From d78bfbebfa6394609a63dd90d837a24178b4ef3c Mon Sep 17 00:00:00 2001
From: Francesco Milano <francesco.milano172@gmail.com>
Date: Fri, 6 Nov 2020 10:01:18 +0100
Subject: [PATCH] Change cpt_pointlaser_loc_ros::HALTakeMeasurement to
 std_srvs::Empty This way, the modules that use `cpt_pointlaser_loc_ros` do
 not need to build a custom empty message type.

---
 .../include/cpt_pointlaser_loc_ros/mabi_localizer.h          | 5 ++---
 .../cpt_pointlaser_loc_ros/src/mabi_localizer.cpp            | 5 ++---
 .../cpt_pointlaser_loc_ros/srv/HALTakeMeasurement.srv        | 3 ---
 3 files changed, 4 insertions(+), 9 deletions(-)
 delete mode 100644 modules/localization/cpt_pointlaser_loc/cpt_pointlaser_loc_ros/srv/HALTakeMeasurement.srv

diff --git a/modules/localization/cpt_pointlaser_loc/cpt_pointlaser_loc_ros/include/cpt_pointlaser_loc_ros/mabi_localizer.h b/modules/localization/cpt_pointlaser_loc/cpt_pointlaser_loc_ros/include/cpt_pointlaser_loc_ros/mabi_localizer.h
index c881aca5e..f543651e8 100644
--- a/modules/localization/cpt_pointlaser_loc/cpt_pointlaser_loc_ros/include/cpt_pointlaser_loc_ros/mabi_localizer.h
+++ b/modules/localization/cpt_pointlaser_loc/cpt_pointlaser_loc_ros/include/cpt_pointlaser_loc_ros/mabi_localizer.h
@@ -6,11 +6,11 @@
 #include <kindr/minimal/quat-transformation.h>
 #include <ros/ros.h>
 #include <std_msgs/Int16.h>
+#include <std_srvs/Empty.h>
 #include <tf/transform_listener.h>
 
 #include <Eigen/Geometry>
 
-#include "cpt_pointlaser_loc_ros/HALTakeMeasurement.h"
 #include "cpt_pointlaser_loc_ros/HighAccuracyLocalization.h"
 
 namespace cad_percept {
@@ -53,8 +53,7 @@ class MabiLocalizer {
   /// \return True if the measurements could be successfully taken; false otherwise (e.g., if the
   ///   initialization of the HAL routine, required when no previous measurements were taken, is not
   ///   successful.
-  bool takeMeasurement(cpt_pointlaser_loc_ros::HALTakeMeasurement::Request &request,
-                       cpt_pointlaser_loc_ros::HALTakeMeasurement::Response &response);
+  bool takeMeasurement(std_srvs::Empty::Request &request, std_srvs::Empty::Response &response);
   ///
   /// \brief Performs the actual HAL routine by optimizing over the factor graph previously built.
   ///
diff --git a/modules/localization/cpt_pointlaser_loc/cpt_pointlaser_loc_ros/src/mabi_localizer.cpp b/modules/localization/cpt_pointlaser_loc/cpt_pointlaser_loc_ros/src/mabi_localizer.cpp
index f0882471f..7aa63b1d0 100644
--- a/modules/localization/cpt_pointlaser_loc/cpt_pointlaser_loc_ros/src/mabi_localizer.cpp
+++ b/modules/localization/cpt_pointlaser_loc/cpt_pointlaser_loc_ros/src/mabi_localizer.cpp
@@ -99,9 +99,8 @@ bool MabiLocalizer::initializeHALRoutine() {
   return true;
 }
 
-bool MabiLocalizer::takeMeasurement(
-    cpt_pointlaser_loc_ros::HALTakeMeasurement::Request &request,
-    cpt_pointlaser_loc_ros::HALTakeMeasurement::Response &response) {
+bool MabiLocalizer::takeMeasurement(std_srvs::Empty::Request &request,
+                                    std_srvs::Empty::Response &response) {
   // Initialize HAL routine if not previously done.
   if (!initialized_hal_routine_) {
     if (!initializeHALRoutine()) {
diff --git a/modules/localization/cpt_pointlaser_loc/cpt_pointlaser_loc_ros/srv/HALTakeMeasurement.srv b/modules/localization/cpt_pointlaser_loc/cpt_pointlaser_loc_ros/srv/HALTakeMeasurement.srv
deleted file mode 100644
index 528dcea2a..000000000
--- a/modules/localization/cpt_pointlaser_loc/cpt_pointlaser_loc_ros/srv/HALTakeMeasurement.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-# empty request
----
-# empty response
\ No newline at end of file