Merge pull request #18 from ROBOTIS-GIT/master

merge for sync kinetic-devel and master branch

README.md

@@ -1,4 +1,4 @@
-## ROBOTIS OP3
+# ROBOTIS OP3
 <img src="https://github.com/ROBOTIS-GIT/emanual/blob/master/assets/images/platform/op3/default_op3.jpg" width="40%" />  
 
 ## ROS Packages for ROBOTIS OP3 Demo

op3_ball_detector/CMakeLists.txt

@@ -2,7 +2,7 @@
 # Set minimum required version of cmake, project name and compile options
 ################################################################################
 cmake_minimum_required(VERSION 2.8.3)
-project(ball_detector)
+project(op3_ball_detector)
 
 ################################################################################
 # Find catkin packages and libraries for catkin and system dependencies

op3_ball_detector/cfg/DetectorParams.cfg

@@ -1,5 +1,5 @@
 #!/usr/bin/env python
-PACKAGE='ball_detector'
+PACKAGE='op3_ball_detector'
 
 from dynamic_reconfigure.parameter_generator_catkin import *
 

op3_ball_detector/cfg/DetectorParamsBlue.cfg

@@ -1,5 +1,5 @@
 #!/usr/bin/env python
-PACKAGE='ball_detector'
+PACKAGE='op3_ball_detector'
 
 from dynamic_reconfigure.parameter_generator_catkin import *
 

op3_ball_detector/cfg/DetectorParamsRed.cfg

@@ -1,5 +1,5 @@
 #!/usr/bin/env python
-PACKAGE='ball_detector'
+PACKAGE='op3_ball_detector'
 
 from dynamic_reconfigure.parameter_generator_catkin import *
 

op3_ball_detector/include/op3_ball_detector/ball_detector.h

@@ -36,13 +36,12 @@
 #include <boost/thread.hpp>
 #include <yaml-cpp/yaml.h>
 
-#include "ball_detector/DetectorParamsConfig.h"
+#include "op3_ball_detector/ball_detector_config.h"
 
-#include "ball_detector/ball_detector_config.h"
-
-#include "ball_detector/CircleSetStamped.h"
-#include "ball_detector/GetParameters.h"
-#include "ball_detector/SetParameters.h"
+#include "op3_ball_detector/DetectorParamsConfig.h"
+#include "op3_ball_detector/CircleSetStamped.h"
+#include "op3_ball_detector/GetParameters.h"
+#include "op3_ball_detector/SetParameters.h"
 
 namespace robotis_op
 {
@@ -74,12 +73,12 @@ class BallDetector
   //callbacks to camera info subscription
   void cameraInfoCallback(const sensor_msgs::CameraInfo & msg);
 
-  void dynParamCallback(ball_detector::DetectorParamsConfig &config, uint32_t level);
+  void dynParamCallback(op3_ball_detector::DetectorParamsConfig &config, uint32_t level);
   void enableCallback(const std_msgs::Bool::ConstPtr &msg);
 
   void paramCommandCallback(const std_msgs::String::ConstPtr &msg);
-  bool setParamCallback(ball_detector::SetParameters::Request &req, ball_detector::SetParameters::Response &res);
-  bool getParamCallback(ball_detector::GetParameters::Request &req, ball_detector::GetParameters::Response &res);
+  bool setParamCallback(op3_ball_detector::SetParameters::Request &req, op3_ball_detector::SetParameters::Response &res);
+  bool getParamCallback(op3_ball_detector::GetParameters::Request &req, op3_ball_detector::GetParameters::Response &res);
   void resetParameter();
   void publishParam();
 
@@ -115,7 +114,7 @@ class BallDetector
   int not_found_count_;
 
   //circle set publisher
-  ball_detector::CircleSetStamped circles_msg_;
+  op3_ball_detector::CircleSetStamped circles_msg_;
   ros::Publisher circles_pub_;
 
   //camera info subscriber
@@ -157,8 +156,8 @@ class BallDetector
   cv::Mat in_image_;
   cv::Mat out_image_;
 
-  dynamic_reconfigure::Server<ball_detector::DetectorParamsConfig> param_server_;
-  dynamic_reconfigure::Server<ball_detector::DetectorParamsConfig>::CallbackType callback_fnc_;
+  dynamic_reconfigure::Server<op3_ball_detector::DetectorParamsConfig> param_server_;
+  dynamic_reconfigure::Server<op3_ball_detector::DetectorParamsConfig>::CallbackType callback_fnc_;
 };
 
 }       // namespace robotis_op

op3_ball_detector/launch/ball_detector.launch

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="config_path" default="$(find ball_detector)/config/ball_detector_params.yaml"/>
+  <arg name="config_path" default="$(find op3_ball_detector)/config/ball_detector_params.yaml"/>
     
   <!-- ball detector -->
-  <node pkg="ball_detector" type="ball_detector_node" name="ball_detector_node" args="" output="screen">
+  <node pkg="op3_ball_detector" type="ball_detector_node" name="ball_detector_node" args="" output="screen">
     <rosparam command="load" file="$(arg config_path)"/>  
     <param name="yaml_path" type="string" value="$(arg config_path)"/>
     <remap from="/ball_detector_node/image_in" to="/usb_cam_node/image_raw" />

op3_ball_detector/launch/ball_detector_from_usb_cam.launch

@@ -23,5 +23,5 @@
   </node>
 
   <!-- ball detector -->
-  <include file="$(find ball_detector)/launch/ball_detector.launch" />
+  <include file="$(find op3_ball_detector)/launch/ball_detector.launch" />
 </launch>

op3_ball_detector/launch/ball_detector_from_uvc.launch

@@ -25,6 +25,6 @@
     <!-- <param name="white_balance_temperature" value="2800" /> -->       
     
   <!-- ball detector -->
-  <include file="$(find ball_detector)/launch/ball_detector.launch" />
+  <include file="$(find op3_ball_detector)/launch/ball_detector.launch" />
 </launch>
 

op3_ball_detector/package.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>ball_detector</name>
+  <name>op3_ball_detector</name>
   <version>0.1.0</version>
   <description>
     This package implements a circle-like shape detector of the input image.

op3_ball_detector/src/ball_detector.cpp

@@ -18,7 +18,7 @@
 
 #include <fstream>
 
-#include "ball_detector/ball_detector.h"
+#include "op3_ball_detector/ball_detector.h"
 
 namespace robotis_op
 {
@@ -71,7 +71,7 @@ BallDetector::BallDetector()
 
   //sets publishers
   image_pub_ = it_.advertise("image_out", 100);
-  circles_pub_ = nh_.advertise<ball_detector::CircleSetStamped>("circle_set", 100);
+  circles_pub_ = nh_.advertise<op3_ball_detector::CircleSetStamped>("circle_set", 100);
   camera_info_pub_ = nh_.advertise<sensor_msgs::CameraInfo>("camera_info", 100);
 
   //sets subscribers
@@ -87,7 +87,7 @@ BallDetector::BallDetector()
   param_server_.setCallback(callback_fnc_);
 
   // web setting
-  param_pub_ = nh_.advertise<ball_detector::BallDetectorParams>("current_params", 1);
+  param_pub_ = nh_.advertise<op3_ball_detector::BallDetectorParams>("current_params", 1);
   param_command_sub_ = nh_.subscribe("param_command", 1, &BallDetector::paramCommandCallback, this);
   set_param_client_ = nh_.advertiseService("set_param", &BallDetector::setParamCallback, this);
   get_param_client_ = nh_.advertiseService("get_param", &BallDetector::getParamCallback, this);
@@ -233,7 +233,7 @@ void BallDetector::imageCallback(const sensor_msgs::ImageConstPtr & msg)
   return;
 }
 
-void BallDetector::dynParamCallback(ball_detector::DetectorParamsConfig &config, uint32_t level)
+void BallDetector::dynParamCallback(op3_ball_detector::DetectorParamsConfig &config, uint32_t level)
 {
   params_config_.gaussian_blur_size = config.gaussian_blur_size;
   params_config_.gaussian_blur_sigma = config.gaussian_blur_sigma;
@@ -296,7 +296,7 @@ void BallDetector::paramCommandCallback(const std_msgs::String::ConstPtr &msg)
   }
 }
 
-bool BallDetector::setParamCallback(ball_detector::SetParameters::Request &req, ball_detector::SetParameters::Response &res)
+bool BallDetector::setParamCallback(op3_ball_detector::SetParameters::Request &req, op3_ball_detector::SetParameters::Response &res)
 {
   params_config_.gaussian_blur_size = req.params.gaussian_blur_size;
   params_config_.gaussian_blur_sigma = req.params.gaussian_blur_sigma;
@@ -321,7 +321,7 @@ bool BallDetector::setParamCallback(ball_detector::SetParameters::Request &req,
   return true;
 }
 
-bool BallDetector:: getParamCallback(ball_detector::GetParameters::Request &req, ball_detector::GetParameters::Response &res)
+bool BallDetector:: getParamCallback(op3_ball_detector::GetParameters::Request &req, op3_ball_detector::GetParameters::Response &res)
 {
   res.returns.gaussian_blur_size = params_config_.gaussian_blur_size;
   res.returns.gaussian_blur_sigma = params_config_.gaussian_blur_sigma;
@@ -396,7 +396,7 @@ void BallDetector::resetParameter()
 
 void BallDetector::publishParam()
 {
-  ball_detector::BallDetectorParams params;
+  op3_ball_detector::BallDetectorParams params;
 
   params.gaussian_blur_size = params_config_.gaussian_blur_size;
   params.gaussian_blur_sigma = params_config_.gaussian_blur_sigma;

op3_ball_detector/src/ball_detector_node.cpp

@@ -16,7 +16,7 @@
 
 /* Author: Kayman Jung */
 
-#include "ball_detector/ball_detector.h"
+#include "op3_ball_detector/ball_detector.h"
 
 //node main
 int main(int argc, char **argv)

op3_bringup/CMakeLists.txt

@@ -0,0 +1,42 @@
+################################################################################
+# Set minimum required version of cmake, project name and compile options
+################################################################################
+cmake_minimum_required(VERSION 2.8.3)
+project(op3_bringup)
+
+################################################################################
+# Find catkin packages and libraries for catkin and system dependencies
+################################################################################
+find_package(catkin REQUIRED)
+
+################################################################################
+# Setup for python modules and scripts
+################################################################################
+
+################################################################################
+# Declare ROS messages, services and actions
+################################################################################
+
+################################################################################
+# Declare ROS dynamic reconfigure parameters
+################################################################################
+
+################################################################################
+# Declare catkin specific configuration to be passed to dependent projects
+################################################################################
+catkin_package()
+
+################################################################################
+# Build
+################################################################################
+
+################################################################################
+# Install
+################################################################################
+install(DIRECTORY launch rviz
+	DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+################################################################################
+# Test
+################################################################################

op3_bringup/launch/op3_bringup.launch

@@ -0,0 +1,15 @@
+<?xml version="1.0" ?>
+<launch>        
+  <!-- OP3 Manager -->
+  <include file="$(find op3_manager)/launch/op3_manager.launch" />	
+	
+  <!-- UVC camera -->
+  <node pkg="usb_cam" type="usb_cam_node" name="usb_cam_node" output="screen">
+    <param name="video_device" type="string" value="/dev/video0" />
+    <param name="image_width" type="int" value="1280" />
+    <param name="image_height" type="int" value="720" />
+    <param name="framerate " type="int" value="30" />
+    <param name="camera_frame_id" type="string" value="cam_link" />
+    <param name="camera_name" type="string" value="camera" />
+  </node>
+</launch>

op3_bringup/launch/op3_bringup_visualization.launch

@@ -0,0 +1,18 @@
+<?xml version="1.0" ?>
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find op3_description)/urdf/robotis_op3.urdf.xacro'"/>
+
+  <!-- Send fake joint values and monitoring present joint angle -->
+  <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
+    <param name="use_gui" value="TRUE"/>
+    <rosparam param="/source_list">[/robotis/present_joint_states]</rosparam>
+  </node>
+
+  <!-- Combine joint values -->
+  <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
+    <remap from="/joint_states" to="/robotis/present_joint_states" />
+  </node>
+
+  <!-- Show in Rviz   -->
+  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find op3_bringup)/rviz/op3_bringup.rviz"/>
+</launch>

op3_bringup/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>op3_bringup</name>
+  <version>0.0.1</version>
+  <description>
+    This package is a demo for first time users.
+    There is an example in the demo where you can run and visualize the robot.
+  </description>
+  <license>Apache 2.0</license>
+  <author email="kmjung@robotis.com">Kayman</author>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
+  <url type="website">http://wiki.ros.org/op3_bringup</url>
+  <url type="emanual">http://emanual.robotis.com/docs/en/platform/op3/introduction/</url>
+  <url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo</url>
+  <url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo/issues</url>
+  <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>op3_manager</exec_depend>
+  <exec_depend>usb_cam</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz</exec_depend>  
+</package>

op3_bringup/rviz/op3_bringup.rviz

@@ -0,0 +1,357 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /TF1
+      Splitter Ratio: 0.5
+    Tree Height: 352
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Image
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        body_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        cam_gazebo_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        cam_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        head_pan_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        head_tilt_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_ank_pitch_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_ank_roll_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_el_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_hip_pitch_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_hip_roll_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_hip_yaw_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_knee_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_sho_pitch_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        l_sho_roll_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_ank_pitch_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_ank_roll_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_el_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_hip_pitch_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_hip_roll_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_hip_yaw_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_knee_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_sho_pitch_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        r_sho_roll_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /usb_cam_node/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        body_link:
+          Value: true
+        cam_gazebo_link:
+          Value: true
+        cam_link:
+          Value: true
+        head_pan_link:
+          Value: true
+        head_tilt_link:
+          Value: true
+        l_ank_pitch_link:
+          Value: true
+        l_ank_roll_link:
+          Value: true
+        l_el_link:
+          Value: true
+        l_hip_pitch_link:
+          Value: true
+        l_hip_roll_link:
+          Value: true
+        l_hip_yaw_link:
+          Value: true
+        l_knee_link:
+          Value: true
+        l_sho_pitch_link:
+          Value: true
+        l_sho_roll_link:
+          Value: true
+        r_ank_pitch_link:
+          Value: true
+        r_ank_roll_link:
+          Value: true
+        r_el_link:
+          Value: true
+        r_hip_pitch_link:
+          Value: true
+        r_hip_roll_link:
+          Value: true
+        r_hip_yaw_link:
+          Value: true
+        r_knee_link:
+          Value: true
+        r_sho_pitch_link:
+          Value: true
+        r_sho_roll_link:
+          Value: true
+        world:
+          Value: true
+      Marker Scale: 0.200000003
+      Name: TF
+      Show Arrows: false
+      Show Axes: true
+      Show Names: false
+      Tree:
+        world:
+          body_link:
+            head_pan_link:
+              head_tilt_link:
+                cam_gazebo_link:
+                  {}
+                cam_link:
+                  {}
+            l_hip_yaw_link:
+              l_hip_roll_link:
+                l_hip_pitch_link:
+                  l_knee_link:
+                    l_ank_pitch_link:
+                      l_ank_roll_link:
+                        {}
+            l_sho_pitch_link:
+              l_sho_roll_link:
+                l_el_link:
+                  {}
+            r_hip_yaw_link:
+              r_hip_roll_link:
+                r_hip_pitch_link:
+                  r_knee_link:
+                    r_ank_pitch_link:
+                      r_ank_roll_link:
+                        {}
+            r_sho_pitch_link:
+              r_sho_roll_link:
+                r_el_link:
+                  {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 0.200000003
+      Class: rviz_plugin_tutorials/Imu
+      Color: 204; 51; 204
+      Enabled: true
+      History Length: 1
+      Name: Imu
+      Topic: /robotis/open_cr/imu
+      Unreliable: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: body_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 2.32116389
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.275397927
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 5.68858385
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1023
+  Hide Left Dock: false
+  Hide Right Dock: true
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000023300000358fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006600fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000043000001f1000000df00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000023a000001610000001800ffffff000000010000010f00000358fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000004300000358000000b800fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000022400fffffffb0000000800540069006d00650100000000000004500000000000000000000005470000035800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1920
+  X: 0
+  Y: 0

op3_demo/CMakeLists.txt

@@ -18,7 +18,7 @@ find_package(catkin REQUIRED COMPONENTS
   op3_action_module_msgs
   cmake_modules
   robotis_math
-  ball_detector
+  op3_ball_detector
 )
 
 find_package(Boost REQUIRED COMPONENTS thread)
@@ -71,7 +71,7 @@ catkin_package(
     op3_action_module_msgs
     cmake_modules
     robotis_math
-    ball_detector
+    op3_ball_detector
   DEPENDS Boost EIGEN3
 )
 

op3_demo/include/op3_demo/ball_follower.h

@@ -29,7 +29,7 @@
 #include <yaml-cpp/yaml.h>
 
 #include "robotis_controller_msgs/JointCtrlModule.h"
-#include "ball_detector/CircleSetStamped.h"
+#include "op3_ball_detector/CircleSetStamped.h"
 #include "op3_walking_module_msgs/WalkingParam.h"
 #include "op3_walking_module_msgs/GetWalkingParam.h"
 

op3_demo/include/op3_demo/ball_tracker.h

@@ -29,7 +29,7 @@
 #include <yaml-cpp/yaml.h>
 
 #include "robotis_controller_msgs/JointCtrlModule.h"
-#include "ball_detector/CircleSetStamped.h"
+#include "op3_ball_detector/CircleSetStamped.h"
 #include "op3_walking_module_msgs/WalkingParam.h"
 #include "op3_walking_module_msgs/GetWalkingParam.h"
 
@@ -79,7 +79,7 @@ protected:
   const int WAITING_THRESHOLD;
   const bool DEBUG_PRINT;
 
-  void ballPositionCallback(const ball_detector::CircleSetStamped::ConstPtr &msg);
+  void ballPositionCallback(const op3_ball_detector::CircleSetStamped::ConstPtr &msg);
   void ballTrackerCommandCallback(const std_msgs::String::ConstPtr &msg);
   void publishHeadJoint(double pan, double tilt);
   void scanBall();

op3_demo/launch/demo.launch

@@ -4,7 +4,7 @@
     <include file="$(find op3_manager)/launch/op3_manager.launch"/>
 
     <!-- Camera and Ball detector -->
-    <include file="$(find ball_detector)/launch/ball_detector_from_usb_cam.launch"/> 
+    <include file="$(find op3_ball_detector)/launch/ball_detector_from_usb_cam.launch"/> 
    
     <!-- face tracking -->
     <include file="$(find op3_demo)/launch/face_detection_op3.launch" />

op3_demo/launch/self_test.launch

@@ -5,7 +5,7 @@
   <include file="$(find op3_manager)/launch/op3_manager.launch"/> 
 
   <!-- Camera and Ball detector -->
-  <include file="$(find ball_detector)/launch/ball_detector_from_usb_cam.launch"/> 
+  <include file="$(find op3_ball_detector)/launch/ball_detector_from_usb_cam.launch"/> 
    
   <!-- face tracking -->
   <include file="$(find op3_demo)/launch/face_detection_op3.launch" />

op3_demo/package.xml

@@ -24,7 +24,7 @@
   <depend>op3_action_module_msgs</depend>
   <depend>cmake_modules</depend>
   <depend>robotis_math</depend>
-  <depend>ball_detector</depend>
+  <depend>op3_ball_detector</depend>
   <depend>boost</depend>
   <depend>eigen</depend>
   <depend>yaml-cpp</depend>

op3_demo/src/soccer/ball_tracker.cpp

@@ -59,7 +59,7 @@ BallTracker::~BallTracker()
 
 }
 
-void BallTracker::ballPositionCallback(const ball_detector::CircleSetStamped::ConstPtr &msg)
+void BallTracker::ballPositionCallback(const op3_ball_detector::CircleSetStamped::ConstPtr &msg)
 {
   for (int idx = 0; idx < msg->circles.size(); idx++)
   {

robotis_op3_demo/package.xml

@@ -13,7 +13,7 @@
   <url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo</url>
   <url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo/issues</url>
   <buildtool_depend>catkin</buildtool_depend>    
-  <exec_depend>ball_detector</exec_depend>
+  <exec_depend>op3_ball_detector</exec_depend>
   <exec_depend>op3_demo</exec_depend>
   <export><metapackage/></export>
 </package>