update turtlesim_msgs (ros2#4562)

Signed-off-by: Alejandro Hernández Cordero <[email protected]>

Author: ahcorde

source/Tutorials/Advanced/Reading-From-A-Bag-File-CPP.rst

@@ -75,7 +75,7 @@ Inside your package's ``src`` directory, create a new file called ``simple_bag_r
     #include "rclcpp/rclcpp.hpp"
     #include "rclcpp/serialization.hpp"
     #include "rosbag2_transport/reader_writer_factory.hpp"
-    #include "turtlesim/msg/pose.hpp"
+    #include "turtlesim_msgs/msg/pose.hpp"
 
     using namespace std::chrono_literals;
 
@@ -85,7 +85,7 @@ Inside your package's ``src`` directory, create a new file called ``simple_bag_r
         PlaybackNode(const std::string & bag_filename)
         : Node("playback_node")
         {
-          publisher_ = this->create_publisher<turtlesim::msg::Pose>("/turtle1/pose", 10);
+          publisher_ = this->create_publisher<turtlesim_msgs::msg::Pose>("/turtle1/pose", 10);
 
           timer_ = this->create_wall_timer(100ms,
               [this](){return this->timer_callback();}
@@ -108,7 +108,7 @@ Inside your package's ``src`` directory, create a new file called ``simple_bag_r
             }
 
             rclcpp::SerializedMessage serialized_msg(*msg->serialized_data);
-            turtlesim::msg::Pose::SharedPtr ros_msg = std::make_shared<turtlesim::msg::Pose>();
+            turtlesim_msgs::msg::Pose::SharedPtr ros_msg = std::make_shared<turtlesim_msgs::msg::Pose>();
 
             serialization_.deserialize_message(&serialized_msg, ros_msg.get());
 
@@ -120,9 +120,9 @@ Inside your package's ``src`` directory, create a new file called ``simple_bag_r
         }
 
         rclcpp::TimerBase::SharedPtr timer_;
-        rclcpp::Publisher<turtlesim::msg::Pose>::SharedPtr publisher_;
+        rclcpp::Publisher<turtlesim_msgs::msg::Pose>::SharedPtr publisher_;
 
-        rclcpp::Serialization<turtlesim::msg::Pose> serialization_;
+        rclcpp::Serialization<turtlesim_msgs::msg::Pose> serialization_;
         std::unique_ptr<rosbag2_cpp::Reader> reader_;
     };
 
@@ -162,7 +162,7 @@ Note the constructor takes a path to the bag file as a parameter.
       PlaybackNode(const std::string & bag_filename)
       : Node("playback_node")
       {
-        publisher_ = this->create_publisher<turtlesim::msg::Pose>("/turtle1/pose", 10);
+        publisher_ = this->create_publisher<turtlesim_msgs::msg::Pose>("/turtle1/pose", 10);
 
         timer_ = this->create_wall_timer(100ms,
           [this](){return this->timer_callback();}
@@ -199,7 +199,7 @@ Then, we can pass both these objects to the ``rclcpp::Serialization::deserialize
 .. code-block:: C++
 
     rclcpp::SerializedMessage serialized_msg(*msg->serialized_data);
-    turtlesim::msg::Pose::SharedPtr ros_msg = std::make_shared<turtlesim::msg::Pose>();
+    turtlesim_msgs::msg::Pose::SharedPtr ros_msg = std::make_shared<turtlesim_msgs::msg::Pose>();
 
     serialization_.deserialize_message(&serialized_msg, ros_msg.get());
 
@@ -219,9 +219,9 @@ We must also declare the private variables used throughout the node.
 .. code-block:: C++
 
       rclcpp::TimerBase::SharedPtr timer_;
-      rclcpp::Publisher<turtlesim::msg::Pose>::SharedPtr publisher_;
+      rclcpp::Publisher<turtlesim_msgs::msg::Pose>::SharedPtr publisher_;
 
-      rclcpp::Serialization<turtlesim::msg::Pose> serialization_;
+      rclcpp::Serialization<turtlesim_msgs::msg::Pose> serialization_;
       std::unique_ptr<rosbag2_cpp::Reader> reader_;
     };
 

source/Tutorials/Beginner-CLI-Tools/Recording-And-Playing-Back-Data/Recording-And-Playing-Back-Data.rst

@@ -227,7 +227,7 @@ Running this command on the ``subset`` bag file will return a list of informatio
   End                Oct 11 2019 06:09:57.60 (1570799397.60)
   Messages:          3013
   Topic information: Topic: /turtle1/cmd_vel | Type: geometry_msgs/msg/Twist | Count: 9 | Serialization Format: cdr
-                   Topic: /turtle1/pose | Type: turtlesim/msg/Pose | Count: 3004 | Serialization Format: cdr
+                   Topic: /turtle1/pose | Type: turtlesim_msgs/msg/Pose | Count: 3004 | Serialization Format: cdr
 
 5 Play topic data
 ^^^^^^^^^^^^^^^^^

source/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Actions/Understanding-ROS2-Actions.rst

@@ -131,16 +131,16 @@ Which will return a list of ``/turtlesim``'s subscribers, publishers, services,
     Publishers:
       /parameter_events: rcl_interfaces/msg/ParameterEvent
       /rosout: rcl_interfaces/msg/Log
-      /turtle1/color_sensor: turtlesim/msg/Color
-      /turtle1/pose: turtlesim/msg/Pose
+      /turtle1/color_sensor: turtlesim_msgs/msg/Color
+      /turtle1/pose: turtlesim_msgs/msg/Pose
     Service Servers:
       /clear: std_srvs/srv/Empty
-      /kill: turtlesim/srv/Kill
+      /kill: turtlesim_msgs/srv/Kill
       /reset: std_srvs/srv/Empty
-      /spawn: turtlesim/srv/Spawn
-      /turtle1/set_pen: turtlesim/srv/SetPen
-      /turtle1/teleport_absolute: turtlesim/srv/TeleportAbsolute
-      /turtle1/teleport_relative: turtlesim/srv/TeleportRelative
+      /spawn: turtlesim_msgs/srv/Spawn
+      /turtle1/set_pen: turtlesim_msgs/srv/SetPen
+      /turtle1/teleport_absolute: turtlesim_msgs/srv/TeleportAbsolute
+      /turtle1/teleport_relative: turtlesim_msgs/srv/TeleportRelative
       /turtlesim/describe_parameters: rcl_interfaces/srv/DescribeParameters
       /turtlesim/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
       /turtlesim/get_parameters: rcl_interfaces/srv/GetParameters
@@ -150,7 +150,7 @@ Which will return a list of ``/turtlesim``'s subscribers, publishers, services,
     Service Clients:
 
     Action Servers:
-      /turtle1/rotate_absolute: turtlesim/action/RotateAbsolute
+      /turtle1/rotate_absolute: turtlesim_msgs/action/RotateAbsolute
     Action Clients:
 
 Notice that the ``/turtle1/rotate_absolute`` action for ``/turtlesim`` is under ``Action Servers``.
@@ -186,7 +186,7 @@ Which will return:
     Action Servers:
 
     Action Clients:
-      /turtle1/rotate_absolute: turtlesim/action/RotateAbsolute
+      /turtle1/rotate_absolute: turtlesim_msgs/action/RotateAbsolute
 
 4 ros2 action list
 ^^^^^^^^^^^^^^^^^^
@@ -221,9 +221,9 @@ Which will return:
 
 .. code-block:: console
 
-    /turtle1/rotate_absolute [turtlesim/action/RotateAbsolute]
+    /turtle1/rotate_absolute [turtlesim_msgs/action/RotateAbsolute]
 
-In brackets to the right of each action name (in this case only ``/turtle1/rotate_absolute``) is the action type, ``turtlesim/action/RotateAbsolute``.
+In brackets to the right of each action name (in this case only ``/turtle1/rotate_absolute``) is the action type, ``turtlesim_msgs/action/RotateAbsolute``.
 You will need this when you want to execute an action from the command line or from code.
 
 5 ros2 action type
@@ -239,7 +239,7 @@ Which will return:
 
 .. code-block:: console
 
-    turtlesim/action/RotateAbsolute
+    turtlesim_msgs/action/RotateAbsolute
 
 6 ros2 action info
 ^^^^^^^^^^^^^^^^^^
@@ -273,7 +273,7 @@ Enter the following command with the action type in your terminal:
 
 .. code-block:: console
 
-  ros2 interface show turtlesim/action/RotateAbsolute
+  ros2 interface show turtlesim_msgs/action/RotateAbsolute
 
 Which will return:
 
@@ -307,7 +307,7 @@ Keep an eye on the turtlesim window, and enter the following command into your t
 
 .. code-block:: console
 
-    ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: 1.57}"
+    ros2 action send_goal /turtle1/rotate_absolute turtlesim_msgs/action/RotateAbsolute "{theta: 1.57}"
 
 You should see the turtle rotating, as well as the following message in your terminal:
 
@@ -331,7 +331,7 @@ To see the feedback of this goal, add ``--feedback`` to the ``ros2 action send_g
 
 .. code-block:: console
 
-    ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: -1.57}" --feedback
+    ros2 action send_goal /turtle1/rotate_absolute turtlesim_msgs/action/RotateAbsolute "{theta: -1.57}" --feedback
 
 Your terminal will return the message:
 

source/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Nodes/Understanding-ROS2-Nodes.rst

@@ -154,26 +154,26 @@ The output should look like this:
     Publishers:
       /parameter_events: rcl_interfaces/msg/ParameterEvent
       /rosout: rcl_interfaces/msg/Log
-      /turtle1/color_sensor: turtlesim/msg/Color
-      /turtle1/pose: turtlesim/msg/Pose
+      /turtle1/color_sensor: turtlesim_msgs/msg/Color
+      /turtle1/pose: turtlesim_msgs/msg/Pose
     Service Servers:
       /clear: std_srvs/srv/Empty
-      /kill: turtlesim/srv/Kill
+      /kill: turtlesim_msgs/srv/Kill
       /my_turtle/describe_parameters: rcl_interfaces/srv/DescribeParameters
       /my_turtle/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
       /my_turtle/get_parameters: rcl_interfaces/srv/GetParameters
       /my_turtle/list_parameters: rcl_interfaces/srv/ListParameters
       /my_turtle/set_parameters: rcl_interfaces/srv/SetParameters
       /my_turtle/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
       /reset: std_srvs/srv/Empty
-      /spawn: turtlesim/srv/Spawn
-      /turtle1/set_pen: turtlesim/srv/SetPen
-      /turtle1/teleport_absolute: turtlesim/srv/TeleportAbsolute
-      /turtle1/teleport_relative: turtlesim/srv/TeleportRelative
+      /spawn: turtlesim_msgs/srv/Spawn
+      /turtle1/set_pen: turtlesim_msgs/srv/SetPen
+      /turtle1/teleport_absolute: turtlesim_msgs/srv/TeleportAbsolute
+      /turtle1/teleport_relative: turtlesim_msgs/srv/TeleportRelative
     Service Clients:
 
     Action Servers:
-      /turtle1/rotate_absolute: turtlesim/action/RotateAbsolute
+      /turtle1/rotate_absolute: turtlesim_msgs/action/RotateAbsolute
     Action Clients:
 
 Now try running the same command on the ``/teleop_turtle`` node, and see how its connections differ from ``my_turtle``.

source/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Services/Understanding-ROS2-Services.rst

@@ -133,13 +133,13 @@ Which will return:
 .. code-block:: console
 
   /clear [std_srvs/srv/Empty]
-  /kill [turtlesim/srv/Kill]
+  /kill [turtlesim_msgs/srv/Kill]
   /reset [std_srvs/srv/Empty]
-  /spawn [turtlesim/srv/Spawn]
+  /spawn [turtlesim_msgs/srv/Spawn]
   ...
-  /turtle1/set_pen [turtlesim/srv/SetPen]
-  /turtle1/teleport_absolute [turtlesim/srv/TeleportAbsolute]
-  /turtle1/teleport_relative [turtlesim/srv/TeleportRelative]
+  /turtle1/set_pen [turtlesim_msgs/srv/SetPen]
+  /turtle1/teleport_absolute [turtlesim_msgs/srv/TeleportAbsolute]
+  /turtle1/teleport_relative [turtlesim_msgs/srv/TeleportRelative]
   ...
 
 4 ros2 service info
@@ -215,13 +215,13 @@ But, as you learned earlier, the ``Empty`` type doesn't send or receive any data
 So, naturally, its structure is blank.
 
 Let's introspect a service with a type that sends and receives data, like ``/spawn``.
-From the results of ``ros2 service list -t``, we know ``/spawn``'s type is ``turtlesim/srv/Spawn``.
+From the results of ``ros2 service list -t``, we know ``/spawn``'s type is ``turtlesim_msgs/srv/Spawn``.
 
 To see the request and response arguments of the ``/spawn`` service, run the command:
 
 .. code-block:: console
 
-  ros2 interface show turtlesim/srv/Spawn
+  ros2 interface show turtlesim_msgs/srv/Spawn
 
 Which will return:
 
@@ -266,7 +266,7 @@ Enter the command:
 
 .. code-block:: console
 
-  ros2 service call /spawn turtlesim/srv/Spawn "{x: 2, y: 2, theta: 0.2, name: ''}"
+  ros2 service call /spawn turtlesim_msgs/srv/Spawn "{x: 2, y: 2, theta: 0.2, name: ''}"
 
 You will get this method-style view of what's happening, and then the service response:
 

source/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Topics/Understanding-ROS2-Topics.rst

@@ -111,8 +111,8 @@ Running the ``ros2 topic list`` command in a new terminal will return a list of
   /parameter_events [rcl_interfaces/msg/ParameterEvent]
   /rosout [rcl_interfaces/msg/Log]
   /turtle1/cmd_vel [geometry_msgs/msg/Twist]
-  /turtle1/color_sensor [turtlesim/msg/Color]
-  /turtle1/pose [turtlesim/msg/Pose]
+  /turtle1/color_sensor [turtlesim_msgs/msg/Color]
+  /turtle1/pose [turtlesim_msgs/msg/Pose]
 
 These attributes, particularly the type, are how nodes know they're talking about the same information as it moves over topics.
 

source/Tutorials/Intermediate/Launch/Using-Event-Handlers.rst

@@ -89,7 +89,7 @@ Create a new file called ``example_event_handlers_launch.py`` file in the ``laun
                 ' service call ',
                 turtlesim_ns,
                 '/spawn ',
-                'turtlesim/srv/Spawn ',
+                'turtlesim_msgs/srv/Spawn ',
                 '"{x: 2, y: 2, theta: 0.2}"'
             ]],
             shell=True

source/Tutorials/Intermediate/Launch/Using-Substitutions.rst

@@ -281,7 +281,7 @@ Now create the substitution launch file in the same folder:
                     'ros2 service call ',
                     turtlesim_ns,
                     '/spawn ',
-                    'turtlesim/srv/Spawn ',
+                    'turtlesim_msgs/srv/Spawn ',
                     '"{x: 2, y: 2, theta: 0.2}"'
                 ]],
                 shell=True
@@ -374,7 +374,7 @@ Now create the substitution launch file in the same folder:
                 'ros2 service call ',
                 turtlesim_ns,
                 '/spawn ',
-                'turtlesim/srv/Spawn ',
+                'turtlesim_msgs/srv/Spawn ',
                 '"{x: 2, y: 2, theta: 0.2}"'
             ]],
             shell=True
@@ -436,7 +436,7 @@ Now create the substitution launch file in the same folder:
             exec: 'turtlesim_node'
             name: 'sim'
         - executable:
-            cmd: 'ros2 service call $(var turtlesim_ns)/spawn turtlesim/srv/Spawn "{x: 5, y: 2, theta: 0.2}"'
+            cmd: 'ros2 service call $(var turtlesim_ns)/spawn turtlesim_msgs/srv/Spawn "{x: 5, y: 2, theta: 0.2}"'
         - executable:
             cmd: 'ros2 param set $(var turtlesim_ns)/sim background_r 120'
         - timer:
@@ -482,7 +482,7 @@ Now create the substitution launch file in the same folder:
     .. code-block:: yaml
 
         - executable:
-            cmd: 'ros2 service call $(var turtlesim_ns)/spawn turtlesim/srv/Spawn "{x: 5, y: 2, theta: 0.2}"'
+            cmd: 'ros2 service call $(var turtlesim_ns)/spawn turtlesim_msgs/srv/Spawn "{x: 5, y: 2, theta: 0.2}"'
 
     The same approach is used for the ``ros2 param`` ``executable`` actions that change the turtlesim background's red color parameter.
     The difference is that the second action inside of the timer is only executed if the provided ``new_background_r`` argument equals ``200`` and the ``use_provided_red`` launch argument is set to ``True``.

source/Tutorials/Intermediate/Tf2/Using-Stamped-Datatypes-With-Tf2-Ros-MessageFilter.rst

@@ -121,7 +121,7 @@ Open the file using your preferred text editor.
             else:
                 if self.spawner.service_is_ready():
                     # Initialize request with turtle name and coordinates
-                    # Note that x, y and theta are defined as floats in turtlesim/srv/Spawn
+                    # Note that x, y and theta are defined as floats in turtlesim_msgs/srv/Spawn
                     request = Spawn.Request()
                     request.name = 'turtle3'
                     request.x = 4.0
@@ -174,7 +174,7 @@ First, in the ``on_timer`` callback function, we spawn the ``turtle3`` by asynch
 .. code-block:: python
 
     # Initialize request with turtle name and coordinates
-    # Note that x, y and theta are defined as floats in turtlesim/srv/Spawn
+    # Note that x, y and theta are defined as floats in turtlesim_msgs/srv/Spawn
     request = Spawn.Request()
     request.name = 'turtle3'
     request.x = 4.0

source/Tutorials/Intermediate/Tf2/Writing-A-Tf2-Broadcaster-Cpp.rst

@@ -80,7 +80,7 @@ Open the file using your preferred text editor.
     #include "rclcpp/rclcpp.hpp"
     #include "tf2/LinearMath/Quaternion.h"
     #include "tf2_ros/transform_broadcaster.h"
-    #include "turtlesim/msg/pose.hpp"
+    #include "turtlesim_msgs/msg/pose.hpp"
 
     class FramePublisher : public rclcpp::Node
     {
@@ -101,7 +101,7 @@ Open the file using your preferred text editor.
         stream << "/" << turtlename_.c_str() << "/pose";
         std::string topic_name = stream.str();
 
-        auto handle_turtle_pose = [this](const std::shared_ptr<turtlesim::msg::Pose> msg){
+        auto handle_turtle_pose = [this](const std::shared_ptr<turtlesim_msgs::msg::Pose> msg){
             geometry_msgs::msg::TransformStamped t;
 
             // Read message content and assign it to
@@ -129,13 +129,13 @@ Open the file using your preferred text editor.
             // Send the transformation
             tf_broadcaster_->sendTransform(t);
         };
-        subscription_ = this->create_subscription<turtlesim::msg::Pose>(
+        subscription_ = this->create_subscription<turtlesim_msgs::msg::Pose>(
           topic_name, 10,
           handle_turtle_pose);
       }
 
     private:
-      rclcpp::Subscription<turtlesim::msg::Pose>::SharedPtr subscription_;
+      rclcpp::Subscription<turtlesim_msgs::msg::Pose>::SharedPtr subscription_;
       std::unique_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
       std::string turtlename_;
     };
@@ -162,7 +162,7 @@ Afterward, the node subscribes to topic ``turtleX/pose`` and runs function ``han
 
 .. code-block:: C++
 
-    subscription_ = this->create_subscription<turtlesim::msg::Pose>(
+    subscription_ = this->create_subscription<turtlesim_msgs::msg::Pose>(
       topic_name, 10,
       handle_turtle_pose);