Added - cpi_comm package

cpi_comm/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.8)
+
+# Project name
+project(cpi_comm)
+
+# Find catkin (the ROS build system)
+find_package(catkin REQUIRED COMPONENTS message_generation geometry_msgs nav_msgs sensor_msgs std_msgs)
+
+# Add what messages should be generated
+add_message_files(
+        DIRECTORY msg
+        FILES
+        FeatureMeasurement.msg
+        CameraMeasurement.msg
+)
+
+# Generate our messages
+generate_messages(DEPENDENCIES geometry_msgs nav_msgs sensor_msgs std_msgs)
+
+
+# Describe catkin project
+catkin_package(
+        DEPENDS
+        CATKIN_DEPENDS message_runtime geometry_msgs nav_msgs sensor_msgs std_msgs
+        INCLUDE_DIRS
+)
+
+
+
+
+
+
+
+
+

cpi_comm/LICENSE

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+MIT License
+
+Copyright (c) 2018 Kevin Eckenhoff
+Copyright (c) 2018 Patrick Geneva
+Copyright (c) 2018 Guoquan Huang
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

cpi_comm/msg/CameraMeasurement.msg

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+std_msgs/Header header
+# All features on the current image,
+# including tracked ones and newly detected ones.
+FeatureMeasurement[] features_left
+FeatureMeasurement[] features_right

cpi_comm/msg/FeatureMeasurement.msg

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+uint64 id
+# Normalized feature coordinates (with identity intrinsic matrix)
+float64 u # horizontal coordinate in cam
+float64 v # vertical coordinate in cam

cpi_comm/package.xml

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+<?xml version="1.0"?>
+<package>
+    <!-- Package Information -->
+    <name>cpi_comm</name>
+    <version>0.0.0</version>
+    <description>
+        Communication messages
+    </description>
+
+    <!-- Code Authors -->
+    <author email="[email protected]">Kevin Eckenhoff</author>
+    <author email="[email protected]">Patrick Geneva</author>
+    <maintainer email="[email protected]">Kevin Eckenhoff</maintainer>
+    <maintainer email="[email protected]">Patrick Geneva</maintainer>
+
+    <!-- Licensing -->
+    <license>MIT</license>
+
+    <!-- Dependencies which this package needs to build itself. -->
+    <buildtool_depend>catkin</buildtool_depend>
+
+    <!-- Dependencies needed to compile this package. -->
+    <build_depend>cmake_modules</build_depend>
+    <build_depend>message_generation</build_depend>
+    <build_depend>geometry_msgs</build_depend>
+    <build_depend>nav_msgs</build_depend>
+    <build_depend>sensor_msgs</build_depend>
+    <build_depend>std_msgs</build_depend>
+
+    <!-- Dependencies needed after this package is compiled. -->
+    <run_depend>roscpp</run_depend>
+    <run_depend>message_runtime</run_depend>
+    <run_depend>geometry_msgs</run_depend>
+    <run_depend>nav_msgs</run_depend>
+    <run_depend>sensor_msgs</run_depend>
+    <run_depend>std_msgs</run_depend>
+
+</package>