delete legacy msg package

.gitignore

@@ -36,11 +36,11 @@ nosetests.xml
 .pydevproject
 
 #Specific ignores for nao_robot
-naoqi_msgs/src
+naoqi_bridge_msgs/src
 msg_gen
 srv_gen
 # Actionlib:
-naoqi_msgs/msg/*Action.msg
-naoqi_msgs/msg/*Feedback.msg
-naoqi_msgs/msg/*Goal.msg
-naoqi_msgs/msg/*Result.msg
+naoqi_bridge_msgs/msg/*Action.msg
+naoqi_bridge_msgs/msg/*Feedback.msg
+naoqi_bridge_msgs/msg/*Goal.msg
+naoqi_bridge_msgs/msg/*Result.msg

naoqi_bridge/package.xml

@@ -10,9 +10,9 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <run_depend>naoqi_driver</run_depend>
-  <run_depend>naoqi_msgs</run_depend>
-  <run_depend>naoqi_sensors</run_depend>
+  <run_depend>naoqi_driver_py</run_depend>
+  <run_depend>naoqi_bridge_msgs</run_depend>
+  <run_depend>naoqi_sensors_py</run_depend>
 
   <export>
     <metapackage/>

naoqi_driver_py/CMakeLists.txt

@@ -9,7 +9,7 @@ find_package(catkin REQUIRED COMPONENTS
     tf
     sensor_msgs
     geometry_msgs
-    naoqi_msgs
+    naoqi_bridge_msgs
     dynamic_reconfigure
     diagnostic_aggregator
     diagnostic_msgs)

naoqi_driver_py/launch/naoqi_driver.launch

@@ -16,9 +16,9 @@
   <arg name="nao_ip" default="$(optenv NAO_IP 127.0.0.1)" />
   <arg name="nao_port" default="$(optenv NAO_PORT 9559)" />
 
-    <node pkg="naoqi_driver" type="naoqi_joint_states.py" name="naoqi_joint_states" required="true" args="--pip=$(arg nao_ip) --pport=$(arg nao_port)" />
+    <node pkg="naoqi_driver_py" type="naoqi_joint_states.py" name="naoqi_joint_states" required="true" args="--pip=$(arg nao_ip) --pport=$(arg nao_port)" />
 
   <!-- start robot agnostic nodes -->
-  <node pkg="naoqi_driver" type="naoqi_moveto.py" name="naoqi_moveto" required="true" args="--pip=$(arg nao_ip) --pport=$(arg nao_port)" output="screen"/>
-  <node pkg="naoqi_driver" type="naoqi_logger.py" name="nao_logger" args="--pip=$(arg nao_ip) --pport=$(arg nao_port)" />
+  <node pkg="naoqi_driver_py" type="naoqi_moveto.py" name="naoqi_moveto" required="true" args="--pip=$(arg nao_ip) --pport=$(arg nao_port)" output="screen"/>
+  <node pkg="naoqi_driver_py" type="naoqi_logger.py" name="nao_logger" args="--pip=$(arg nao_ip) --pport=$(arg nao_port)" />
 </launch>

naoqi_driver_py/package.xml

@@ -35,7 +35,7 @@
   <build_depend>diagnostic_msgs</build_depend>
   <build_depend>dynamic_reconfigure</build_depend>
   <build_depend>geometry_msgs</build_depend>
-  <build_depend>naoqi_msgs</build_depend>
+  <build_depend>naoqi_bridge_msgs</build_depend>
   <build_depend>pluginlib</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>nav_msgs</build_depend>
@@ -51,7 +51,7 @@
   <run_depend>geometry_msgs</run_depend>
   <run_depend>sensor_msgs</run_depend>
   <run_depend>diagnostic_msgs</run_depend>
-  <run_depend>naoqi_msgs</run_depend>
+  <run_depend>naoqi_bridge_msgs</run_depend>
   <run_depend>pluginlib</run_depend>
   <run_depend>humanoid_nav_msgs</run_depend>
   <run_depend>nav_msgs</run_depend>

naoqi_driver_py/scripts/test_joint_angles.py

@@ -9,7 +9,7 @@
 
 import actionlib
 from actionlib_msgs.msg import GoalStatus
-import naoqi_msgs.msg
+import naoqi_bridge_msgs.msg
 import trajectory_msgs.msg
 from trajectory_msgs.msg import JointTrajectoryPoint
 import std_srvs.srv
@@ -19,9 +19,9 @@ def joint_angle_client():
 	#inhibitWalkSrv = rospy.ServiceProxy("inhibit_walk", std_srvs.srv.Empty)
 	#uninhibitWalkSrv = rospy.ServiceProxy("uninhibit_walk", std_srvs.srv.Empty)
 
-	client = actionlib.SimpleActionClient("joint_trajectory", naoqi_msgs.msg.JointTrajectoryAction)
-	stiffness_client = actionlib.SimpleActionClient("joint_stiffness_trajectory", naoqi_msgs.msg.JointTrajectoryAction)
-	angle_client = actionlib.SimpleActionClient("joint_angles_action", naoqi_msgs.msg.JointAnglesWithSpeedAction)
+	client = actionlib.SimpleActionClient("joint_trajectory", naoqi_bridge_msgs.msg.JointTrajectoryAction)
+	stiffness_client = actionlib.SimpleActionClient("joint_stiffness_trajectory", naoqi_bridge_msgs.msg.JointTrajectoryAction)
+	angle_client = actionlib.SimpleActionClient("joint_angles_action", naoqi_bridge_msgs.msg.JointAnglesWithSpeedAction)
 
 	rospy.loginfo("Waiting for joint_trajectory and joint_stiffness servers...")
 	client.wait_for_server()
@@ -31,7 +31,7 @@ def joint_angle_client():
 
 	#inhibitWalkSrv()
 	try:	
-		goal = naoqi_msgs.msg.JointTrajectoryGoal()
+		goal = naoqi_bridge_msgs.msg.JointTrajectoryGoal()
 
 		# move head: single joint, multiple keypoints
 		goal.trajectory.joint_names = ["HeadYaw"]
@@ -110,7 +110,7 @@ def joint_angle_client():
 
 
 		# Control of joints with relative speed
-		angle_goal = naoqi_msgs.msg.JointAnglesWithSpeedGoal()
+		angle_goal = naoqi_bridge_msgs.msg.JointAnglesWithSpeedGoal()
 		angle_goal.joint_angles.relative = False
 		angle_goal.joint_angles.joint_names = ["HeadYaw", "HeadPitch"]
 		angle_goal.joint_angles.joint_angles = [1.0, 0.0]
@@ -135,7 +135,7 @@ def joint_angle_client():
 		    rospy.loginfo("Preemption seems okay")
 
 		# Test stiffness actionlib
-		stiffness_goal = naoqi_msgs.msg.JointTrajectoryGoal()
+		stiffness_goal = naoqi_bridge_msgs.msg.JointTrajectoryGoal()
 		stiffness_goal.trajectory.joint_names = ["Body"]
 		stiffness_goal.trajectory.points.append(JointTrajectoryPoint(time_from_start = Duration(0.5), positions = [1.0]))
 		rospy.loginfo("Sending stiffness goal...")