From d7fd133586d1323a930da13d2f03d69112831404 Mon Sep 17 00:00:00 2001 From: ryleu <69326171+ryleu@users.noreply.github.com> Date: Thu, 6 Nov 2025 21:35:47 -0600 Subject: [PATCH] updated to astra_msgs --- .gitmodules | 6 +++--- src/anchor_pkg/anchor_pkg/anchor_node.py | 2 +- src/arm_pkg/arm_pkg/arm_headless.py | 6 +++--- src/arm_pkg/arm_pkg/arm_node.py | 6 +++--- src/arm_pkg/package.xml | 2 +- src/astra_msgs | 1 + src/bio_pkg/bio_pkg/bio_node.py | 4 ++-- src/bio_pkg/package.xml | 2 +- src/core_pkg/core_pkg/core_headless.py | 2 +- src/core_pkg/core_pkg/core_node.py | 4 ++-- src/core_pkg/core_pkg/core_ptz.py | 2 +- src/core_pkg/package.xml | 2 +- src/headless_pkg/package.xml | 2 +- src/headless_pkg/src/headless_node.py | 4 ++-- src/ros2_interfaces_pkg | 1 - 15 files changed, 23 insertions(+), 23 deletions(-) create mode 160000 src/astra_msgs delete mode 160000 src/ros2_interfaces_pkg diff --git a/.gitmodules b/.gitmodules index 3c3b3a3..95602de 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,6 +1,6 @@ -[submodule "src/ros2_interfaces_pkg"] - path = src/ros2_interfaces_pkg - url = ../ros2_interfaces_pkg [submodule "src/astra_description"] path = src/astra_descriptions url = ../astra_descriptions +[submodule "src/astra_msgs"] + path = src/astra_msgs + url = git@github.com:SHC-ASTRA/astra_msgs.git diff --git a/src/anchor_pkg/anchor_pkg/anchor_node.py b/src/anchor_pkg/anchor_pkg/anchor_node.py index 2445210..44a6879 100644 --- a/src/anchor_pkg/anchor_pkg/anchor_node.py +++ b/src/anchor_pkg/anchor_pkg/anchor_node.py @@ -13,7 +13,7 @@ import threading import glob from std_msgs.msg import String, Header -from ros2_interfaces_pkg.msg import VicCAN +from astra_msgs.msg import VicCAN serial_pub = None thread = None diff --git a/src/arm_pkg/arm_pkg/arm_headless.py b/src/arm_pkg/arm_pkg/arm_headless.py index 4078e16..256c86b 100755 --- a/src/arm_pkg/arm_pkg/arm_headless.py +++ b/src/arm_pkg/arm_pkg/arm_headless.py @@ -12,9 +12,9 @@ import glob import os from std_msgs.msg import String -from ros2_interfaces_pkg.msg import ControllerState -from ros2_interfaces_pkg.msg import ArmManual -from ros2_interfaces_pkg.msg import ArmIK +from astra_msgs.msg import ControllerState +from astra_msgs.msg import ArmManual +from astra_msgs.msg import ArmIK os.environ["SDL_AUDIODRIVER"] = ( diff --git a/src/arm_pkg/arm_pkg/arm_node.py b/src/arm_pkg/arm_pkg/arm_node.py index a72ce1b..ab621a1 100644 --- a/src/arm_pkg/arm_pkg/arm_node.py +++ b/src/arm_pkg/arm_pkg/arm_node.py @@ -8,9 +8,9 @@ import time import atexit import signal from std_msgs.msg import String -from ros2_interfaces_pkg.msg import ArmManual -from ros2_interfaces_pkg.msg import SocketFeedback -from ros2_interfaces_pkg.msg import DigitFeedback +from astra_msgs.msg import ArmManual +from astra_msgs.msg import SocketFeedback +from astra_msgs.msg import DigitFeedback from sensor_msgs.msg import JointState import math diff --git a/src/arm_pkg/package.xml b/src/arm_pkg/package.xml index 373ca31..b351710 100644 --- a/src/arm_pkg/package.xml +++ b/src/arm_pkg/package.xml @@ -10,7 +10,7 @@ rclpy common_interfaces python3-numpy - ros2_interfaces_pkg + astra_msgs ament_copyright ament_flake8 diff --git a/src/astra_msgs b/src/astra_msgs new file mode 160000 index 0000000..6a57072 --- /dev/null +++ b/src/astra_msgs @@ -0,0 +1 @@ +Subproject commit 6a5707272398e364005ca2bfa17bea648f704b49 diff --git a/src/bio_pkg/bio_pkg/bio_node.py b/src/bio_pkg/bio_pkg/bio_node.py index cacce19..fce0b6e 100644 --- a/src/bio_pkg/bio_pkg/bio_node.py +++ b/src/bio_pkg/bio_pkg/bio_node.py @@ -9,8 +9,8 @@ import time import atexit import signal from std_msgs.msg import String -from ros2_interfaces_pkg.msg import BioControl -from ros2_interfaces_pkg.msg import BioFeedback +from astra_msgs.msg import BioControl +from astra_msgs.msg import BioFeedback serial_pub = None thread = None diff --git a/src/bio_pkg/package.xml b/src/bio_pkg/package.xml index d87859f..631556b 100644 --- a/src/bio_pkg/package.xml +++ b/src/bio_pkg/package.xml @@ -9,7 +9,7 @@ rclpy common_interfaces - ros2_interfaces_pkg + astra_msgs ament_copyright ament_flake8 diff --git a/src/core_pkg/core_pkg/core_headless.py b/src/core_pkg/core_pkg/core_headless.py index f688610..4895065 100755 --- a/src/core_pkg/core_pkg/core_headless.py +++ b/src/core_pkg/core_pkg/core_headless.py @@ -13,7 +13,7 @@ import os import importlib from std_msgs.msg import String -from ros2_interfaces_pkg.msg import CoreControl +from astra_msgs.msg import CoreControl os.environ["SDL_VIDEODRIVER"] = "dummy" # Prevents pygame from trying to open a display diff --git a/src/core_pkg/core_pkg/core_node.py b/src/core_pkg/core_pkg/core_node.py index 337f2a7..58b9b6c 100644 --- a/src/core_pkg/core_pkg/core_node.py +++ b/src/core_pkg/core_pkg/core_node.py @@ -19,8 +19,8 @@ from math import copysign, pi from std_msgs.msg import String, Header from sensor_msgs.msg import Imu, NavSatFix, NavSatStatus, JointState from geometry_msgs.msg import TwistStamped, Twist -from ros2_interfaces_pkg.msg import CoreControl, CoreFeedback, RevMotorState -from ros2_interfaces_pkg.msg import VicCAN, NewCoreFeedback, Barometer, CoreCtrlState +from astra_msgs.msg import CoreControl, CoreFeedback, RevMotorState +from astra_msgs.msg import VicCAN, NewCoreFeedback, Barometer, CoreCtrlState serial_pub = None diff --git a/src/core_pkg/core_pkg/core_ptz.py b/src/core_pkg/core_pkg/core_ptz.py index 93cb4f6..eafcc74 100644 --- a/src/core_pkg/core_pkg/core_ptz.py +++ b/src/core_pkg/core_pkg/core_ptz.py @@ -9,7 +9,7 @@ import threading import time from std_msgs.msg import String -from ros2_interfaces_pkg.msg import PtzControl, PtzFeedback +from astra_msgs.msg import PtzControl, PtzFeedback # Import the SIYI SDK from core_pkg.siyi_sdk import ( diff --git a/src/core_pkg/package.xml b/src/core_pkg/package.xml index 667ee58..4c546b1 100644 --- a/src/core_pkg/package.xml +++ b/src/core_pkg/package.xml @@ -11,7 +11,7 @@ common_interfaces python3-scipy python-crccheck-pip - ros2_interfaces_pkg + astra_msgs ament_copyright ament_flake8 diff --git a/src/headless_pkg/package.xml b/src/headless_pkg/package.xml index bc06dde..ad8e3d3 100644 --- a/src/headless_pkg/package.xml +++ b/src/headless_pkg/package.xml @@ -10,7 +10,7 @@ rclpy common_interfaces python3-pygame - ros2_interfaces_pkg + astra_msgs ament_copyright ament_flake8 diff --git a/src/headless_pkg/src/headless_node.py b/src/headless_pkg/src/headless_node.py index 8a9c686..2ced85d 100755 --- a/src/headless_pkg/src/headless_node.py +++ b/src/headless_pkg/src/headless_node.py @@ -15,8 +15,8 @@ from math import copysign from std_msgs.msg import String from geometry_msgs.msg import Twist -from ros2_interfaces_pkg.msg import CoreControl, ArmManual, BioControl -from ros2_interfaces_pkg.msg import CoreCtrlState +from astra_msgs.msg import CoreControl, ArmManual, BioControl +from astra_msgs.msg import CoreCtrlState import pygame diff --git a/src/ros2_interfaces_pkg b/src/ros2_interfaces_pkg deleted file mode 160000 index d6806af..0000000 --- a/src/ros2_interfaces_pkg +++ /dev/null @@ -1 +0,0 @@ -Subproject commit d6806af6c3a82a75a4a1de1393154545a56c0ea6