created ros2 branch

msg/Goal.msg

@@ -1,5 +1,5 @@
 
-Header header
+std_msgs/Header header
 
 # Set either node_id or node_label
 int32 node_id

msg/Info.msg

@@ -3,41 +3,41 @@
 # RTAB-Map info with statistics 
 ########################################
 
-Header header
+std_msgs/Header header
 
-int32 refId
-int32 loopClosureId
-int32 proximityDetectionId
+int32 ref_id
+int32 loop_closure_id
+int32 proximity_detection_id
 
-geometry_msgs/Transform loopClosureTransform
+geometry_msgs/Transform loop_closure_transform
 
 ####
 # For statistics...
 ####
 # std::map<int, float> posterior;
-int32[] posteriorKeys
-float32[] posteriorValues
+int32[] posterior_keys
+float32[] posterior_values
 
 # std::map<int, float> likelihood;
-int32[] likelihoodKeys
-float32[] likelihoodValues
+int32[] likelihood_keys
+float32[] likelihood_values
 
-# std::map<int, float> rawLikelihood;
-int32[] rawLikelihoodKeys
-float32[] rawLikelihoodValues
+# std::map<int, float> raw_likelihood;
+int32[] raw_likelihood_keys
+float32[] raw_likelihood_values
 
 # std::map<int, int> weights;
-int32[] weightsKeys
-int32[] weightsValues
+int32[] weights_keys
+int32[] weights_values
 
 # std::map<int, std::string> labels;
-int32[] labelsKeys
-string[] labelsValues
+int32[] labels_keys
+string[] labels_values
 
 # std::map<std::string, float> stats
-string[] statsKeys
-float32[] statsValues
+string[] stats_keys
+float32[] stats_values
 
-# std::vector<int> localPath
-int32[] localPath
-int32 currentGoalId
+# std::vector<int> local_path
+int32[] local_path
+int32 current_goal_id

msg/Link.msg

@@ -7,8 +7,8 @@
 #   cv::Mat(6,6,CV_64FC1) information;
 #}
 
-int32 fromId
-int32 toId
+int32 from_id
+int32 to_id
 int32 type
 geometry_msgs/Transform transform
-float64[36] information
+float64[36] information

msg/MapData.msg

@@ -1,5 +1,5 @@
 
-Header header
+std_msgs/Header header
 
 ##################
 # Optimized graph

msg/MapGraph.msg

@@ -1,14 +1,14 @@
 
-Header header
+std_msgs/Header header
 
 ##
 # /map to /odom transform
 # Always identity when the graph is optimized from the latest pose.
 ##
-geometry_msgs/Transform mapToOdom
+geometry_msgs/Transform map_to_odom
 
 # The poses
-int32[] posesId
+int32[] poses_id
 geometry_msgs/Pose[] poses
 
 # The links

msg/NodeData.msg

@@ -1,6 +1,6 @@
 
 int32 id
-int32 mapId
+int32 map_id
 int32 weight
 float64 stamp
 string label
@@ -9,7 +9,7 @@ string label
 geometry_msgs/Pose pose
 
 # Ground truth (optional)
-geometry_msgs/Pose groundTruthPose
+geometry_msgs/Pose ground_truth_pose
 
 # GPS (optional)
 GPS gps
@@ -31,19 +31,19 @@ float32[] width
 float32[] height
 float32 baseline
 # local transform (/base_link -> /camera_link)
-geometry_msgs/Transform[] localTransform
+geometry_msgs/Transform[] local_transform
 
 # compressed 2D laser scan in /base_link frame
 # use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
-uint8[] laserScan
-int32 laserScanMaxPts
-float32 laserScanMaxRange
-int32 laserScanFormat
-geometry_msgs/Transform laserScanLocalTransform
+uint8[] laser_scan
+int32 laser_scan_max_pts
+float32 laser_scan_max_range
+int32 laser_scan_format
+geometry_msgs/Transform laser_scan_local_transform
 
 # compressed user data
 # use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
-uint8[] userData
+uint8[] user_data
 
 # compressed occupancy grid
 # use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
@@ -55,9 +55,9 @@ Point3f grid_view_point
 
 # std::multimap<wordId, cv::Keypoint>
 # std::multimap<wordId, pcl::PointXYZ>
-int32[] wordIds
-KeyPoint[] wordKpts
-sensor_msgs/PointCloud2 wordPts
+int32[] word_ids
+KeyPoint[] word_kpts
+sensor_msgs/PointCloud2 word_pts
 
 # compressed descriptors
 # use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"

msg/OdomInfo.msg

@@ -1,33 +1,33 @@
 
-Header header
+std_msgs/Header header
 
 bool lost
 int32 matches
 int32 inliers
-float32 icpInliersRatio
-float32 icpRotation
-float32 icpTranslation
-float32 icpStructuralComplexity
+float32 icp_inliers_ratio
+float32 icp_rotation
+float32 icp_translation
+float32 icp_structural_complexity
 float64[36] covariance
 int32 features
-int32 localMapSize
-int32 localScanMapSize
-int32 localKeyFrames
-int32 localBundleOutliers
-int32 localBundleConstraints
-float32 localBundleTime
-bool keyFrameAdded
-float32 timeEstimation
-float32 timeParticleFiltering
+int32 local_map_size
+int32 local_scan_map_size
+int32 local_key_frames
+int32 local_bundle_outliers
+int32 local_bundle_constraints
+float32 local_bundle_time
+bool key_frame_added
+float32 time_estimation
+float32 time_particle_filtering
 float32 stamp
 float32 interval
-float32 distanceTravelled
-int32 memoryUsage # MB
+float32 distance_travelled
+int32 memory_usage # MB
 
 geometry_msgs/Transform transform
-geometry_msgs/Transform transformFiltered
-geometry_msgs/Transform transformGroundTruth
-geometry_msgs/Transform guessVelocity
+geometry_msgs/Transform transform_filtered
+geometry_msgs/Transform transform_ground_truth
+geometry_msgs/Transform guess_velocity
 
 # 0=F2M, 1=F2F
 int32 type
@@ -36,22 +36,22 @@ int32 type
 #   std::multimap<int, cv::KeyPoint> words;
 #   std::vector<int> wordMatches;
 #   std::vector<int> wordInliers;
-int32[] wordsKeys
-KeyPoint[] wordsValues
-int32[] wordMatches
-int32[] wordInliers
-int32[] localMapKeys
-Point3f[] localMapValues
+int32[] words_keys
+KeyPoint[] words_values
+int32[] word_matches
+int32[] word_inliers
+int32[] local_map_keys
+Point3f[] local_map_values
 
 # compressed local scan map data
 # use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
-uint8[] localScanMap
+uint8[] local_scan_map
 
 # F2F odometry
-#   std::vector<cv::Point2f> refCorners;
-#   std::vector<cv::Point2f> newCorners;
-#   std::vector<int> cornerInliers;
-Point2f[] refCorners
-Point2f[] newCorners
-int32[] cornerInliers
+#   std::vector<cv::Point2f> ref_corners;
+#   std::vector<cv::Point2f> new_corners;
+#   std::vector<int> corner_inliers;
+Point2f[] ref_corners
+Point2f[] new_corners
+int32[] corner_inliers
 

msg/Path.msg

@@ -1,6 +1,6 @@
 
-Header header
+std_msgs/Header header
 
-int32[] nodeIds
+int32[] node_ids
 geometry_msgs/Pose[] poses
 

msg/RGBDImage.msg

@@ -1,13 +1,13 @@
 
-Header header
+std_msgs/Header header
 
-sensor_msgs/CameraInfo rgbCameraInfo
-sensor_msgs/CameraInfo depthCameraInfo
+sensor_msgs/CameraInfo rgb_camera_info
+sensor_msgs/CameraInfo depth_camera_info
 
 # Raw
 sensor_msgs/Image rgb
 sensor_msgs/Image depth
 
 # Compressed
-sensor_msgs/CompressedImage rgbCompressed
-sensor_msgs/CompressedImage depthCompressed
+sensor_msgs/CompressedImage rgb_compressed
+sensor_msgs/CompressedImage depth_compressed

msg/UserData.msg

@@ -1,5 +1,5 @@
 
-Header header
+std_msgs/Header header
 
 # OpenCV matrix containing the user data. A matrix of type CV_8UC1 
 # with 1 row is considered to be compressed (with rtabmap::compressData() method).