Rename mrpt_map -> mrpt_map_server

README.md

@@ -20,7 +20,7 @@ Documentation for each package
 ----------------------------------
 
 Related to localization:
-* [mrpt_map](mrpt_map): A node that loads a ROS standard gridmap or an MRPT or MP2P_ICP map and publishes it to a (set of) topic(s).
+* [mrpt_map_server](mrpt_map_server): A node that loads a ROS standard gridmap or an MRPT or MP2P_ICP map and publishes it to a (set of) topic(s).
 * [mrpt_pf_localization](mrpt_pf_localization): A node for particle filter-based localization of a robot from any kind of metric map (gridmap, points, range-only sensors, ...).
 
 Related to sensor pipelines:

mrpt_map/CHANGELOG.rst → mrpt_map_server/CHANGELOG.rst

@@ -1,5 +1,5 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package mrpt_map
+Changelog for package mrpt_map_server
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 1.0.3 (2022-06-25)

mrpt_map/CMakeLists.txt → mrpt_map_server/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(mrpt_map)
+project(mrpt_map_server)
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
@@ -43,7 +43,7 @@ ENDIF()
 ## Declare a cpp executable
 add_executable(map_server_node
 				src/map_server_node.cpp
-				include/${PROJECT_NAME}/map_server_node.hpp)
+				include/${PROJECT_NAME}/map_server_node.h)
 
 target_include_directories(map_server_node
 				PUBLIC

mrpt_map/README.md → mrpt_map_server/README.md

@@ -1,16 +1,14 @@
-# mrpt_map
-
-* [mrpt_map](#mrpt_map)
-   * [Overview](#overview)
-   * [Node: mrpt_map_server](#node-mrpt_map_server)
-      * [Working rationale](#working-rationale)
-      * [ROS Parameters](#ros-parameters)
-      * [Subscribed topics](#subscribed-topics)
-      * [Published topics](#published-topics)
-      * [Template ROS 2 launch files](#template-ros-2-launch-files)
-
-<!-- Created by https://github.com/ekalinin/github-markdown-toc -->
-<!-- Regenerate with: gh-md-toc README.md -->
+# mrpt_map_server
+
+# Table of Contents
+* [Overview](#Overview)
+* [Node: mrpt_map_server](#Node:-mrpt_map_server)
+	* [Working rationale](#Working-rationale)
+	* [ROS Parameters](#ROS-Parameters)
+	* [Subscribed topics](#Subscribed-topics)
+	* [Published topics](#Published-topics)
+	* [Template ROS 2 launch files](#Template-ROS-2-launch-files)
+* [Demos](#Demos)
 
 ## Overview
 This package provides a ROS 2 node that publishes a static **map** for other nodes to use it.
@@ -50,24 +48,24 @@ of usage of each of these methods.
 
 #### Related to ROS published topics:
 * ``frame_id`` (Default=``map``): TF frame.
-* `pub_mm_topic` (Default=`mrpt_map/metric_map`). Despite the map source, it will be eventually stored as a `mp2p_icp`'s `metric_map_t` (`*.mm`) structure, then each layer will be published using its **layer name** as a **topic name** and with the appropriate type
+* `pub_mm_topic` (Default=`mrpt_map_server/metric_map`). Despite the map source, it will be eventually stored as a `mp2p_icp`'s `metric_map_t` (`*.mm`) structure, then each layer will be published using its **layer name** as a **topic name** and with the appropriate type
 (e.g. PointCloud2, OccupancyGrid,...). Also, the whole metric map is published as a generic serialized object to the topic defined by the 
 parameter `pub_mm_topic`.
 
 ### Subscribed topics
 None.
 
 ### Published topics
-* ``mrpt_map/metric_map`` (``mrpt_msgs::msg::GenericObject``) (topic name can be changed with parameter `pub_mm_topic`).
-* ``mrpt_map/<LAYER_NAME>`` (``nav_msgs::msg::OccupancyGrid``, ``sensors_msgs::msg::PointCloud2``, ...), one per map layer.
+* ``mrpt_map_server/metric_map`` (``mrpt_msgs::msg::GenericObject``) (topic name can be changed with parameter `pub_mm_topic`).
+* ``mrpt_map_server/<LAYER_NAME>`` (``nav_msgs::msg::OccupancyGrid``, ``sensors_msgs::msg::PointCloud2``, ...), one per map layer.
 
 If using options 2 or 3 above, there will be just one layer named `map`.
 
 ### Template ROS 2 launch files
 
 This package provides [launch/mrpt_map_server.launch.py](launch/mrpt_map_server.launch.py):
 
-    ros2 launch mrpt_map mrpt_map_server.launch.py
+    ros2 launch mrpt_map_server mrpt_map_server.launch.py
 
 which can be used in user projects to launch the MRPT map server node, by setting these [launch arguments](https://docs.ros.org/en/rolling/Tutorials/Intermediate/Launch/Using-Substitutions.html):
 
@@ -78,4 +76,4 @@ Launch an map server from a ROS yaml gridmap ([launch file](../mrpt_tutorials/la
 
 ```bash
 ros2 launch mrpt_tutorials demo_map_server_gridmap_from_yaml.launch.py
-```
+```

mrpt_map/launch/mrpt_map_server.launch.py → mrpt_map_server/launch/mrpt_map_server.launch.py

@@ -1,7 +1,7 @@
-# ROS 2 launch file for mrpt_map
+# ROS 2 launch file for mrpt_map_server
 #
 # See the docs on the configurable launch arguments for this file in:
-# https://github.com/mrpt-ros-pkg/mrpt_navigation/tree/ros2/mrpt_map#template-ros-2-launch-files
+# https://github.com/mrpt-ros-pkg/mrpt_navigation/tree/ros2/mrpt_map_server#template-ros-2-launch-files
 #
 
 import os
@@ -14,7 +14,7 @@
 
 
 def generate_launch_description():
-    # mrpt_map_pkg_dir = get_package_share_directory('mrpt_map')
+    # mrpt_map_pkg_dir = get_package_share_directory('mrpt_map_server')
 
     map_yaml_file_arg = DeclareLaunchArgument(
         'map_yaml_file', default_value=''
@@ -38,7 +38,7 @@ def generate_launch_description():
 
     # Node: Local obstacles builder
     mrpt_map_server_node = Node(
-        package='mrpt_map',
+        package='mrpt_map_server',
         executable='map_server_node',
         name='map_server_node',
         output='screen',

mrpt_map/package.xml → mrpt_map_server/package.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
-  <name>mrpt_map</name>
+  <name>mrpt_map_server</name>
   <version>1.0.3</version>
-  <description>The mrpt_map is able to publish a mrpt map as ros occupancy grid like the map_server</description>
+  <description>This package provides a ROS 2 node that publishes a static map for other nodes to use it. Unlike classic ROS 1 ``map_server``, this node can publish a range of different metric maps, not only occupancy grids.</description>
 
   <maintainer email="[email protected]">Markus Bader</maintainer>
   <maintainer email="[email protected]">Jose Luis Blanco-Claraco</maintainer>

mrpt_map/src/map_server_node.cpp → mrpt_map_server/src/map_server_node.cpp

@@ -6,7 +6,7 @@
    | All rights reserved. Released under BSD 3-Clause license. See LICENSE  |
    +------------------------------------------------------------------------+ */
 
-#include "mrpt_map/map_server_node.hpp"
+#include "mrpt_map_server/map_server_node.h"
 
 #include <mrpt/config/CConfigFile.h>
 #include <mrpt/maps/CMultiMetricMap.h>
@@ -32,7 +32,7 @@ void MapServer::init()
 	RCLCPP_INFO(this->get_logger(), "debug: '%s'", m_debug ? "true" : "false");
 
 	// See:
-	// https://github.com/mrpt-ros-pkg/mrpt_navigation/blob/ros2/mrpt_map/README.md
+	// https://github.com/mrpt-ros-pkg/mrpt_navigation/blob/ros2/mrpt_map_server/README.md
 
 	// MAP FORMAT 2: "legacy" ROS1 grid maps:
 	// -------------------------------------------

mrpt_navigation/package.xml

@@ -18,7 +18,7 @@
 
   <depend>mrpt_pointcloud_pipeline</depend>
   <depend>mrpt_pf_localization</depend>
-  <depend>mrpt_map</depend>
+  <depend>mrpt_map_server</depend>
   <depend>mrpt_rawlog</depend>
   <depend>mrpt_reactivenav2d</depend>
   <depend>mrpt_tutorials</depend>

mrpt_pf_localization/README.md

@@ -85,7 +85,7 @@ Refer to node launch arguments for details.
 to start:
 
 * ``mrpt_pf_localization`` with the map to be received via a ROS topic,
-* ``mrpt_map`` server loading and publishing a gridmap as reference map via an ROS-styled ``map.yaml`` file,
+* ``mrpt_map_server`` server loading and publishing a gridmap as reference map via an ROS-styled ``map.yaml`` file,
 * ``rviz2`` for visualization,
 * ``mvsim`` to simulate a live robot that can be teleoperated.
 
@@ -146,7 +146,7 @@ This package provides [launch/localization.launch.py](launch/localization.launch
 which can be used in user projects to launch the MRPT PF localization node, by setting these [launch arguments](https://docs.ros.org/en/rolling/Tutorials/Intermediate/Launch/Using-Substitutions.html):
 
 * ``mrpt_map_config_file``: Path to an INI file with metric map (mrpt::maps::CMetricMap) parameters to override the incoming map `likelihoodOptions`. 
-  If this optional parameter is not provided, likelihood options will be taken from the map sent by the [mrpt_map](https://github.com/mrpt-ros-pkg/mrpt_navigation/tree/ros2/mrpt_map) node.
+  If this optional parameter is not provided, likelihood options will be taken from the map sent by the [mrpt_map_server](https://github.com/mrpt-ros-pkg/mrpt_navigation/tree/ros2/mrpt_map_server) node.
 * ``pf_params_file`` (Default: [params/default.config.yaml](params/default.config.yaml)): If defined, overrides the default
 particle filter algorithm. Note that probabilistic likelihood models for the metric maps are in an independent file (``mrpt_map_config_file``).
 

mrpt_tutorials/launch/demo_localization_pf_mvsim_2d_lidar.launch.py

@@ -29,7 +29,7 @@ def generate_launch_description():
 
     mrpt_map_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([os.path.join(
-            get_package_share_directory('mrpt_map'), 'launch',
+            get_package_share_directory('mrpt_map_server'), 'launch',
             'mrpt_map_server.launch.py')]),
         launch_arguments={
             'map_yaml_file': os.path.join(tutsDir, 'maps', 'demo_world2.yaml'),

mrpt_tutorials/launch/demo_map_server_gridmap_from_yaml.launch.py

@@ -19,7 +19,7 @@ def generate_launch_description():
 
     mrpt_map_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([os.path.join(
-            get_package_share_directory('mrpt_map'), 'launch',
+            get_package_share_directory('mrpt_map_server'), 'launch',
             'mrpt_map_server.launch.py')]),
         launch_arguments={
             'map_yaml_file': os.path.join(tutsDir, 'maps', 'demo_world2.yaml'),