNavigation(const iri_gnss_msgs::Navigation::ConstPtr& msg)
+void SubscriberGnssTdcp::callbackNavigation(const iri_gnss_msgs::Navigation::ConstPtr& msg)
 {
     ROS_INFO("callbackNav!");
 
@@ -41,10 +41,10 @@ void WolfSubscriberGnssTDCP::callbackNavigation(const iri_gnss_msgs::Navigation:
     GNSSUtils::fillNavigation(*last_nav_ptr_, msg);
     last_nav_ptr_->print();
 
-    // TODO copied from TDCP_ros
+    // TODO copied from Tdcp_ros
 }
 
-std::shared_ptr<WolfSubscriber> WolfSubscriberGnssTDCP::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
+std::shared_ptr<Subscriber> SubscriberGnssTdcp::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
 {
-    return std::make_shared<WolfSubscriberGnssTDCP>(_sensor_ptr);
+    return std::make_shared<SubscriberGnssTdcp>(_sensor_ptr);
 }

src/wolf_subscriber_gnss_fix.cpp → src/subscriber_gnss_fix.cpp

@@ -3,18 +3,18 @@
 using namespace wolf;
 
 // Constructor
-WolfSubscriberGnssFix::WolfSubscriberGnssFix(const SensorBasePtr& sensor_ptr) :
-        WolfSubscriber(sensor_ptr)
+SubscriberGnssFix::SubscriberGnssFix(const SensorBasePtr& sensor_ptr) :
+        Subscriber(sensor_ptr)
 {
 }
 
 
-void WolfSubscriberGnssFix::initSubscriber(ros::NodeHandle& nh, const std::string& topic)
+void SubscriberGnssFix::initSubscriber(ros::NodeHandle& nh, const std::string& topic)
 {
-    sub_     = nh.subscribe(topic, 1, &WolfSubscriberGnssFix::callback, this);
+    sub_     = nh.subscribe(topic, 1, &SubscriberGnssFix::callback, this);
 }
 
-void WolfSubscriberGnssFix::callback(const sensor_msgs::NavSatFix::ConstPtr& msg)
+void SubscriberGnssFix::callback(const sensor_msgs::NavSatFix::ConstPtr& msg)
 {
     Eigen::Matrix3d cov = Eigen::Map<const Eigen::Matrix3d>(msg->position_covariance.data());
 
@@ -27,7 +27,7 @@ void WolfSubscriberGnssFix::callback(const sensor_msgs::NavSatFix::ConstPtr& msg
                                                                       false); // false = {LatLonAlt fix and ENU cov}
     cap_gnss_ptr->process();
 }
-std::shared_ptr<WolfSubscriber> WolfSubscriberGnssFix::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
+std::shared_ptr<Subscriber> SubscriberGnssFix::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
 {
-    return std::make_shared<WolfSubscriberGnssFix>(_sensor_ptr);
+    return std::make_shared<SubscriberGnssFix>(_sensor_ptr);
 }

src/wolf_subscriber_gnss_ublox.cpp → src/subscriber_gnss_ublox.cpp

-#include "../include/wolf_subscriber_gnss_ublox.h"
+#include "../include/subscriber_gnss_ublox.h"
 
 using namespace wolf;
 
 // Constructor
-WolfSubscriberGnssUblox::WolfSubscriberGnssUblox(const SensorBasePtr& sensor_ptr) :
-        WolfSubscriber(sensor_ptr)
+SubscriberGnssUblox::SubscriberGnssUblox(const SensorBasePtr& sensor_ptr) :
+        Subscriber(sensor_ptr)
 {
 }
 
 
-void WolfSubscriberGnssUblox::initSubscriber(ros::NodeHandle& nh, const std::string& topic)
+void SubscriberGnssUblox::initSubscriber(ros::NodeHandle& nh, const std::string& topic)
 {
-    sub_     = nh.subscribe(topic, 100, &WolfSubscriberGnssUblox::callback, this);
+    sub_     = nh.subscribe(topic, 100, &SubscriberGnssUblox::callback, this);
 }
 
-void WolfSubscriberGnssUblox::callback(const std_msgs::UInt8MultiArray& msg)
+void SubscriberGnssUblox::callback(const std_msgs::UInt8MultiArray& msg)
 
 {
     GNSSUtils::RawDataType res = ublox_raw_.addDataStream(msg.data);
@@ -42,7 +42,7 @@ void WolfSubscriberGnssUblox::callback(const std_msgs::UInt8MultiArray& msg)
         //ROS_INFO("Capture GNSS processed!");
     }
 }
-std::shared_ptr<WolfSubscriber> WolfSubscriberGnssUblox::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
+std::shared_ptr<Subscriber> SubscriberGnssUblox::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
 {
-    return std::make_shared<WolfSubscriberGnssUblox>(_sensor_ptr);
+    return std::make_shared<SubscriberGnssUblox>(_sensor_ptr);
 }