Merge pull request #3 from snt-arg/refact/reasonin_repos_renaming

Refact/reasonin repos renaming
snt-arg · May 10, 2024 · 60c7941 · 60c7941
2 parents f2ffbf2 + 70c44bd
commit 60c7941
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Showing 22 changed files with 97 additions and 110 deletions.
diff --git a/.gitmodules b/.gitmodules
@@ -9,27 +9,23 @@
 	path = utils/ndt_omp
 	url = https://github.com/koide3/ndt_omp.git
 	branch = master
-[submodule "utils/reasoning/graph_reasoning"]
-	path = utils/reasoning/graph_reasoning
-	url = https://github.com/snt-arg/graph_reasoning.git
-	branch = develop
-[submodule "utils/reasoning/graph_wrapper"]
-	path = utils/reasoning/graph_wrapper
-	url = https://github.com/snt-arg/graph_wrapper.git
-	branch = develop
-[submodule "utils/reasoning/graph_datasets"]
-	path = utils/reasoning/graph_datasets
-	url = https://github.com/snt-arg/graph_datasets.git
-	branch = develop
-[submodule "utils/reasoning/graph_matching"]
-	path = utils/reasoning/graph_matching
-	url = https://github.com/snt-arg/graph_matching.git
-	branch = develop
-[submodule "utils/msgs/reasoning_msgs"]
-	path = utils/msgs/reasoning_msgs
-	url = https://github.com/snt-arg/reasoning_msgs.git
-	branch = main
 [submodule "utils/msgs/s_graphs_msgs"]
 	path = utils/msgs/s_graphs_msgs
 	url = https://github.com/snt-arg/s_graphs_msgs.git
 	branch = main
+[submodule "utils/reasoning/situational_graphs_reasoning"]
+	path = utils/reasoning/situational_graphs_reasoning
+	url = https://github.com/snt-arg/situational_graphs_reasoning.git
+	branch = develop
+[submodule "utils/reasoning/situational_graphs_wrapper"]
+	path = utils/reasoning/situational_graphs_wrapper
+	url = https://github.com/snt-arg/situational_graphs_wrapper.git
+	branch = develop
+[submodule "utils/reasoning/situational_graphs_datasets"]
+	path = utils/reasoning/situational_graphs_datasets
+	url = https://github.com/snt-arg/situational_graphs_datasets.git
+	branch = develop
+[submodule "utils/msgs/situational_graphs_reasoning_msgs"]
+	path = utils/msgs/situational_graphs_reasoning_msgs
+	url = https://github.com/snt-arg/situational_graphs_reasoning_msgs.git
+	branch = main
diff --git a/.rosinstall_ros2 b/.rosinstall_ros2
@@ -7,27 +7,19 @@ repositories:
     type: git
     url: https://github.com/koide3/ndt_omp.git
     version: master
-  s_graphs_utils/reasoning/graph_reasoning:
+  s_graphs_utils/reasoning/situational_graphs_reasoning:
     type: git
-    url: https://github.com/snt-arg/graph_reasoning.git
+    url: https://github.com/snt-arg/situational_graphs_reasoning.git
     version: complete_gnn_architecture
-  s_graphs_utils/reasoning/graph_wrapper:
+  s_graphs_utils/reasoning/situational_graphs_datasets:
     type: git
-    url: https://github.com/snt-arg/graph_wrapper.git
-    version: develop
-  s_graphs_utils/reasoning/graph_datasets:
-    type: git
-    url: https://github.com/snt-arg/graph_datasets.git
+    url: https://github.com/snt-arg/situational_graphs_datasets.git
     version: graph_reasoning
-  s_graphs_utils/reasoning/graph_matching:
-    type: git
-    url: https://github.com/snt-arg/graph_matching.git
-    version: develop  
-  s_graphs_utils/msgs/reasoning_msgs:
+  s_graphs_utils/msgs/situational_graphs_reasoning_msgs:
     type: git
-    url: https://github.com/snt-arg/reasoning_msgs.git
+    url: https://github.com/snt-arg/situational_graphs_reasoning_msgs.git
     version: main
   s_graphs_utils/msgs/s_graphs_msgs:
     type: git
     url: https://github.com/snt-arg/s_graphs_msgs.git
-    version: main  
+    version: main  
diff --git a/.virtual_mprocs.yaml b/.virtual_mprocs.yaml
@@ -1,11 +1,11 @@
 procs:
   rosbag:
-    shell: 'bash -c "source ~/workspaces/s_graphs/install/setup.bash && ros2 bag play ~/Downloads/virtual/stugalux_oetrange_f2_3r.db3"'
+    shell: 'bash -c "sleep 1 && source ~/workspaces/s_graphs/install/setup.bash && ros2 bag play ~/Downloads/virtual/stugalux_oetrange_f2_3r.db3"'
     autostart: true
     stop: SIGINT
   s_graphs:
     shell: 'bash -c "source ~/workspaces/s_graphs/install/setup.bash && ros2 launch s_graphs s_graphs_launch.py compute_odom:=true env:=sim"'
     autostart: true
   rviz:
     shell: 'bash -c "source ~/workspaces/s_graphs/install/setup.bash && rviz2 -d ~/workspaces/s_graphs/s_graphs/rviz/s_graphs_ros2.rviz"'
-    autostart: true
+    autostart: true
diff --git a/s_graphs/CMakeLists.txt b/s_graphs/CMakeLists.txt
@@ -41,7 +41,7 @@ find_package(tf2_ros REQUIRED)
 find_package(tf2_eigen REQUIRED)
 find_package(message_filters REQUIRED)
 find_package(geographic_msgs REQUIRED)
-find_package(reasoning_msgs REQUIRED)
+find_package(situational_graphs_reasoning_msgs REQUIRED)
 find_package(backward_ros REQUIRED)
 find_package(rviz_visual_tools REQUIRED)
 find_package(s_graphs_msgs REQUIRED)
@@ -92,7 +92,7 @@ set(DEPENDENCIES
     tf2_ros
     tf2_eigen
     pcl_ros
-    reasoning_msgs
+    situational_graphs_reasoning_msgs
     visualization_msgs
     message_filters
     geographic_msgs

diff --git a/s_graphs/apps/s_graphs_node.cpp b/s_graphs/apps/s_graphs_node.cpp
@@ -286,7 +286,7 @@ class SGraphsNode : public rclcpp::Node {
         "s_graphs/all_map_planes", 1, pub_opt);
     read_until_pub = this->create_publisher<std_msgs::msg::Header>(
         "s_graphs/read_until", 32, pub_opt);
-    graph_pub = this->create_publisher<reasoning_msgs::msg::Graph>(
+    graph_pub = this->create_publisher<situational_graphs_reasoning_msgs::msg::Graph>(
         "s_graphs/graph_structure", 32, pub_opt);
 
     dump_service_server = this->create_service<s_graphs_msgs::srv::DumpGraph>(
@@ -1787,7 +1787,7 @@ class SGraphsNode : public rclcpp::Node {
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr map_points_pub;
   rclcpp::Publisher<s_graphs_msgs::msg::PlanesData>::SharedPtr map_planes_pub;
   rclcpp::Publisher<s_graphs_msgs::msg::PlanesData>::SharedPtr all_map_planes_pub;
-  rclcpp::Publisher<reasoning_msgs::msg::Graph>::SharedPtr graph_pub;
+  rclcpp::Publisher<situational_graphs_reasoning_msgs::msg::Graph>::SharedPtr graph_pub;
 
   std::shared_ptr<tf2_ros::TransformListener> tf_listener{nullptr};
   std::unique_ptr<tf2_ros::Buffer> tf_buffer;

diff --git a/s_graphs/include/s_graphs/common/room_utils.hpp b/s_graphs/include/s_graphs/common/room_utils.hpp
@@ -64,12 +64,12 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 #include <unordered_map>
 
 #include "geometry_msgs/msg/point.hpp"
-#include "reasoning_msgs/msg/attribute.hpp"
-#include "reasoning_msgs/msg/edge.hpp"
-#include "reasoning_msgs/msg/graph.hpp"
-#include "reasoning_msgs/msg/graph_keyframes.hpp"
-#include "reasoning_msgs/msg/node.hpp"
-#include "reasoning_msgs/msg/room_keyframe.hpp"
+#include "situational_graphs_reasoning_msgs/msg/attribute.hpp"
+#include "situational_graphs_reasoning_msgs/msg/edge.hpp"
+#include "situational_graphs_reasoning_msgs/msg/graph.hpp"
+#include "situational_graphs_reasoning_msgs/msg/graph_keyframes.hpp"
+#include "situational_graphs_reasoning_msgs/msg/node.hpp"
+#include "situational_graphs_reasoning_msgs/msg/room_keyframe.hpp"
 #include "s_graphs_msgs/msg/plane_data.hpp"
 #include "s_graphs_msgs/msg/planes_data.hpp"
 #include "s_graphs_msgs/msg/room_data.hpp"
@@ -318,10 +318,10 @@ class RoomsKeyframeGenerator : public s_graphs::Rooms {
   const std::map<int, s_graphs::KeyFrame::Ptr>* keyframes_;
 };
 
-reasoning_msgs::msg::RoomKeyframe convertExtendedRoomToRosMsg(
+situational_graphs_reasoning_msgs::msg::RoomKeyframe convertExtendedRoomToRosMsg(
     const ExtendedRooms& room);
 
 ExtendedRooms obtainExtendedRoomFromRosMsg(
-    const reasoning_msgs::msg::RoomKeyframe& msg);
+    const situational_graphs_reasoning_msgs::msg::RoomKeyframe& msg);
 
 #endif
diff --git a/s_graphs/include/s_graphs/common/ros_utils.hpp b/s_graphs/include/s_graphs/common/ros_utils.hpp
@@ -41,7 +41,7 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 #include "geometry_msgs/msg/pose.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "geometry_msgs/msg/transform_stamped.hpp"
-#include "reasoning_msgs/msg/keyframe.hpp"
+#include "situational_graphs_reasoning_msgs/msg/keyframe.hpp"
 #include "nav_msgs/msg/odometry.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "s_graphs/common/keyframe.hpp"
@@ -110,15 +110,15 @@ Eigen::Isometry3d odom2isometry(const nav_msgs::msg::Odometry::SharedPtr& odom_m
  * @param
  * @return
  */
-KeyFrame ROS2Keyframe(const reasoning_msgs::msg::Keyframe& msg);
+KeyFrame ROS2Keyframe(const situational_graphs_reasoning_msgs::msg::Keyframe& msg);
 
 /**
  * @brief
  *
  * @param
  * @return
  */
-reasoning_msgs::msg::Keyframe Keyframe2ROS(const KeyFrame& keyframe);
+situational_graphs_reasoning_msgs::msg::Keyframe Keyframe2ROS(const KeyFrame& keyframe);
 
 }  // namespace s_graphs
 #endif  // ROS_UTILS_HPP
diff --git a/s_graphs/include/s_graphs/visualization/graph_publisher.hpp b/s_graphs/include/s_graphs/visualization/graph_publisher.hpp
@@ -79,11 +79,11 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 #include <unordered_map>
 
 #include "geometry_msgs/msg/point.hpp"
-#include "reasoning_msgs/msg/attribute.hpp"
-#include "reasoning_msgs/msg/edge.hpp"
-#include "reasoning_msgs/msg/graph.hpp"
-#include "reasoning_msgs/msg/graph_keyframes.hpp"
-#include "reasoning_msgs/msg/node.hpp"
+#include "situational_graphs_reasoning_msgs/msg/attribute.hpp"
+#include "situational_graphs_reasoning_msgs/msg/edge.hpp"
+#include "situational_graphs_reasoning_msgs/msg/graph.hpp"
+#include "situational_graphs_reasoning_msgs/msg/graph_keyframes.hpp"
+#include "situational_graphs_reasoning_msgs/msg/node.hpp"
 #include "pcl_ros/transforms.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "s_graphs/common/room_utils.hpp"
@@ -101,7 +101,7 @@ class GraphPublisher {
   ~GraphPublisher();
 
  public:
-  reasoning_msgs::msg::Graph publish_graph(
+  situational_graphs_reasoning_msgs::msg::Graph publish_graph(
       const g2o::SparseOptimizer* local_graph,
       std::string graph_type,
       const std::vector<s_graphs::VerticalPlanes>& x_vert_planes_prior,
@@ -113,7 +113,7 @@ class GraphPublisher {
       const std::vector<s_graphs::InfiniteRooms>& x_infinite_rooms,
       const std::vector<s_graphs::InfiniteRooms>& y_infinite_rooms);
 
-  reasoning_msgs::msg::GraphKeyframes publish_graph_keyframes(
+  situational_graphs_reasoning_msgs::msg::GraphKeyframes publish_graph_keyframes(
       const g2o::SparseOptimizer* local_graph,
       const std::vector<s_graphs::KeyFrame::Ptr>& keyframes);
 

diff --git a/s_graphs/launch/s_graphs_launch.py b/s_graphs/launch/s_graphs_launch.py
@@ -37,8 +37,8 @@ def generate_launch_description():
     )
 
 def launch_reasoning():
-    reasoning_dir = get_package_share_directory('graph_reasoning')
-    reasoning_launch_file = os.path.join(reasoning_dir, "launch", "graph_reasoning.launch.py")
+    reasoning_dir = get_package_share_directory('situational_graphs_reasoning')
+    reasoning_launch_file = os.path.join(reasoning_dir, "launch", "situational_graphs_reasoning.launch.py")
     reasoning_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(reasoning_launch_file))    
 

diff --git a/s_graphs/package.xml b/s_graphs/package.xml
@@ -31,9 +31,9 @@
   <depend>backward_ros</depend>
   <depend>rviz_visual_tools</depend>
   <depend>libceres-dev</depend>
-  <depend>graph_reasoning</depend>
   <depend>s_graphs_msgs</depend>
-  <depend>reasoning_msgs</depend>
+  <depend>situational_graphs_reasoning</depend>
+  <depend>situational_graphs_reasoning_msgs</depend>
 
   <depend>ament_cmake_gtest</depend>
 

diff --git a/s_graphs/src/s_graphs/common/room_utils.cpp b/s_graphs/src/s_graphs/common/room_utils.cpp
@@ -283,9 +283,9 @@ bool is_keyframe_inside_room(
   return false;
 }
 
-reasoning_msgs::msg::RoomKeyframe convertExtendedRoomToRosMsg(
+situational_graphs_reasoning_msgs::msg::RoomKeyframe convertExtendedRoomToRosMsg(
     const ExtendedRooms& room) {
-  reasoning_msgs::msg::RoomKeyframe msg;
+  situational_graphs_reasoning_msgs::msg::RoomKeyframe msg;
   msg.header.frame_id = "room";
   msg.id = room.id;
   pcl::toROSMsg(*room.cloud, msg.pointcloud);
@@ -302,7 +302,7 @@ reasoning_msgs::msg::RoomKeyframe convertExtendedRoomToRosMsg(
 }
 
 ExtendedRooms obtainExtendedRoomFromRosMsg(
-    const reasoning_msgs::msg::RoomKeyframe& msg) {
+    const situational_graphs_reasoning_msgs::msg::RoomKeyframe& msg) {
   ExtendedRooms room;
   room.id = msg.id;
   pcl::fromROSMsg(msg.pointcloud, *room.cloud);

diff --git a/s_graphs/src/s_graphs/common/ros_utils.cpp b/s_graphs/src/s_graphs/common/ros_utils.cpp
@@ -146,7 +146,7 @@ Eigen::Isometry3d odom2isometry(const nav_msgs::msg::Odometry::SharedPtr& odom_m
   return isometry;
 }
 
-KeyFrame ROS2Keyframe(const reasoning_msgs::msg::Keyframe& msg) {
+KeyFrame ROS2Keyframe(const situational_graphs_reasoning_msgs::msg::Keyframe& msg) {
   pcl::PointCloud<KeyFrame::PointT>::Ptr cloud =
       pcl::PointCloud<KeyFrame::PointT>::Ptr();
   pcl::fromROSMsg(msg.pointcloud, *cloud);
@@ -160,9 +160,9 @@ KeyFrame ROS2Keyframe(const reasoning_msgs::msg::Keyframe& msg) {
   return keyframe;
 }
 
-reasoning_msgs::msg::Keyframe Keyframe2ROS(const KeyFrame& keyframe) {
+situational_graphs_reasoning_msgs::msg::Keyframe Keyframe2ROS(const KeyFrame& keyframe) {
   // TODO: add_accumulated_distance
-  reasoning_msgs::msg::Keyframe msg;
+  situational_graphs_reasoning_msgs::msg::Keyframe msg;
   msg.id = keyframe.id();
   msg.header.stamp = keyframe.stamp;
   msg.pose = isometry2pose(keyframe.estimate());