Replaced res with ok for all service responses Issue #17

GreatAlexander · GreatAlexander · commit bece0abd2c9a · 2015-09-02T12:30:50.000+01:00
diff --git a/icrin/experiment/src/experiment.cpp b/icrin/experiment/src/experiment.cpp
@@ -198,7 +198,7 @@ void Experiment::planningCB(const std_msgs::Bool::ConstPtr& msg,
 
 bool Experiment::setGoal(experiment_msgs::SetGoal::Request& req,
                          experiment_msgs::SetGoal::Response& res) {
-  res.res = true;
+  res.ok = true;
   if (req.goal_no < goals_.goal.size()) {
     goals_.goal[req.goal_no] = req.goal;
   } else {
@@ -211,7 +211,7 @@ bool Experiment::setGoal(experiment_msgs::SetGoal::Request& req,
 
 bool Experiment::setPlan(experiment_msgs::SetPlan::Request& req,
                          experiment_msgs::SetPlan::Response& res) {
-  res.res = false;
+  res.ok = false;
   bool sequence_ok = true;
   for (size_t i = 0; i < robots_.size(); ++i) {
     if (req.robot.compare(robots_[i]) == 0) {
@@ -223,14 +223,14 @@ bool Experiment::setPlan(experiment_msgs::SetPlan::Request& req,
       }
       if (sequence_ok) {
         plans_.plan[i] = req.plan;
-        res.res = true;
+        res.ok = true;
       } else {
         ROS_WARN("Incorrect sequence goal ids!");
       }
       break;
     }
   }
-  if (!res.res && sequence_ok) {
+  if (!res.ok && sequence_ok) {
     ROS_WARN("Robot %s could not be found!", req.robot.c_str());
   }
   return true;
diff --git a/icrin/icrin_msgs/common_msgs/srv/Enable.srv b/icrin/icrin_msgs/common_msgs/srv/Enable.srv
@@ -1,3 +1,3 @@
 bool enable
 ---
-bool res
+bool ok
diff --git a/icrin/icrin_msgs/experiment_msgs/srv/SetGoal.srv b/icrin/icrin_msgs/experiment_msgs/srv/SetGoal.srv
@@ -1,4 +1,4 @@
 uint8 goal_no
 geometry_msgs/Pose2D goal
 ---
-bool res
+bool ok
diff --git a/icrin/icrin_msgs/experiment_msgs/srv/SetPlan.srv b/icrin/icrin_msgs/experiment_msgs/srv/SetPlan.srv
@@ -1,4 +1,4 @@
 string robot
 experiment_msgs/Plan plan
 ---
-bool res
+bool ok
diff --git a/icrin/icrin_msgs/planner_msgs/srv/SetupNewPlanner.srv b/icrin/icrin_msgs/planner_msgs/srv/SetupNewPlanner.srv
@@ -2,4 +2,4 @@ uint8 RVO_PLANNER=0
 uint8 ROS_NAVIGATION=1
 uint8 planner_type
 ---
-bool res
+bool ok
diff --git a/icrin/icrin_msgs/planner_msgs/srv/SetupRVOPlanner.srv b/icrin/icrin_msgs/planner_msgs/srv/SetupRVOPlanner.srv
@@ -1,4 +1,4 @@
 float32 time_step
 rvo_wrapper_msgs/AgentDefaults defaults
 ---
-bool res
+bool ok
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/AddAgent.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/AddAgent.srv
@@ -2,5 +2,5 @@ uint32[] sim_ids
 common_msgs/Vector2 position
 rvo_wrapper_msgs/AgentDefaults defaults
 ---
-bool res
+bool ok
 uint32 agent_id
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/AddObstacle.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/AddObstacle.srv
@@ -1,4 +1,4 @@
 uint32[] sim_ids
 common_msgs/Vector2[] vertices
 ---
-bool res
+bool ok
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/CalcPrefVelocities.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/CalcPrefVelocities.srv
@@ -1,3 +1,3 @@
 uint32[] sim_ids
 ---
-bool res
+bool ok
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/CheckReachedGoal.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/CheckReachedGoal.srv
@@ -1,5 +1,5 @@
 uint32[] sim_ids
 # common_msgs/Vector2 goal
 ---
-bool res
+bool ok
 bool reached
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/DeleteSimVector.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/DeleteSimVector.srv
@@ -1,3 +1,3 @@
 uint32[] sim_ids
 ---
-bool res
+bool ok
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/DoStep.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/DoStep.srv
@@ -1,3 +1,3 @@
 uint32[] sim_ids
 ---
-bool res
+bool ok
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetAgentAgentNeighbor.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetAgentAgentNeighbor.srv
@@ -2,5 +2,5 @@ uint32[] sim_ids
 uint8 agent_id
 uint8 agent_neighbor
 ---
-bool res
+bool ok
 uint8 neighbor_id
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetAgentMaxNeighbors.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetAgentMaxNeighbors.srv
@@ -1,5 +1,5 @@
 uint32[] sim_ids
 uint8 agent_id
 ---
-bool res
+bool ok
 uint8 max_neighbors
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetAgentMaxSpeed.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetAgentMaxSpeed.srv
@@ -1,5 +1,5 @@
 uint32[] sim_ids
 uint8 agent_id
 ---
-bool res
+bool ok
 float32 max_speed
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetAgentNeighborDist.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetAgentNeighborDist.srv
@@ -1,5 +1,5 @@
 uint32[] sim_ids
 uint8 agent_id
 ---
-bool res
+bool ok
 float32 max_neighbor_dist
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetAgentNumAgentNeighbors.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetAgentNumAgentNeighbors.srv
@@ -1,5 +1,5 @@
 uint32[] sim_ids
 uint8 agent_id
 ---
-bool res
+bool ok
 uint8 num_neighbors
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetAgentNumObstacleNeighbors.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetAgentNumObstacleNeighbors.srv
@@ -1,5 +1,5 @@
 uint32[] sim_ids
 uint8 agent_id
 ---
-bool res
+bool ok
 uint8 num_obstacles
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetAgentObstacleNeighbor.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetAgentObstacleNeighbor.srv
@@ -2,5 +2,5 @@ uint32[] sim_ids
 uint8 agent_id
 uint8 agent_obstacle
 ---
-bool res
+bool ok
 uint8 obstacle_vertex
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetAgentPosition.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetAgentPosition.srv
@@ -1,5 +1,5 @@
 uint32[] sim_ids
 uint8 agent_id
 ---
-bool res
+bool ok
 common_msgs/Vector2 position
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetAgentPrefVelocity.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetAgentPrefVelocity.srv
@@ -1,5 +1,5 @@
 uint32[] sim_ids
 uint8 agent_id
 ---
-bool res
+bool ok
 common_msgs/Vector2 pref_velocity
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetAgentRadius.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetAgentRadius.srv
@@ -1,5 +1,5 @@
 uint32[] sim_ids
 uint8 agent_id
 ---
-bool res
+bool ok
 float32 radius
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetAgentTimeHorizon.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetAgentTimeHorizon.srv
@@ -1,5 +1,5 @@
 uint32[] sim_ids
 uint8 agent_id
 ---
-bool res
+bool ok
 float32 agent_time_horizon
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetAgentTimeHorizonObst.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetAgentTimeHorizonObst.srv
@@ -1,5 +1,5 @@
 uint32[] sim_ids
 uint8 agent_id
 ---
-bool res
+bool ok
 float32 obst_time_horizon
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetAgentVelocity.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetAgentVelocity.srv
@@ -1,5 +1,5 @@
 uint32[] sim_ids
 uint8[] agent_id
 ---
-bool res
+bool ok
 common_msgs/Vector2[] velocity
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetGlobalTime.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetGlobalTime.srv
@@ -1,4 +1,4 @@
 uint32[] sim_ids
 ---
-bool res
+bool ok
 float32 global_time
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetNumAgents.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetNumAgents.srv
@@ -1,4 +1,4 @@
 uint32[] sim_ids
 ---
-bool res
+bool ok
 uint8 num_agents
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetTimeStep.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/GetTimeStep.srv
@@ -1,4 +1,4 @@
 uint32[] sim_ids
 ---
-bool res
+bool ok
 float32 time_step
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/ProcessObstacles.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/ProcessObstacles.srv
@@ -1,3 +1,3 @@
 uint32[] sim_ids
 ---
-bool res
+bool ok
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/QueryVisibility.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/QueryVisibility.srv
@@ -3,5 +3,5 @@ common_msgs/Vector2 point1
 common_msgs/Vector2 point2
 float32 radius
 ---
-bool res
+bool ok
 bool visible
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/SetAgentDefaults.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/SetAgentDefaults.srv
@@ -1,4 +1,4 @@
 uint32[] sim_ids
 rvo_wrapper_msgs/AgentDefaults defaults
 ---
-bool res
+bool ok
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/SetAgentGoals.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/SetAgentGoals.srv
@@ -1,4 +1,4 @@
 uint32[] sim_ids
 rvo_wrapper_msgs/SimGoals[] sim
 ---
-bool res
+bool ok
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/SetAgentMaxNeighbors.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/SetAgentMaxNeighbors.srv
@@ -2,4 +2,4 @@ uint32[] sim_ids
 uint8 agent_id
 uint8 max_neighbors
 ---
-bool res
+bool ok
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/SetAgentMaxSpeed.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/SetAgentMaxSpeed.srv
@@ -2,4 +2,4 @@ uint32[] sim_ids
 uint8 agent_id
 float32 max_speed
 ---
-bool res
+bool ok
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/SetAgentNeighborDist.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/SetAgentNeighborDist.srv
@@ -2,4 +2,4 @@ uint32[] sim_ids
 uint8 agent_id
 float32 neighbor_dist
 ---
-bool res
+bool ok
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/SetAgentPosition.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/SetAgentPosition.srv
@@ -2,4 +2,4 @@ uint32[] sim_ids
 uint8 agent_id
 common_msgs/Vector2 position
 ---
-bool res
+bool ok
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/SetAgentPrefVelocity.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/SetAgentPrefVelocity.srv
@@ -2,4 +2,4 @@ uint32[] sim_ids
 uint8 agent_id
 common_msgs/Vector2 pref_velocity
 ---
-bool res
+bool ok
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/SetAgentRadius.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/SetAgentRadius.srv
@@ -2,4 +2,4 @@ uint32[] sim_ids
 uint8 agent_id
 float32 radius
 ---
-bool res
+bool ok
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/SetAgentTimeHorizon.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/SetAgentTimeHorizon.srv
@@ -2,4 +2,4 @@ uint32[] sim_ids
 uint8 agent_id
 float32 agent_time_horizon
 ---
-bool res
+bool ok
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/SetAgentTimeHorizonObst.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/SetAgentTimeHorizonObst.srv
@@ -2,4 +2,4 @@ uint32[] sim_ids
 uint8 agent_id
 float32 obst_time_horizon
 ---
-bool res
+bool ok
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/SetAgentVelocity.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/SetAgentVelocity.srv
@@ -2,4 +2,4 @@ uint32[] sim_ids
 uint8 agent_id
 common_msgs/Vector2 velocity
 ---
-bool res
+bool ok
diff --git a/icrin/icrin_msgs/rvo_wrapper_msgs/srv/SetTimeStep.srv b/icrin/icrin_msgs/rvo_wrapper_msgs/srv/SetTimeStep.srv
@@ -1,4 +1,4 @@
 uint32[] sim_ids
 float32 time_step
 ---
-bool res
+bool ok
diff --git a/icrin/model/src/sim_wrapper.cpp b/icrin/model/src/sim_wrapper.cpp
@@ -178,7 +178,7 @@ std::vector<common_msgs::Vector2> SimWrapper::calcSimVels(std::vector<uint32_t>
   rvo_wrapper_msgs::DoStep run_sims;
   run_sims.request.sim_ids = sims;
   do_sim_step_client_.call(run_sims);
-  if (!run_sims.response.res) {ROS_ERROR("SimSteps could not be run!");}
+  if (!run_sims.response.ok) {ROS_ERROR("SimSteps could not be run!");}
 
   // Get Velocities
   rvo_wrapper_msgs::GetAgentVelocity get_vels;
@@ -190,13 +190,13 @@ std::vector<common_msgs::Vector2> SimWrapper::calcSimVels(std::vector<uint32_t>
   }
   // ROS_INFO_STREAM("NGoals:" << n_goals);
   get_agent_vel_client_.call(get_vels);
-  if (!get_vels.response.res) {ROS_ERROR("SimVels could not be acquired!");}
+  if (!get_vels.response.ok) {ROS_ERROR("SimVels could not be acquired!");}
 
   // Delete Sims
   rvo_wrapper_msgs::DeleteSimVector del_sims;
   del_sims.request.sim_ids = sims;
   delete_sims_client_.call(del_sims);
-  if (!del_sims.response.res) {ROS_ERROR("Sims could not be deleted!");}
+  if (!del_sims.response.ok) {ROS_ERROR("Sims could not be deleted!");}
   // Return Velocities
   return get_vels.response.velocity;
 }
diff --git a/icrin/planner/src/planner_wrapper.cpp b/icrin/planner/src/planner_wrapper.cpp
@@ -86,23 +86,23 @@ void PlannerWrapper::pubArrived(bool arrived) {
 bool PlannerWrapper::setupNewPlanner(
   planner_msgs::SetupNewPlanner::Request& req,
   planner_msgs::SetupNewPlanner::Response& res) {
-  res.res = true;
+  res.ok = true;
   if (req.planner_type == req.RVO_PLANNER && !planner_init) {
     rvo_planner_ = new RVOPlanner(nh_);
     use_rvo_planner_ = true;
     planner_init = true;
     ROS_INFO("RVO Planner setup");
   } else if (req.planner_type == req.ROS_NAVIGATION && !planner_init) {
     ROS_ERROR("ROS_NAVIGATION not implemented yet, sorry!");
-  } else {res.res = false;}
+  } else {res.ok = false;}
   return true;
 }
 
 bool PlannerWrapper::setupRVOPlanner(
   planner_msgs::SetupRVOPlanner::Request& req,
   planner_msgs::SetupRVOPlanner::Response& res) {
   rvo_planner_->setPlannerSettings(req.time_step, req.defaults);
-  res.res = true;
+  res.ok = true;
   return true;
 }
 
diff --git a/icrin/planner/src/rvo_planner.cpp b/icrin/planner/src/rvo_planner.cpp
@@ -172,7 +172,7 @@ common_msgs::Vector2 RVOPlanner::getPlannerVel() {
   rvo_wrapper_msgs::GetAgentVelocity msg;
   msg.request.agent_id.push_back(PLANNER_ROBOT_);
   get_agent_vel_client_.call(msg);
-  if (!msg.response.res) {
+  if (!msg.response.ok) {
     ROS_ERROR("Planner- Velocity not received from RVO Library");
     common_msgs::Vector2 vel;
     vel.x = 0.0f;
diff --git a/icrin/rvo_wrapper/src/rvo_wrapper.cpp b/icrin/rvo_wrapper/src/rvo_wrapper.cpp
