mil_msgs: Migrate mil_msgs from ROS1 to ROS2

src/mil_common/mil_msgs/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(mil_msgs)
+
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(action_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+
+set(action_files
+  "action/MoveTo.action"
+  "action/BagOnline.action"
+)
+
+set(msg_files
+  "msg/DepthStamped.msg"
+  "msg/ObjectInImage.msg"
+  "msg/ObjectsInImage.msg"
+  "msg/PerceptionObject.msg"
+  "msg/PerceptionObjectArray.msg"
+  "msg/Point2D.msg"
+  "msg/PoseTwistStamped.msg"
+  "msg/PoseTwist.msg"
+  "msg/RangeStamped.msg"
+  "msg/VelocityMeasurements.msg"
+  "msg/VelocityMeasurement.msg"
+)
+
+set(srv_files
+  "srv/CameraToLidarTransform.srv"
+  "srv/ObjectDBQuery.srv"
+  "srv/SetGeometry.srv"
+)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  ${srv_files}
+  DEPENDENCIES std_msgs action_msgs geometry_msgs sensor_msgs
+  ADD_LINTER_TESTS
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()

src/mil_common/mil_msgs/action/BagOnline.action

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+# Directory / filename of bag_name
+# See examples below for what strings will produce what bags.
+# <bag_package_path> is a ros param set when running online bagger node
+# if param is not set, <bag_package_path> = $HOME/bags/<date> (ex: /home/bob/bags/2017-04-20)
+#  /home/example/2017/    -> /home/example/2017/2017-04-24-20:51:54.bag
+#  camera_tests/test1.bag -> <bag_package_path>/camera_tests/test1.bag
+#  my_lidar_bag           -> <bag_package_path>/my_lidar_bag.bag
+#  sonar_tests/           -> <bag_package_path>/sonar_tests/2017-04-24-20:51:54.bag
+string bag_name
+
+# Space separated list of topics to bag. If empty string, all buffered topics will be bagged
+string topics
+
+# Time in seconds
+float32 bag_time
+---
+
+bool success
+string status # Contains error information if success is False
+string filename # Full path to file where bag was written
+
+---
+
+# Proportion of messages that will be included in bag that have been written
+float64 progress

src/mil_common/mil_msgs/action/MoveTo.action

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+# goal. copies PoseTwistStamped.
+std_msgs/Header header
+mil_msgs/PoseTwist posetwist
+float64 speed
+bool uncoordinated # false goes in a straight line, true achieves some components before others
+bool blind # true ignores waypoint validation, false will check for collisions
+float64 linear_tolerance # distance from goal for result to be sent
+float64 angular_tolerance
+---
+# result
+string error # Returns waypoint error
+bool success # true if successfully went to assigned waypoint
+---
+# feedback

src/mil_common/mil_msgs/msg/DepthStamped.msg

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+std_msgs/Header header
+
+# A depth in meters
+float64 depth

src/mil_common/mil_msgs/msg/ObjectInImage.msg

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+# Type of the object, like "buoy", "dock", or "human"
+string name
+
+# Points in an image of the object. It is to be interpreted as follows:
+# len(points) == 0: Object is somewhere in image
+# len(points) == 1: Center of object is at points[0]
+# len(points) == 2: points[0] and points[1] are the upper left and bottom right corners of a bounding rectangle enclosing the object
+# len(points) > 2: points are the vertices of a polygon around the object
+mil_msgs/Point2D[] points
+
+# Confidence that the object identified is correctly identified. It is to be interpreted as follows:
+# -1: No confidence mechanism is in place, it is not clear how confident the classification is
+# [0, 1.0]: The classification is this amount confident, with 0 being completely unsure and 1 being completely sure
+float64 confidence
+
+# Unspecified additional data associated with the object. May be used for things like color, variety, etc
+string attributes

src/mil_common/mil_msgs/msg/ObjectsInImage.msg

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+# Header which should be identical to the header of the image these objects were observed in
+std_msgs/Header header
+
+# Array of objects simultaneously identified in the image
+mil_msgs/ObjectInImage[] objects

src/mil_common/mil_msgs/msg/PerceptionObject.msg

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+# Time stamp and frame of the object. All objects are in ENU frame.
+std_msgs/Header header
+
+# CURRENTLY UNUSED, see labeled_classification
+string classification
+
+# The classification of the object determined algorithmically or by a human.
+string labeled_classification
+
+# Pose of the object in ENU
+geometry_msgs/Pose pose
+
+# Size of the object, like markers, scale is applied first, then pose.
+geometry_msgs/Vector3 scale
+
+# The unique id of each object. It is a counter_id, so the later the object is found the
+# higher the id will be.
+uint32 id
+
+# The confidence that this is an object of interest from 0-1
+float32 confidence
+# The confidence of the classification from 0-1
+float32 classification_confidence
+
+# Points in ENU frame that belong to the object
+geometry_msgs/Point32[] points

src/mil_common/mil_msgs/msg/PerceptionObjectArray.msg

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+mil_msgs/PerceptionObject[] objects            # Collection of all objects

src/mil_common/mil_msgs/msg/Point2D.msg

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+float64 x
+float64 y

src/mil_common/mil_msgs/msg/PoseTwist.msg

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+geometry_msgs/Pose pose
+geometry_msgs/Twist twist
+geometry_msgs/Accel acceleration

src/mil_common/mil_msgs/msg/PoseTwistStamped.msg

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+# pose is in header.frame_id. twist is in frame defined by pose (ie. body)
+std_msgs/Header header
+PoseTwist posetwist

src/mil_common/mil_msgs/msg/RangeStamped.msg

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+std_msgs/Header header
+
+# A range in meters
+float64 range

src/mil_common/mil_msgs/msg/VelocityMeasurement.msg

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+# Generic representation of measurement from one beam of a Doppler Velocity Log (DVL)-like sensor
+
+# unit vector pointing along beam (in sensor coordinate frame)
+geometry_msgs/Vector3 direction
+
+# measured velocity (in m/s) of sensor relative to pool floor, projected onto `direction` vector
+# * should be NaN if measurement is bad/invalid/unknown
+float64 velocity
+
+# correlation value
+# * describes the SNR of the return ping; currently only for diagnostic usage
+# * should be NaN if unknown
+float64 correlation

src/mil_common/mil_msgs/msg/VelocityMeasurements.msg

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+# Generic representation of one measurement report from a Doppler Velocity Log (DVL)-like sensor
+
+# stamp is the time the measurements were made
+# frame_id ...
+# * should have its origin at the location where the beam vectors intersect
+# * defines the coordinate frame of the `velocity_measurements.direction` vectors
+std_msgs/Header header
+
+# velocity_measurements should have one element for each beam the hardware supports (typically 4)
+# * invalid beams should still have VelocityMeasurement elements
+VelocityMeasurement[] velocity_measurements

src/mil_common/mil_msgs/package.xml

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+<?xml version="1.0"?>
+<package format="3">
+  <name>mil_msgs</name>
+  <version>2.0.0</version>
+  <description>Common ROS msgs,srvs and actions for MIL repos</description>
+  <maintainer email="[email protected]">Cameron Brown</maintainer>
+  <license>BSD</license>
+  <url type="website">http://github.com/uf-mil/mil2</url>
+  <author>Forrest Voight, David Soto</author>
+  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <build_depend>actionlib_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>message_runtime</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <exec_depend>action_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>message_generation</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <export>
+    <cpp cflags="-I${prefix}/include `pkg-config --cflags eigen3`"/>
+  </export>
+</package>

src/mil_common/mil_msgs/srv/Bounds.srv

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+string to_frame               # The frame you want the bounds in
+                              # If not specified, it will default to 'enu'
+---
+std_msgs/Header header        # Standard header, all points are in this frame
+bool enforce                  # If false, don't listen to what the bounds say
+
+geometry_msgs/Point[] bounds  # List of points that define the boundaries

src/mil_common/mil_msgs/srv/CameraToLidarTransform.srv

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+std_msgs/Header header #Stamp of time point was seen for tf
+geometry_msgs/Point point #X and Y of point in camera frame, Z is ignored
+uint16 tolerance #Number of pixels the projected 3D lidar point can be from the target point to be included in the response
+---
+bool success #True if at least one point found in lidar and transformed
+geometry_msgs/Point[] transformed #Points in  3-D in camera frame if success is true
+geometry_msgs/Point closest #3D point that is the closest to the target point when transformed and projected
+geometry_msgs/Vector3 normal #Normal unit vector in camera frame estimated from transformed points
+float64 distance #mean z of transformed points
+string error #Describes when went wrong if success if false
+string CLOUD_NOT_FOUND=pointcloud not found
+string NO_POINTS_FOUND=no points

src/mil_common/mil_msgs/srv/ObjectDBQuery.srv

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+string name			#Request a particular object - names listed in PerceptionObject.msg (shooter,dock,scan_the_code,totem,start_gate,buoy,unknown,all)
+string cmd			#Change information in the database - ID=YYY where ID is the id number and YYY is a value to change: either the object name or rgb
+---
+bool found			#Did we actually find the requested object?
+mil_msgs/PerceptionObject[] objects 	#Collection of all objects found

src/mil_common/mil_msgs/srv/SetGeometry.srv

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+geometry_msgs/Polygon model
+---
+bool success
+string message