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Update path to marine_acoustic_msgs #9

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Update path to marine_acoustic_msgs #9

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2 changes: 1 addition & 1 deletion norbit/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@ project(${PACKAGE_NAME}) ## this package name is the name of the directory this
################################

set(ROS_DEPENDS
acoustic_msgs
marine_acoustic_msgs
${PROJECT_NAME}_msgs
roscpp
std_msgs
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18 changes: 9 additions & 9 deletions norbit/include/norbit/conversions.h
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Expand Up @@ -2,24 +2,24 @@
#define TYPE_CONVERER_H

#include "defs.h"
#include <acoustic_msgs/DetectionFlag.h>
#include <acoustic_msgs/RawSonarImage.h>
#include <acoustic_msgs/SonarRanges.h>
#include <acoustic_msgs/SonarDetections.h>
#include <marine_acoustic_msgs/DetectionFlag.h>
#include <marine_acoustic_msgs/RawSonarImage.h>
#include <marine_acoustic_msgs/SonarRanges.h>
#include <marine_acoustic_msgs/SonarDetections.h>

#include <norbit_msgs/BathymetricStamped.h>
#include <norbit_msgs/WaterColumnStamped.h>

NS_HEAD
namespace conversions {
/*!
* \brief Converts norbit_msgs::BathymetricStamped to acoustic_msgs::SonarRanges all parameters passed by reference
* \brief Converts norbit_msgs::BathymetricStamped to marine_acoustic_msgs::SonarRanges all parameters passed by reference
* \param in the norbit_msgs::BathymetricStamped you want to convert
* \param out the acoustic_msgs::SonarRanges that will be overwritten with the converted Batymetric data
* \param out the marine_acoustic_msgs::SonarRanges that will be overwritten with the converted Batymetric data
*/
void bathymetric2SonarRanges(const norbit_msgs::BathymetricStamped & in, acoustic_msgs::SonarRanges & out);
void bathymetric2SonarDetections(const norbit_msgs::BathymetricStamped & in, acoustic_msgs::SonarDetections & out);
void norbitWC2RawSonarImage(const norbit_msgs::WaterColumnStamped & in, acoustic_msgs::RawSonarImage & out);
void bathymetric2SonarRanges(const norbit_msgs::BathymetricStamped & in, marine_acoustic_msgs::SonarRanges & out);
void bathymetric2SonarDetections(const norbit_msgs::BathymetricStamped & in, marine_acoustic_msgs::SonarDetections & out);
void norbitWC2RawSonarImage(const norbit_msgs::WaterColumnStamped & in, marine_acoustic_msgs::RawSonarImage & out);
}
NS_FOOT

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6 changes: 3 additions & 3 deletions norbit/nodes/norbit_msgs2acoustic_msgs.cpp
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Expand Up @@ -15,9 +15,9 @@ int main(int argc, char *argv[]) {
rosbag::Bag out_bag;
out_bag.open(argv[2], rosbag::bagmode::Write);

acoustic_msgs::SonarDetections::Ptr detections_msg(new acoustic_msgs::SonarDetections);
acoustic_msgs::SonarRanges::Ptr ranges_msg(new acoustic_msgs::SonarRanges);
acoustic_msgs::RawSonarImage::Ptr wc_pointer(new acoustic_msgs::RawSonarImage);
marine_acoustic_msgs::SonarDetections::Ptr detections_msg(new marine_acoustic_msgs::SonarDetections);
marine_acoustic_msgs::SonarRanges::Ptr ranges_msg(new marine_acoustic_msgs::SonarRanges);
marine_acoustic_msgs::RawSonarImage::Ptr wc_pointer(new marine_acoustic_msgs::RawSonarImage);

for (rosbag::MessageInstance const m: rosbag::View(in_bag)) {
norbit_msgs::BathymetricStamped::ConstPtr i = m.instantiate<norbit_msgs::BathymetricStamped>();
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2 changes: 1 addition & 1 deletion norbit/package.xml
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Expand Up @@ -20,7 +20,7 @@
<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>

<depend>acoustic_msgs</depend>
<depend>marine_acoustic_msgs</depend>
<depend>roscpp</depend>
<depend>std_msgs</depend>
<depend>pcl_conversions</depend>
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34 changes: 17 additions & 17 deletions norbit/src/conversions.cpp
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Expand Up @@ -5,7 +5,7 @@ NS_HEAD
namespace conversions {

void bathymetric2SonarRanges(const norbit_msgs::BathymetricStamped & in,
acoustic_msgs::SonarRanges & out) {
marine_acoustic_msgs::SonarRanges & out) {
auto num_beams = in.bathy.bathymetric_header.N;

out.header = in.header;
Expand All @@ -26,9 +26,9 @@ namespace conversions {

for (size_t i = 0; i < num_beams; i++) {
if (in.bathy.detections[i].quality_flag == 3) {
out.flags[i].flag = acoustic_msgs::DetectionFlag::DETECT_OK;
out.flags[i].flag = marine_acoustic_msgs::DetectionFlag::DETECT_OK;
} else {
out.flags[i].flag = acoustic_msgs::DetectionFlag::DETECT_BAD_SONAR;
out.flags[i].flag = marine_acoustic_msgs::DetectionFlag::DETECT_BAD_SONAR;
}
out.transmit_delays[i] = 0;
out.intensities[i] = in.bathy.detections[i].intensity;
Expand All @@ -46,7 +46,7 @@ namespace conversions {
}

void bathymetric2SonarDetections(const norbit_msgs::BathymetricStamped & in,
acoustic_msgs::SonarDetections & out) {
marine_acoustic_msgs::SonarDetections & out) {
auto num_beams = in.bathy.bathymetric_header.N;

out.header = in.header;
Expand All @@ -64,9 +64,9 @@ namespace conversions {
out.rx_angles.resize(num_beams);
for (size_t i = 0; i < num_beams; i++) {
if (in.bathy.detections[i].quality_flag == 3) {
out.flags[i].flag = acoustic_msgs::DetectionFlag::DETECT_OK;
out.flags[i].flag = marine_acoustic_msgs::DetectionFlag::DETECT_OK;
} else {
out.flags[i].flag = acoustic_msgs::DetectionFlag::DETECT_BAD_SONAR;
out.flags[i].flag = marine_acoustic_msgs::DetectionFlag::DETECT_BAD_SONAR;
}

out.two_way_travel_times[i] = in.bathy.detections[i].sample_number / in.bathy.bathymetric_header.sample_rate;
Expand All @@ -81,7 +81,7 @@ namespace conversions {
}

void norbitWC2RawSonarImage(const norbit_msgs::WaterColumnStamped & in,
acoustic_msgs::RawSonarImage & out) {
marine_acoustic_msgs::RawSonarImage & out) {
auto num_beams = in.water_column.water_column_header.N; // Number of beams
auto num_samples = in.water_column.water_column_header.M; // Number of samples in each beam

Expand Down Expand Up @@ -114,34 +114,34 @@ namespace conversions {
out.image.is_bigendian = false;
switch (in.water_column.water_column_header.dtype) {
case norbit_msgs::WaterColumnHeader::DTYPE_UINT8:
out.image.dtype = acoustic_msgs::SonarImageData::DTYPE_UINT8;
out.image.dtype = marine_acoustic_msgs::SonarImageData::DTYPE_UINT8;
break;
case norbit_msgs::WaterColumnHeader::DTYPE_INT8:
out.image.dtype = acoustic_msgs::SonarImageData::DTYPE_INT8;
out.image.dtype = marine_acoustic_msgs::SonarImageData::DTYPE_INT8;
break;
case norbit_msgs::WaterColumnHeader::DTYPE_UINT16:
out.image.dtype = acoustic_msgs::SonarImageData::DTYPE_UINT16;
out.image.dtype = marine_acoustic_msgs::SonarImageData::DTYPE_UINT16;
break;
case norbit_msgs::WaterColumnHeader::DTYPE_INT16:
out.image.dtype = acoustic_msgs::SonarImageData::DTYPE_INT16;
out.image.dtype = marine_acoustic_msgs::SonarImageData::DTYPE_INT16;
break;
case norbit_msgs::WaterColumnHeader::DTYPE_UINT32:
out.image.dtype = acoustic_msgs::SonarImageData::DTYPE_UINT32;
out.image.dtype = marine_acoustic_msgs::SonarImageData::DTYPE_UINT32;
break;
case norbit_msgs::WaterColumnHeader::DTYPE_INT32:
out.image.dtype = acoustic_msgs::SonarImageData::DTYPE_INT32;
out.image.dtype = marine_acoustic_msgs::SonarImageData::DTYPE_INT32;
break;
case norbit_msgs::WaterColumnHeader::DTYPE_UINT64:
out.image.dtype = acoustic_msgs::SonarImageData::DTYPE_UINT64;
out.image.dtype = marine_acoustic_msgs::SonarImageData::DTYPE_UINT64;
break;
case norbit_msgs::WaterColumnHeader::DTYPE_INT64:
out.image.dtype = acoustic_msgs::SonarImageData::DTYPE_INT64;
out.image.dtype = marine_acoustic_msgs::SonarImageData::DTYPE_INT64;
break;
case norbit_msgs::WaterColumnHeader::DTYPE_FLOAT32:
out.image.dtype = acoustic_msgs::SonarImageData::DTYPE_FLOAT32;
out.image.dtype = marine_acoustic_msgs::SonarImageData::DTYPE_FLOAT32;
break;
case norbit_msgs::WaterColumnHeader::DTYPE_FLOAT64:
out.image.dtype = acoustic_msgs::SonarImageData::DTYPE_FLOAT64;
out.image.dtype = marine_acoustic_msgs::SonarImageData::DTYPE_FLOAT64;
break;
}
//out.image.dtype = in.water_column.water_column_header.dtype;
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12 changes: 6 additions & 6 deletions norbit/src/norbit_connection.cpp
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Expand Up @@ -59,12 +59,12 @@ void NorbitConnection::setupPubSub() {
}

if (params_.pubDetections()){
detect_pub_ = node_.advertise<acoustic_msgs::SonarDetections>(
detect_pub_ = node_.advertise<marine_acoustic_msgs::SonarDetections>(
params_.detections_topic,1);
}

if (params_.pubRanges()) {
ranges_pub_ = node_.advertise<acoustic_msgs::SonarRanges>(params_.ranges_topic, 1);
ranges_pub_ = node_.advertise<marine_acoustic_msgs::SonarRanges>(params_.ranges_topic, 1);
}

if (params_.pubBathymetric()){
Expand All @@ -78,7 +78,7 @@ void NorbitConnection::setupPubSub() {
}

if(params_.pubMultibeamWC()){
wc_pub_ = node_.advertise<acoustic_msgs::RawSonarImage>(
wc_pub_ = node_.advertise<marine_acoustic_msgs::RawSonarImage>(
params_.watercolumn_topic, 1);
}

Expand Down Expand Up @@ -332,13 +332,13 @@ void NorbitConnection::bathyCallback(norbit_types::BathymetricData data) {
}

if (params_.pubDetections()) {
acoustic_msgs::SonarDetections detections_msg;
marine_acoustic_msgs::SonarDetections detections_msg;
norbit::conversions::bathymetric2SonarDetections(bathy_msg, detections_msg);
detect_pub_.publish(detections_msg);
}

if (params_.pubRanges()) {
acoustic_msgs::SonarRanges ranges_msg;
marine_acoustic_msgs::SonarRanges ranges_msg;
norbit::conversions::bathymetric2SonarRanges(bathy_msg, ranges_msg);
ranges_pub_.publish(ranges_msg);
}
Expand All @@ -352,7 +352,7 @@ void NorbitConnection::wcCallback(norbit_types::WaterColumnData data){
norbit_wc_pub_.publish(norb_wc_msg);

if(params_.pubMultibeamWC()){
acoustic_msgs::RawSonarImage::Ptr hydro_wc_msg(new acoustic_msgs::RawSonarImage);
marine_acoustic_msgs::RawSonarImage::Ptr hydro_wc_msg(new marine_acoustic_msgs::RawSonarImage);
norbit::conversions::norbitWC2RawSonarImage(norb_wc_msg, *hydro_wc_msg);
wc_pub_.publish(hydro_wc_msg);
}
Expand Down