From 422538dce4a8800cf42d09afe44e64dd1456864c Mon Sep 17 00:00:00 2001
From: Tomas Baca <klaxalk@gmail.com>
Date: Fri, 3 Nov 2023 12:47:30 +0100
Subject: [PATCH] updated example structure, added python example

---
 cpp/waypoint_flier/CMakeLists.txt             |  2 +-
 cpp/waypoint_flier/config/dynparam.cfg        |  4 ++--
 .../launch/waypoint_flier.launch              |  4 ++--
 cpp/waypoint_flier/nodelets.xml               |  2 +-
 cpp/waypoint_flier/package.xml                |  7 ++-----
 cpp/waypoint_flier/src/waypoint_flier.cpp     | 20 +++++++++----------
 cpp/waypoint_flier/tmux/session.yml           |  2 +-
 cpp/waypoint_flier_simple/CMakeLists.txt      |  2 +-
 .../launch/waypoint_flier_simple.launch       |  4 ++--
 cpp/waypoint_flier_simple/nodelets.xml        |  2 +-
 cpp/waypoint_flier_simple/package.xml         |  7 ++-----
 .../src/waypoint_flier_simple.cpp             |  6 +++---
 cpp/waypoint_flier_simple/tmux/session.yml    |  2 +-
 13 files changed, 29 insertions(+), 35 deletions(-)

diff --git a/cpp/waypoint_flier/CMakeLists.txt b/cpp/waypoint_flier/CMakeLists.txt
index 6a8d3c7..c5b6a59 100644
--- a/cpp/waypoint_flier/CMakeLists.txt
+++ b/cpp/waypoint_flier/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.15.0)
-project(waypoint_flier)
+project(example_waypoint_flier)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
diff --git a/cpp/waypoint_flier/config/dynparam.cfg b/cpp/waypoint_flier/config/dynparam.cfg
index 597d42f..47a8c43 100755
--- a/cpp/waypoint_flier/config/dynparam.cfg
+++ b/cpp/waypoint_flier/config/dynparam.cfg
@@ -1,6 +1,6 @@
 #!/usr/bin/env python
 
-PACKAGE='waypoint_flier'
+PACKAGE='example_waypoint_flier'
 import roslib;
 roslib.load_manifest(PACKAGE)
 
@@ -11,4 +11,4 @@ params = gen.add_group("waypoint_flier parameters");
 
 params.add("waypoint_idle_time", double_t, 1, "The time to wait before flying to the next waypoint", 1, 0, 60);
 
-exit(gen.generate(PACKAGE, "waypoint_flier", "dynparam"))
+exit(gen.generate(PACKAGE, "example_waypoint_flier", "dynparam"))
diff --git a/cpp/waypoint_flier/launch/waypoint_flier.launch b/cpp/waypoint_flier/launch/waypoint_flier.launch
index 9901bc4..370edad 100644
--- a/cpp/waypoint_flier/launch/waypoint_flier.launch
+++ b/cpp/waypoint_flier/launch/waypoint_flier.launch
@@ -20,13 +20,13 @@
   <group ns="$(arg UAV_NAME)">
 
     <!-- WaypointFlier nodelet -->
-    <node pkg="nodelet" type="nodelet" name="waypoint_flier" args="$(arg nodelet) waypoint_flier/WaypointFlier $(arg nodelet_manager)" launch-prefix="$(arg launch_prefix_debug)" output="screen">
+    <node pkg="nodelet" type="nodelet" name="waypoint_flier" args="$(arg nodelet) example_waypoint_flier/WaypointFlier $(arg nodelet_manager)" launch-prefix="$(arg launch_prefix_debug)" output="screen">
 
       <!-- Parameters loaded from launch file -->
       <param name="uav_name" value="$(arg UAV_NAME)" />
 
         <!-- ROS parameters config file -->
-      <rosparam file="$(find waypoint_flier)/config/waypoint_flier.yaml" />
+      <rosparam file="$(find example_waypoint_flier)/config/waypoint_flier.yaml" />
 
         <!-- Subscribers (note that the topic names will also be remapped using the namespace as a prefix) -->
       <remap from="~odom_uav_in" to="estimation_manager/odom_main" />
diff --git a/cpp/waypoint_flier/nodelets.xml b/cpp/waypoint_flier/nodelets.xml
index c664e48..13d2385 100644
--- a/cpp/waypoint_flier/nodelets.xml
+++ b/cpp/waypoint_flier/nodelets.xml
@@ -1,5 +1,5 @@
 <library path="lib/libWaypointFlier">
-  <class name="waypoint_flier/WaypointFlier" type="waypoint_flier::WaypointFlier" base_class_type="nodelet::Nodelet">
+  <class name="example_waypoint_flier/WaypointFlier" type="example_waypoint_flier::WaypointFlier" base_class_type="nodelet::Nodelet">
     <description>WaypointFlier nodelet</description>
   </class>
 </library>
diff --git a/cpp/waypoint_flier/package.xml b/cpp/waypoint_flier/package.xml
index de947f8..c4b0139 100644
--- a/cpp/waypoint_flier/package.xml
+++ b/cpp/waypoint_flier/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <package format="2">
 
-  <name>waypoint_flier</name>
+  <name>example_waypoint_flier</name>
   <version>1.0.0</version>
-  <description>waypoint_flier</description>
+  <description>The Example Waypoint Flier</description>
 
   <maintainer email="matej.petrlik@fel.cvut.cz">Matej Petrlik</maintainer>
   <author email="matej.petrlik@fel.cvut.cz">Matej Petrlik</author>
@@ -21,10 +21,7 @@
   <depend>dynamic_reconfigure</depend>
 
   <export>
-
-    <!-- The plugins.xml file defines nodelet as a plugin -->
     <nodelet plugin="${prefix}/nodelets.xml" />
-
   </export>
 
 </package>
diff --git a/cpp/waypoint_flier/src/waypoint_flier.cpp b/cpp/waypoint_flier/src/waypoint_flier.cpp
index 07addda..84b9462 100644
--- a/cpp/waypoint_flier/src/waypoint_flier.cpp
+++ b/cpp/waypoint_flier/src/waypoint_flier.cpp
@@ -9,7 +9,7 @@
 #include <dynamic_reconfigure/server.h>
 
 /* this header file is created during compilation from python script dynparam.cfg */
-#include <waypoint_flier/dynparamConfig.h>
+#include <example_waypoint_flier/dynparamConfig.h>
 
 /* for smart pointers (do not use raw pointers) */
 #include <memory>
@@ -52,7 +52,7 @@
 using vec2_t = mrs_lib::geometry::vec_t<2>;
 using vec3_t = mrs_lib::geometry::vec_t<3>;
 
-namespace waypoint_flier
+namespace example_waypoint_flier
 {
 
 /* class WaypointFlier //{ */
@@ -126,12 +126,12 @@ class WaypointFlier : public nodelet::Nodelet {
 
   // | ------------------- dynamic reconfigure ------------------ |
 
-  typedef waypoint_flier::dynparamConfig                              Config;
-  typedef dynamic_reconfigure::Server<waypoint_flier::dynparamConfig> ReconfigureServer;
-  boost::recursive_mutex                                              mutex_dynamic_reconfigure_;
-  boost::shared_ptr<ReconfigureServer>                                reconfigure_server_;
-  void                                                                callbackDynamicReconfigure(Config& config, uint32_t level);
-  waypoint_flier::dynparamConfig                                      last_drs_config_;
+  typedef example_waypoint_flier::dynparamConfig                              Config;
+  typedef dynamic_reconfigure::Server<example_waypoint_flier::dynparamConfig> ReconfigureServer;
+  boost::recursive_mutex                                                      mutex_dynamic_reconfigure_;
+  boost::shared_ptr<ReconfigureServer>                                        reconfigure_server_;
+  void                                                                        callbackDynamicReconfigure(Config& config, uint32_t level);
+  example_waypoint_flier::dynparamConfig                                      last_drs_config_;
 
   // | --------------------- waypoint idling -------------------- |
 
@@ -642,8 +642,8 @@ double WaypointFlier::distance(const mrs_msgs::Reference& waypoint, const geomet
 
 //}
 
-}  // namespace waypoint_flier
+}  // namespace example_waypoint_flier
 
 /* every nodelet must include macros which export the class as a nodelet plugin */
 #include <pluginlib/class_list_macros.h>
-PLUGINLIB_EXPORT_CLASS(waypoint_flier::WaypointFlier, nodelet::Nodelet);
+PLUGINLIB_EXPORT_CLASS(example_waypoint_flier::WaypointFlier, nodelet::Nodelet);
diff --git a/cpp/waypoint_flier/tmux/session.yml b/cpp/waypoint_flier/tmux/session.yml
index 9e433d6..daddfeb 100644
--- a/cpp/waypoint_flier/tmux/session.yml
+++ b/cpp/waypoint_flier/tmux/session.yml
@@ -40,7 +40,7 @@ windows:
   - waypointflier:
       layout: tiled
       panes:
-        - waitForControl; roslaunch waypoint_flier waypoint_flier.launch
+        - waitForControl; roslaunch example_waypoint_flier waypoint_flier.launch
         - 'history -s rosservice call /$UAV_NAME/waypoint_flier/fly_to_first_waypoint'
         - 'history -s rosservice call /$UAV_NAME/waypoint_flier/start_waypoints_following'
         - 'history -s rosservice call /$UAV_NAME/waypoint_flier/stop_waypoints_following'
diff --git a/cpp/waypoint_flier_simple/CMakeLists.txt b/cpp/waypoint_flier_simple/CMakeLists.txt
index 5e51d73..98dabc8 100644
--- a/cpp/waypoint_flier_simple/CMakeLists.txt
+++ b/cpp/waypoint_flier_simple/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.15.0)
-project(waypoint_flier_simple)
+project(example_waypoint_flier_simple)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
diff --git a/cpp/waypoint_flier_simple/launch/waypoint_flier_simple.launch b/cpp/waypoint_flier_simple/launch/waypoint_flier_simple.launch
index 09b443c..05bd832 100644
--- a/cpp/waypoint_flier_simple/launch/waypoint_flier_simple.launch
+++ b/cpp/waypoint_flier_simple/launch/waypoint_flier_simple.launch
@@ -20,10 +20,10 @@
   <group ns="$(arg UAV_NAME)">
 
     <!-- WaypointFlierSimple nodelet -->
-    <node pkg="nodelet" type="nodelet" name="waypoint_flier_simple" args="$(arg nodelet) waypoint_flier_simple/WaypointFlierSimple $(arg nodelet_manager)" launch-prefix="$(arg launch_prefix_debug)" output="screen">
+    <node pkg="nodelet" type="nodelet" name="waypoint_flier_simple" args="$(arg nodelet) example_waypoint_flier_simple/WaypointFlierSimple $(arg nodelet_manager)" launch-prefix="$(arg launch_prefix_debug)" output="screen">
 
         <!-- ROS parameters config file -->
-      <rosparam file="$(find waypoint_flier_simple)/config/waypoint_flier.yaml" />
+      <rosparam file="$(find example_waypoint_flier_simple)/config/waypoint_flier.yaml" />
 
         <!-- Subscribers (note that the topic names will also be remapped using the namespace as a prefix) -->
       <remap from="~odom_in" to="estimation_manager/odom_main" />
diff --git a/cpp/waypoint_flier_simple/nodelets.xml b/cpp/waypoint_flier_simple/nodelets.xml
index 3b83172..56dc885 100644
--- a/cpp/waypoint_flier_simple/nodelets.xml
+++ b/cpp/waypoint_flier_simple/nodelets.xml
@@ -1,5 +1,5 @@
 <library path="lib/libWaypointFlierSimple">
-  <class name="waypoint_flier_simple/WaypointFlierSimple" type="waypoint_flier_simple::WaypointFlierSimple" base_class_type="nodelet::Nodelet">
+  <class name="example_waypoint_flier_simple/WaypointFlierSimple" type="example_waypoint_flier_simple::WaypointFlierSimple" base_class_type="nodelet::Nodelet">
     <description>WaypointFlierSimple nodelet</description>
   </class>
 </library>
diff --git a/cpp/waypoint_flier_simple/package.xml b/cpp/waypoint_flier_simple/package.xml
index 2a77e11..37f06e7 100644
--- a/cpp/waypoint_flier_simple/package.xml
+++ b/cpp/waypoint_flier_simple/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <package format="2">
 
-  <name>waypoint_flier_simple</name>
+  <name>example_waypoint_flier_simple</name>
   <version>1.0.0</version>
-  <description>waypoint_flier_simple</description>
+  <description>Example for the Simple Waypoint Flier</description>
 
   <maintainer email="hertdani@fel.cvut.cz">Daniel Hert</maintainer>
   <author email="hertdani@fel.cvut.cz">Daniel Hert</author>
@@ -20,10 +20,7 @@
   <depend>mrs_msgs</depend>
 
   <export>
-
-    <!-- The plugins.xml file defines nodelet as a plugin -->
     <nodelet plugin="${prefix}/nodelets.xml" />
-
   </export>
 
 </package>
diff --git a/cpp/waypoint_flier_simple/src/waypoint_flier_simple.cpp b/cpp/waypoint_flier_simple/src/waypoint_flier_simple.cpp
index 3e7201a..0db4037 100644
--- a/cpp/waypoint_flier_simple/src/waypoint_flier_simple.cpp
+++ b/cpp/waypoint_flier_simple/src/waypoint_flier_simple.cpp
@@ -17,7 +17,7 @@
 #include <random>
 //}
 
-namespace waypoint_flier_simple
+namespace example_waypoint_flier_simple
 {
 
 /* class WaypointFlierSimple //{ */
@@ -231,8 +231,8 @@ double WaypointFlierSimple::getRandomDouble(double min, double max) {
 
 //}
 
-}  // namespace waypoint_flier_simple
+}  // namespace example_waypoint_flier_simple
 
 /* every nodelet must include macros which export the class as a nodelet plugin */
 #include <pluginlib/class_list_macros.h>
-PLUGINLIB_EXPORT_CLASS(waypoint_flier_simple::WaypointFlierSimple, nodelet::Nodelet);
+PLUGINLIB_EXPORT_CLASS(example_waypoint_flier_simple::WaypointFlierSimple, nodelet::Nodelet);
diff --git a/cpp/waypoint_flier_simple/tmux/session.yml b/cpp/waypoint_flier_simple/tmux/session.yml
index f5a36ef..3f3caec 100644
--- a/cpp/waypoint_flier_simple/tmux/session.yml
+++ b/cpp/waypoint_flier_simple/tmux/session.yml
@@ -40,7 +40,7 @@ windows:
   - waypointflier:
       layout: tiled
       panes:
-        - waitForControl; roslaunch waypoint_flier_simple waypoint_flier_simple.launch
+        - waitForControl; roslaunch example_waypoint_flier_simple waypoint_flier_simple.launch
         - 'history -s rosservice call /$UAV_NAME/waypoint_flier_simple/start'
   - rviz:
       layout: tiled