updated to astra_msgs

.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

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

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 astra_msgs.msg import ControllerState
-from ros2_interfaces_pkg.msg import ArmManual
+from astra_msgs.msg import ArmManual
-from ros2_interfaces_pkg.msg import ArmIK
+from astra_msgs.msg import ArmIK
 
 
 os.environ["SDL_AUDIODRIVER"] = (

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 astra_msgs.msg import ArmManual
-from ros2_interfaces_pkg.msg import SocketFeedback
+from astra_msgs.msg import SocketFeedback
-from ros2_interfaces_pkg.msg import DigitFeedback
+from astra_msgs.msg import DigitFeedback
 from sensor_msgs.msg import JointState
 import math
 

src/arm_pkg/package.xml

@@ -10,7 +10,7 @@
   <depend>rclpy</depend>
   <depend>common_interfaces</depend>
   <depend>python3-numpy</depend>
-  <depend>ros2_interfaces_pkg</depend>
+  <depend>astra_msgs</depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

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 astra_msgs.msg import BioControl
-from ros2_interfaces_pkg.msg import BioFeedback
+from astra_msgs.msg import BioFeedback
 
 serial_pub = None
 thread = None

src/bio_pkg/package.xml

@@ -9,7 +9,7 @@
 
   <depend>rclpy</depend>
   <depend>common_interfaces</depend>
-  <depend>ros2_interfaces_pkg</depend>
+  <depend>astra_msgs</depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

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

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 astra_msgs.msg import CoreControl, CoreFeedback, RevMotorState
-from ros2_interfaces_pkg.msg import VicCAN, NewCoreFeedback, Barometer, CoreCtrlState
+from astra_msgs.msg import VicCAN, NewCoreFeedback, Barometer, CoreCtrlState
 
 
 serial_pub = None

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 (

src/core_pkg/package.xml

@@ -11,7 +11,7 @@
   <depend>common_interfaces</depend>
   <depend>python3-scipy</depend>
   <depend>python-crccheck-pip</depend>
-  <depend>ros2_interfaces_pkg</depend>
+  <depend>astra_msgs</depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

src/headless_pkg/package.xml

@@ -10,7 +10,7 @@
   <depend>rclpy</depend>
   <depend>common_interfaces</depend>
   <depend>python3-pygame</depend>
-  <depend>ros2_interfaces_pkg</depend>
+  <depend>astra_msgs</depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

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 astra_msgs.msg import CoreControl, ArmManual, BioControl
-from ros2_interfaces_pkg.msg import CoreCtrlState
+from astra_msgs.msg import CoreCtrlState
 
 import pygame