diff --git a/CHANGELOG.rst b/CHANGELOG.rst old mode 100644 new mode 100755 diff --git a/built_packages b/built_packages index 2354ab79..3b95a7e4 100755 --- a/built_packages +++ b/built_packages @@ -6,14 +6,14 @@ https://github.com/ament/ament_package.git a80f40af065e4f708b88ca024f10bfd21bb17 https://github.com/ament/googletest.git 6df7425fdcbd368d2d1b99ffd89b9168014abb07 https://github.com/ament/uncrustify_vendor.git d647c05b96bc2b2edf4db652a3fc9ebf0fd52f3c https://github.com/eProsima/Micro-CDR.git cb4403a8780095df94a7b1936b1e00153c90070d -https://github.com/eProsima/Micro-XRCE-DDS-Client.git 9b9278c0b3a633aa7ad634bda2fd2c4f04093dcf +https://github.com/eProsima/Micro-XRCE-DDS-Client.git e3f6439013a1a9ecb0d4011d19d7a4cec2c84655 https://github.com/micro-ROS/micro_ros_msgs.git e3664463e78ae5d0c34d86be92d707b3d9dfd27d https://github.com/micro-ROS/micro_ros_utilities 1b2d268e11041d2e5cb52226cf5091db0283ea38 https://github.com/micro-ROS/rcl 3fe55bc35edf939a8e47293043159bff2f198b3a https://github.com/micro-ROS/rcutils 9df1f14d7b775a65db8df0d51322c2f86d70dfb7 -https://github.com/micro-ROS/rmw-microxrcedds.git 5f3452034c5ea36952987019b171b29cd667309b +https://github.com/micro-ROS/rmw-microxrcedds.git ef185f2fda9a00711328de03ef52d8c704ef9cbc https://github.com/micro-ROS/rosidl_typesupport.git 68072cab01edb5be964d63555a701f085b95fc01 -https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git 8adbc260420199478dd09b14bed34f0af121c7cb +https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git 1310b44fa2fd5327634a39e640a644d2dca745e4 https://github.com/ros-controls/control_msgs a555c37f1a3536bb452ea555c58fdd9344d87614 https://github.com/ros2/ament_cmake_ros.git bbbc6ec4dea550f12d68863c558eb7f54be151e4 https://github.com/ros2/common_interfaces.git 980fc1858d104555f6f260e502c5ed96cd6b6e99 @@ -32,4 +32,4 @@ https://github.com/ros2/rosidl_defaults.git 7409fb6c570dd02f45be86ea1236ceefbdb9 https://github.com/ros2/test_interface_files.git 33b40020ea05c0a21b9759ac4211ddc9f4332956 https://github.com/ros2/unique_identifier_msgs.git 44de2e55b1b5f85ec816ff5f49c9ebd06b4eacff https://github.com/yaml/libyaml.git 2c891fc7a770e8ba2fec34fc6b545c672beb37e6 -https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing.git/ 214a2afb8746fb3f97b96f44a8be79a0199cbec1 +https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing.git/ b695e4e367fb6e250d3147ab6b851b25a0e50299 diff --git a/libmicroros/include/actionlib_msgs/msg/detail/goal_status__struct.h b/libmicroros/include/actionlib_msgs/msg/detail/goal_status__struct.h index cf7a086c..efcbefc0 100755 --- a/libmicroros/include/actionlib_msgs/msg/detail/goal_status__struct.h +++ b/libmicroros/include/actionlib_msgs/msg/detail/goal_status__struct.h @@ -38,7 +38,7 @@ enum /// Constant 'PREEMPTED'. /** * The goal received a cancel request after it started executing - * and has since completed its execution (Terminal State). + * and has since completed its execution (Terminal State). */ enum { @@ -48,7 +48,7 @@ enum /// Constant 'SUCCEEDED'. /** * The goal was achieved successfully by the action server - * (Terminal State). + * (Terminal State). */ enum { @@ -78,7 +78,7 @@ enum /// Constant 'PREEMPTING'. /** * The goal received a cancel request after it started executing - * and has not yet completed execution. + * and has not yet completed execution. */ enum { @@ -88,7 +88,7 @@ enum /// Constant 'RECALLING'. /** * The goal received a cancel request before it started executing, but - * the action server has not yet confirmed that the goal is canceled. + * the action server has not yet confirmed that the goal is canceled. */ enum { diff --git a/libmicroros/include/control_msgs/action/detail/follow_joint_trajectory__struct.h b/libmicroros/include/control_msgs/action/detail/follow_joint_trajectory__struct.h index c6597240..0250b985 100755 --- a/libmicroros/include/control_msgs/action/detail/follow_joint_trajectory__struct.h +++ b/libmicroros/include/control_msgs/action/detail/follow_joint_trajectory__struct.h @@ -122,11 +122,11 @@ typedef struct control_msgs__action__FollowJointTrajectory_Result /// Human readable description of the error code. Contains complementary /// information that is especially useful when execution fails, for instance: /// - INVALID_GOAL: The reason for the invalid goal (e.g., the requested - /// trajectory is in the past). + /// trajectory is in the past). /// - INVALID_JOINTS: The mismatch between the expected controller joints /// and those provided in the goal. /// - PATH_TOLERANCE_VIOLATED and GOAL_TOLERANCE_VIOLATED: Which joint - /// violated which tolerance, and by how much. + /// violated which tolerance, and by how much. rosidl_runtime_c__String error_string; } control_msgs__action__FollowJointTrajectory_Result; diff --git a/libmicroros/include/control_msgs/msg/detail/joint_tolerance__struct.h b/libmicroros/include/control_msgs/msg/detail/joint_tolerance__struct.h index c2ac6dfc..d21a7838 100755 --- a/libmicroros/include/control_msgs/msg/detail/joint_tolerance__struct.h +++ b/libmicroros/include/control_msgs/msg/detail/joint_tolerance__struct.h @@ -30,9 +30,9 @@ extern "C" * abort. * * There are two special values for tolerances: - * * 0 - The tolerance is unspecified and will remain at whatever the default is + * * 0 - The tolerance is unspecified and will remain at whatever the default is * * -1 - The tolerance is "erased". If there was a default, the joint will be - * allowed to move without restriction. + * allowed to move without restriction. */ typedef struct control_msgs__msg__JointTolerance { diff --git a/libmicroros/include/sensor_msgs/msg/detail/camera_info__struct.h b/libmicroros/include/sensor_msgs/msg/detail/camera_info__struct.h index a8d86049..c7abde60 100755 --- a/libmicroros/include/sensor_msgs/msg/detail/camera_info__struct.h +++ b/libmicroros/include/sensor_msgs/msg/detail/camera_info__struct.h @@ -33,11 +33,11 @@ extern "C" * camera namespace on topic "camera_info" and accompanied by up to five * image topics named: * - * image_raw - raw data from the camera driver, possibly Bayer encoded - * image - monochrome, distorted - * image_color - color, distorted - * image_rect - monochrome, rectified - * image_rect_color - color, rectified + * image_raw - raw data from the camera driver, possibly Bayer encoded + * image - monochrome, distorted + * image_color - color, distorted + * image_rect - monochrome, rectified + * image_rect_color - color, rectified * * The image_pipeline contains packages (image_proc, stereo_image_proc) * for producing the four processed image topics from image_raw and @@ -55,7 +55,7 @@ extern "C" */ typedef struct sensor_msgs__msg__CameraInfo { - /// Image acquisition info # + /// Image acquisition info # /// /// Time of image acquisition, camera coordinate frame ID /// Header timestamp should be acquisition time of image @@ -65,7 +65,7 @@ typedef struct sensor_msgs__msg__CameraInfo /// +y should point down in the image /// +z should point into the plane of the image std_msgs__msg__Header header; - /// Calibration Parameters # + /// Calibration Parameters # /// /// These are fixed during camera calibration. Their values will be the # /// same in all messages until the camera is recalibrated. Note that # @@ -73,8 +73,8 @@ typedef struct sensor_msgs__msg__CameraInfo /// # /// The internal parameters can be used to warp a raw (distorted) image # /// to: # - /// 1. An undistorted image (requires D and K) # - /// 2. A rectified image (requires D, K, R) # + /// 1. An undistorted image (requires D and K) # + /// 2. A rectified image (requires D, K, R) # /// The projection matrix P projects 3D points into the rectified image.# /// /// The image dimensions with which the camera was calibrated. @@ -106,30 +106,30 @@ typedef struct sensor_msgs__msg__CameraInfo /// Projection/camera matrix /// [fx' 0 cx' Tx] /// P = [ 0 fy' cy' Ty] - /// [ 0 0 1 0] + /// [ 0 0 1 0] /// By convention, this matrix specifies the intrinsic (camera) matrix - /// of the processed (rectified) image. That is, the left 3x3 portion + /// of the processed (rectified) image. That is, the left 3x3 portion /// is the normal camera intrinsic matrix for the rectified image. /// It projects 3D points in the camera coordinate frame to 2D pixel /// coordinates using the focal lengths (fx', fy') and principal point - /// (cx', cy') - these may differ from the values in K. + /// (cx', cy') - these may differ from the values in K. /// For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will /// also have R = the identity and P[1:3,1:3] = K. /// For a stereo pair, the fourth column [Tx Ty 0]' is related to the - /// position of the optical center of the second camera in the first - /// camera's frame. We assume Tz = 0 so both cameras are in the same + /// position of the optical center of the second camera in the first + /// camera's frame. We assume Tz = 0 so both cameras are in the same /// stereo image plane. The first camera always has Tx = Ty = 0. For /// the right (second) camera of a horizontal stereo pair, Ty = 0 and - /// Tx = -fx' * B, where B is the baseline between the cameras. + /// Tx = -fx' * B, where B is the baseline between the cameras. /// Given a 3D point [X Y Z]', the projection (x, y) of the point onto - /// the rectified image is given by: + /// the rectified image is given by: /// [u v w]' = P * [X Y Z 1]' - /// x = u / w - /// y = v / w + /// x = u / w + /// y = v / w /// This holds for both images of a stereo pair. /// 3x4 row-major matrix double p[12]; - /// Operational Parameters # + /// Operational Parameters # /// /// These define the image region actually captured by the camera # /// driver. Although they affect the geometry of the output image, they # @@ -138,17 +138,17 @@ typedef struct sensor_msgs__msg__CameraInfo /// Binning refers here to any camera setting which combines rectangular /// neighborhoods of pixels into larger "super-pixels." It reduces the /// resolution of the output image to - /// (width / binning_x) x (height / binning_y). + /// (width / binning_x) x (height / binning_y). /// The default values binning_x = binning_y = 0 is considered the same - /// as binning_x = binning_y = 1 (no subsampling). + /// as binning_x = binning_y = 1 (no subsampling). uint32_t binning_x; uint32_t binning_y; /// Region of interest (subwindow of full camera resolution), given in - /// full resolution (unbinned) image coordinates. A particular ROI + /// full resolution (unbinned) image coordinates. A particular ROI /// always denotes the same window of pixels on the camera sensor, - /// regardless of binning settings. + /// regardless of binning settings. /// The default setting of roi (all values 0) is considered the same as - /// full resolution (roi.width = width, roi.height = height). + /// full resolution (roi.width = width, roi.height = height). sensor_msgs__msg__RegionOfInterest roi; } sensor_msgs__msg__CameraInfo; diff --git a/libmicroros/include/sensor_msgs/msg/detail/channel_float32__struct.h b/libmicroros/include/sensor_msgs/msg/detail/channel_float32__struct.h index ae6cf4ad..ff6821b8 100755 --- a/libmicroros/include/sensor_msgs/msg/detail/channel_float32__struct.h +++ b/libmicroros/include/sensor_msgs/msg/detail/channel_float32__struct.h @@ -33,12 +33,12 @@ extern "C" * * Channel names in existing practice include: * "u", "v" - row and column (respectively) in the left stereo image. - * This is opposite to usual conventions but remains for - * historical reasons. The newer PointCloud2 message has no + * This is opposite to usual conventions but remains for + * historical reasons. The newer PointCloud2 message has no * such problem. - * "rgb" - For point clouds produced by color stereo cameras. uint8 + * "rgb" - For point clouds produced by color stereo cameras. uint8 * (R,G,B) values packed into the least significant 24 bits, - * in order. + * in order. * "intensity" - laser or pixel intensity. * "distance" */ diff --git a/libmicroros/include/sensor_msgs/msg/detail/compressed_image__struct.h b/libmicroros/include/sensor_msgs/msg/detail/compressed_image__struct.h index e5a3b092..996c4050 100755 --- a/libmicroros/include/sensor_msgs/msg/detail/compressed_image__struct.h +++ b/libmicroros/include/sensor_msgs/msg/detail/compressed_image__struct.h @@ -39,7 +39,7 @@ typedef struct sensor_msgs__msg__CompressedImage /// +z should point into to plane of the image std_msgs__msg__Header header; /// Specifies the format of the data - /// Acceptable values: + /// Acceptable values: /// jpeg, png, tiff rosidl_runtime_c__String format; /// Compressed image buffer diff --git a/libmicroros/include/sensor_msgs/msg/detail/illuminance__struct.h b/libmicroros/include/sensor_msgs/msg/detail/illuminance__struct.h index ee8feef4..86e54d73 100755 --- a/libmicroros/include/sensor_msgs/msg/detail/illuminance__struct.h +++ b/libmicroros/include/sensor_msgs/msg/detail/illuminance__struct.h @@ -33,9 +33,9 @@ extern "C" * * All other Photometric and Radiometric measurements should not use this message. * This message cannot represent: - * - Luminous intensity (candela/light source output) + * - Luminous intensity (candela/light source output) * - Luminance (nits/light output per area) - * - Irradiance (watt/area), etc. + * - Irradiance (watt/area), etc. */ typedef struct sensor_msgs__msg__Illuminance { diff --git a/libmicroros/include/sensor_msgs/msg/detail/joint_state__struct.h b/libmicroros/include/sensor_msgs/msg/detail/joint_state__struct.h index e87c0e79..49b6e1d9 100755 --- a/libmicroros/include/sensor_msgs/msg/detail/joint_state__struct.h +++ b/libmicroros/include/sensor_msgs/msg/detail/joint_state__struct.h @@ -33,7 +33,7 @@ extern "C" * * The state of each joint (revolute or prismatic) is defined by: * * the position of the joint (rad or m), - * * the velocity of the joint (rad/s or m/s) and + * * the velocity of the joint (rad/s or m/s) and * * the effort that is applied in the joint (Nm or N). * * Each joint is uniquely identified by its name diff --git a/libmicroros/include/sensor_msgs/msg/detail/nav_sat_fix__struct.h b/libmicroros/include/sensor_msgs/msg/detail/nav_sat_fix__struct.h index 57cba276..28514710 100755 --- a/libmicroros/include/sensor_msgs/msg/detail/nav_sat_fix__struct.h +++ b/libmicroros/include/sensor_msgs/msg/detail/nav_sat_fix__struct.h @@ -62,12 +62,12 @@ enum typedef struct sensor_msgs__msg__NavSatFix { /// header.stamp specifies the ROS time for this measurement (the - /// corresponding satellite time may be reported using the - /// sensor_msgs/TimeReference message). + /// corresponding satellite time may be reported using the + /// sensor_msgs/TimeReference message). /// /// header.frame_id is the frame of reference reported by the satellite - /// receiver, usually the location of the antenna. This is a - /// Euclidean frame relative to the vehicle, not a reference + /// receiver, usually the location of the antenna. This is a + /// Euclidean frame relative to the vehicle, not a reference /// ellipsoid. std_msgs__msg__Header header; /// Satellite fix status information. diff --git a/libmicroros/include/statistics_msgs/msg/detail/metrics_message__struct.h b/libmicroros/include/statistics_msgs/msg/detail/metrics_message__struct.h index 31a8a315..192459b3 100755 --- a/libmicroros/include/statistics_msgs/msg/detail/metrics_message__struct.h +++ b/libmicroros/include/statistics_msgs/msg/detail/metrics_message__struct.h @@ -33,11 +33,11 @@ extern "C" * A generic metrics message providing statistics for measurements from different sources. For example, * measure a system's CPU % for a given window yields the following data points over a window of time: * - * - average cpu % + * - average cpu % * - std deviation - * - min + * - min * - max - * - sample count + * - sample count * * These are all represented as different 'StatisticDataPoint's. */ diff --git a/libmicroros/include/stereo_msgs/msg/detail/disparity_image__struct.h b/libmicroros/include/stereo_msgs/msg/detail/disparity_image__struct.h index a4436278..4b67bc39 100755 --- a/libmicroros/include/stereo_msgs/msg/detail/disparity_image__struct.h +++ b/libmicroros/include/stereo_msgs/msg/detail/disparity_image__struct.h @@ -48,7 +48,7 @@ typedef struct stereo_msgs__msg__DisparityImage /// In the disparity image, any disparity less than min_disparity is invalid. /// The disparity search range defines the horopter, or 3D volume that the /// stereo algorithm can "see". Points with Z outside of: - /// Z_min = fT / max_disparity + /// Z_min = fT / max_disparity /// Z_max = fT / min_disparity /// could not be found. float min_disparity; diff --git a/libmicroros/include/unique_identifier_msgs/msg/detail/uuid__struct.h b/libmicroros/include/unique_identifier_msgs/msg/detail/uuid__struct.h index 1fe6956c..568af168 100755 --- a/libmicroros/include/unique_identifier_msgs/msg/detail/uuid__struct.h +++ b/libmicroros/include/unique_identifier_msgs/msg/detail/uuid__struct.h @@ -22,7 +22,7 @@ extern "C" * A universally unique identifier (UUID). * * http://en.wikipedia.org/wiki/Universally_unique_identifier - * http://tools.ietf.org/html/rfc4122.html + * http://tools.ietf.org/html/rfc4122.html */ typedef struct unique_identifier_msgs__msg__UUID { diff --git a/libmicroros/include/uxr/client/config.h b/libmicroros/include/uxr/client/config.h index 238448dc..47687623 100755 --- a/libmicroros/include/uxr/client/config.h +++ b/libmicroros/include/uxr/client/config.h @@ -67,5 +67,18 @@ #define UCLIENT_TWEAK_XRCE_WRITE_LIMIT +/* #undef UCLIENT_HARD_LIVELINESS_CHECK */ + +#ifdef UCLIENT_HARD_LIVELINESS_CHECK +#define UXR_CONFIG_HARD_LIVELINESS_CHECK_TIMEOUT_STR "10000" +#endif + + +// Version checks +#if UXR_CLIENT_VERSION_MAJOR >= 3 +#error UCLIENT_HARD_LIVELINESS_CHECK shall be included in session API +#error MTU must be included in CREATE_CLIENT_Payload properties +#error Reorder ObjectInfo https://github.com/eProsima/Micro-XRCE-DDS/issues/137 +#endif #endif // _UXR_CLIENT_CONFIG_H_ diff --git a/libmicroros/include/uxr/client/core/type/xrce_types.h b/libmicroros/include/uxr/client/core/type/xrce_types.h index cc9fe0c6..f733245e 100755 --- a/libmicroros/include/uxr/client/core/type/xrce_types.h +++ b/libmicroros/include/uxr/client/core/type/xrce_types.h @@ -24,6 +24,7 @@ extern "C" #endif // ifdef __cplusplus #include +#include #include #include @@ -40,7 +41,24 @@ extern "C" #define UXR_SAMPLE_DELTA_SEQUENCE_MAX 8 #define UXR_PACKED_SAMPLES_SEQUENCE_MAX 8 #define UXR_TRANSPORT_LOCATOR_SEQUENCE_MAX 4 + +#ifdef UCLIENT_PROFILE_SHARED_MEMORY +#define PROFILE_SHARED_MEMORY_SEQ_COUNT 1 +#else +#define PROFILE_SHARED_MEMORY_SEQ_COUNT 0 +#endif // ifdef UCLIENT_PROFILE_SHARED_MEMORY + +#ifdef UCLIENT_HARD_LIVELINESS_CHECK +#define HARD_LIVELINESS_CHECK_SEQ_COUNT 1 +#else +#define HARD_LIVELINESS_CHECK_SEQ_COUNT 0 +#endif // ifdef UCLIENT_HARD_LIVELINESS_CHECK + +#if (PROFILE_SHARED_MEMORY_SEQ_COUNT + HARD_LIVELINESS_CHECK_SEQ_COUNT) == 0 #define UXR_PROPERTY_SEQUENCE_MAX 1 +#else +#define UXR_PROPERTY_SEQUENCE_MAX PROFILE_SHARED_MEMORY_SEQ_COUNT + HARD_LIVELINESS_CHECK_SEQ_COUNT +#endif // if (PROFILE_SHARED_MEMORY_SEQ_COUNT + HARD_LIVELINESS_CHECK_SEQ_COUNT) == 0 typedef struct Time_t { diff --git a/libmicroros/include/uxr/client/profile/transport/ip/tcp/tcp_transport_posix_nopoll.h b/libmicroros/include/uxr/client/profile/transport/ip/tcp/tcp_transport_posix_nopoll.h new file mode 100755 index 00000000..892433ee --- /dev/null +++ b/libmicroros/include/uxr/client/profile/transport/ip/tcp/tcp_transport_posix_nopoll.h @@ -0,0 +1,32 @@ +// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima). +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef UXR_CLIENT_PROFILE_TRANSPORT_IP_TCP_TCPTRANSPORTPOSIXNOPOLL_H_ +#define UXR_CLIENT_PROFILE_TRANSPORT_IP_TCP_TCPTRANSPORTPOSIXNOPOLL_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif // ifdef __cplusplus + +typedef struct uxrTCPPlatform +{ + int fd; +} uxrTCPPlatform; + +#ifdef __cplusplus +} +#endif // ifdef __cplusplus + +#endif // UXR_CLIENT_PROFILE_TRANSPORT_IP_TCP_TCPTRANSPORTPOSIXNOPOLL_H_ \ No newline at end of file diff --git a/libmicroros/include/uxr/client/transport.h b/libmicroros/include/uxr/client/transport.h index e235f5b4..99f4b8c1 100755 --- a/libmicroros/include/uxr/client/transport.h +++ b/libmicroros/include/uxr/client/transport.h @@ -33,7 +33,9 @@ #endif //UCLIENT_PROFILE_UDP #ifdef UCLIENT_PROFILE_TCP -#if defined(UCLIENT_PLATFORM_POSIX) +#if defined(UCLIENT_PLATFORM_POSIX_NOPOLL) +#include +#elif defined(UCLIENT_PLATFORM_POSIX) #include #elif defined(UCLIENT_PLATFORM_WINDOWS) #include diff --git a/libmicroros/include/uxr/client/util/ping.h b/libmicroros/include/uxr/client/util/ping.h index a1589528..20ba934a 100755 --- a/libmicroros/include/uxr/client/util/ping.h +++ b/libmicroros/include/uxr/client/util/ping.h @@ -33,7 +33,7 @@ extern "C" #define UXR_PING_BUF 16 // 4 (HEADER SIZE) + 4 (SUBHEADER_SIZE) + 8 (GET_Info payload) #define GET_INFO_MSG_SIZE 8 -#define GET_INFO_REQUEST_ID 9 +#define GET_INFO_REQUEST_PING_ID 10 struct uxrSession; diff --git a/libmicroros/include/visualization_msgs/msg/detail/interactive_marker_control__struct.h b/libmicroros/include/visualization_msgs/msg/detail/interactive_marker_control__struct.h index 4a210c54..7820d6cf 100755 --- a/libmicroros/include/visualization_msgs/msg/detail/interactive_marker_control__struct.h +++ b/libmicroros/include/visualization_msgs/msg/detail/interactive_marker_control__struct.h @@ -153,7 +153,7 @@ typedef struct visualization_msgs__msg__InteractiveMarkerControl /// - The markers can be defined in an arbitrary coordinate frame, /// but will be transformed into the local frame of the interactive marker. /// - If the header of a marker is empty, its pose will be interpreted as - /// relative to the pose of the parent interactive marker. + /// relative to the pose of the parent interactive marker. visualization_msgs__msg__Marker__Sequence markers; /// In VIEW_FACING mode, set this to true if you don't want the markers /// to be aligned with the camera view point. The markers will show up diff --git a/libmicroros/include/visualization_msgs/msg/detail/interactive_marker_update__struct.h b/libmicroros/include/visualization_msgs/msg/detail/interactive_marker_update__struct.h index 6c22d0d8..d524f6d5 100755 --- a/libmicroros/include/visualization_msgs/msg/detail/interactive_marker_update__struct.h +++ b/libmicroros/include/visualization_msgs/msg/detail/interactive_marker_update__struct.h @@ -21,11 +21,11 @@ extern "C" /** * Type holds the purpose of this message. It must be one of UPDATE or KEEP_ALIVE. * UPDATE: Incremental update to previous state. - * The sequence number must be 1 higher than for - * the previous update. + * The sequence number must be 1 higher than for + * the previous update. * KEEP_ALIVE: Indicates the that the server is still living. * The sequence number does not increase. - * No payload data should be filled out (markers, poses, or erases). + * No payload data should be filled out (markers, poses, or erases). */ enum { diff --git a/libmicroros/include/visualization_msgs/msg/detail/marker__struct.h b/libmicroros/include/visualization_msgs/msg/detail/marker__struct.h index 978ed0fe..df642f61 100755 --- a/libmicroros/include/visualization_msgs/msg/detail/marker__struct.h +++ b/libmicroros/include/visualization_msgs/msg/detail/marker__struct.h @@ -143,7 +143,7 @@ enum /** * See: * - http://www.ros.org/wiki/rviz/DisplayTypes/Marker - * - http://www.ros.org/wiki/rviz/Tutorials/Markers%3A%20Basic%20Shapes + * - http://www.ros.org/wiki/rviz/Tutorials/Markers%3A%20Basic%20Shapes * * for more information on using this message with rviz. */ @@ -159,10 +159,10 @@ typedef struct visualization_msgs__msg__Marker /// Type of object. int32_t type; /// Action to take; one of: - /// - 0 add/modify an object - /// - 1 (deprecated) + /// - 0 add/modify an object + /// - 1 (deprecated) /// - 2 deletes an object (with the given ns and id) - /// - 3 deletes all objects (or those with the given ns if any) + /// - 3 deletes all objects (or those with the given ns if any) int32_t action; /// Pose of the object with respect the frame_id specified in the header. geometry_msgs__msg__Pose pose; @@ -197,7 +197,7 @@ typedef struct visualization_msgs__msg__Marker /// Similar to texture_resource, mesh_resource uses resource retriever to load a mesh. /// Optionally, a mesh file can be sent in-message via the mesh_file field. If doing so, /// use the following format for mesh_resource: - /// "embedded://mesh_name" + /// "embedded://mesh_name" rosidl_runtime_c__String mesh_resource; visualization_msgs__msg__MeshFile mesh_file; bool mesh_use_embedded_materials; diff --git a/libmicroros/include/visualization_msgs/msg/detail/menu_entry__struct.h b/libmicroros/include/visualization_msgs/msg/detail/menu_entry__struct.h index f0a6aa31..2b937ab7 100755 --- a/libmicroros/include/visualization_msgs/msg/detail/menu_entry__struct.h +++ b/libmicroros/include/visualization_msgs/msg/detail/menu_entry__struct.h @@ -65,20 +65,20 @@ enum * parent_id = 0 * title = "fun" * - id = 2 - * parent_id = 0 - * title = "robot" + * parent_id = 0 + * title = "robot" * - id = 4 * parent_id = 2 * title = "pr2" * - id = 5 - * parent_id = 2 - * title = "turtle" + * parent_id = 2 + * title = "turtle" * * Gives a menu tree like this: * - fun * - robot - * - pr2 - * - turtle + * - pr2 + * - turtle */ typedef struct visualization_msgs__msg__MenuEntry { diff --git a/libmicroros/libmicroros.a b/libmicroros/libmicroros.a index fe731b2f..5646cc18 100755 Binary files a/libmicroros/libmicroros.a and b/libmicroros/libmicroros.a differ diff --git a/package.xml b/package.xml old mode 100644 new mode 100755