Restructured ardupilot_ros

snktshrma · Jan 8, 2025 · 9bff9d3 · 9bff9d3
1 parent 5c7086e
commit 9bff9d3
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Showing 14 changed files with 14 additions and 14 deletions.
diff --git a/README.md → cartographer_ap/README.md b/README.md → cartographer_ap/README.md
@@ -39,7 +39,7 @@ Build it with colcon build:
 ```bash
 cd ~/ros2_ws
 source /opt/ros/humble/setup.bash
-colcon build --packages-up-to ardupilot_ros ardupilot_gz_bringup
+colcon build --packages-up-to cartographer_ap ardupilot_gz_bringup
 
 ```
 
@@ -60,7 +60,7 @@ In another terminal, with the world and copter in place, launch cartographer to
 ```bash
 cd ~/ros2_ws
 source install/setup.bash
-ros2 launch ardupilot_ros cartographer.launch.py
+ros2 launch cartographer_ap cartographer.launch.py
 ```
 
 If you'd like to get the information from Cartographer to go into Ardupilot's extended kalman filter, you will need to change some parameters. You can do that through any GCS, including mavproxy:
@@ -87,12 +87,12 @@ The joystick controller allows you to control ArduPilot through a ROS joy topic.
 ```bash
 cd ~/ros2_ws
 source install/setup.bash
-ros2 run ardupilot_ros joy_controller
+ros2 run cartographer_ap joy_controller
 ```
 
 Then run the controller using,
 
-`ros2 run ardupilot_ros joy_controller`
+`ros2 run cartographer_ap joy_controller`
 
 Now, using the keyboard keys you can control the drone.
 
@@ -112,15 +112,15 @@ Launch cartographer:
 ```bash
 cd ~/ros2_ws
 source install/setup.sh
-ros2 launch ardupilot_ros cartographer.launch.py rviz:=false
+ros2 launch cartographer_ap cartographer.launch.py rviz:=false
 ```
 
 Launch nav2:
 
 ```bash
 cd ~/ros2_ws
 source install/setup.sh
-ros2 launch ardupilot_ros navigation.launch.py
+ros2 launch cartographer_ap navigation.launch.py
 ```
 
 Takeoff the Copter using `mavproxy` to an altitude of 2.5m:

diff --git a/ardupilot_ros/__init__.py → cartographer_ap/cartographer_ap/__init__.py b/ardupilot_ros/__init__.py → cartographer_ap/cartographer_ap/__init__.py
diff --git a/ardupilot_ros/joy_controller.py → ...pher_ap/cartographer_ap/joy_controller.py b/ardupilot_ros/joy_controller.py → ...pher_ap/cartographer_ap/joy_controller.py
diff --git a/config/cartographer.lua → cartographer_ap/config/cartographer.lua b/config/cartographer.lua → cartographer_ap/config/cartographer.lua
diff --git a/config/navigation.yaml → cartographer_ap/config/navigation.yaml b/config/navigation.yaml → cartographer_ap/config/navigation.yaml
diff --git a/launch/cartographer.launch.py → ...ographer_ap/launch/cartographer.launch.py b/launch/cartographer.launch.py → ...ographer_ap/launch/cartographer.launch.py
@@ -23,7 +23,7 @@ def generate_launch_description():
         parameters=[{"use_sim_time": LaunchConfiguration("use_sim_time")}],
         arguments=[
             "-configuration_directory",
-            FindPackageShare("ardupilot_ros").find("ardupilot_ros") + "/config",
+            FindPackageShare("cartographer_ap").find("cartographer_ap") + "/config",
             "-configuration_basename",
             "cartographer.lua",
         ],
@@ -64,7 +64,7 @@ def generate_launch_description():
             "-d",
             str(
                 Path(
-                    FindPackageShare("ardupilot_ros").find("ardupilot_ros"),
+                    FindPackageShare("cartographer_ap").find("cartographer_ap"),
                     "rviz",
                     "cartographer.rviz",
                 )

diff --git a/launch/navigation.launch.py → cartographer_ap/launch/navigation.launch.py b/launch/navigation.launch.py → cartographer_ap/launch/navigation.launch.py
@@ -31,8 +31,8 @@ def generate_launch_description():
                 ),
                 launch_arguments={
                     "use_sim_time": "true",
-                    "params_file": FindPackageShare("ardupilot_ros").find(
-                        "ardupilot_ros"
+                    "params_file": FindPackageShare("cartographer_ap").find(
+                        "cartographer_ap"
                     )
                     + "/config"
                     + "/navigation.yaml",
@@ -76,7 +76,7 @@ def generate_launch_description():
             "-d",
             str(
                 Path(
-                    FindPackageShare("ardupilot_ros").find("ardupilot_ros"),
+                    FindPackageShare("cartographer_ap").find("cartographer_ap"),
                     "rviz",
                     "navigation.rviz",
                 )

diff --git a/launch/twist_stamper.launch.py → ...grapher_ap/launch/twist_stamper.launch.py b/launch/twist_stamper.launch.py → ...grapher_ap/launch/twist_stamper.launch.py
diff --git a/package.xml → cartographer_ap/package.xml b/package.xml → cartographer_ap/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>ardupilot_ros</name>
+  <name>cartographer_ap</name>
   <version>0.0.0</version>
   <description>The ardupilot ROS 2 use cases package</description>
   <maintainer email="pedrofuoco6@gmail.com">Pedro Fuoco</maintainer>

diff --git a/resource/ardupilot_ros → cartographer_ap/resource/cartographer_ap b/resource/ardupilot_ros → cartographer_ap/resource/cartographer_ap
diff --git a/rviz/cartographer.rviz → cartographer_ap/rviz/cartographer.rviz b/rviz/cartographer.rviz → cartographer_ap/rviz/cartographer.rviz
diff --git a/rviz/navigation.rviz → cartographer_ap/rviz/navigation.rviz b/rviz/navigation.rviz → cartographer_ap/rviz/navigation.rviz
diff --git a/setup.cfg → cartographer_ap/setup.cfg b/setup.cfg → cartographer_ap/setup.cfg
diff --git a/setup.py → cartographer_ap/setup.py b/setup.py → cartographer_ap/setup.py
@@ -2,7 +2,7 @@
 from glob import glob
 from setuptools import setup
 
-package_name = "ardupilot_ros"
+package_name = "cartographer_ap"
 
 setup(
     name=package_name,
@@ -36,6 +36,6 @@
     license="GPLv3+",
     tests_require=["pytest"],
     entry_points={
-        "console_scripts": ["joy_controller=ardupilot_ros.joy_controller:main"],
+        "console_scripts": ["joy_controller=cartographer_ap.joy_controller:main"],
     },
 )