[Major Release] Move service files: jsk_pcl_ros -> jsk_recognition_msgs to reuse

[wkentaro]

To remove dependency of jsk_interactive_marker on jsk_pcl_ros.

Background

Some packages in jsk_visualization depends on jsk_pcl_ros because it uses the srv files.
But jsk_pcl_ros is a very large package and the dependency should be avoided ideally.
The solution is placing msg/srv files into jsk_recognition_msgs.

Plans

1. Merge this after jsk_recognition_msgs is released: http://repositories.ros.org/status_page/ros_indigo_default.html?q=jsk_recognition_msgs
2. Release this pacakge.
3. Remove jsk_pcl_ros/srv.
4. Release jsk_pcl_ros.

[k-okada]

I'm afraid this will affect large set of applications,,,

[wkentaro]

I'm afraid this will affect large set of applications,,,

So currently I'm using cmake macro for this migration.
The macro will generate message files both in jsk_recognition_msgs and jsk_pcl_ros.

[k-okada]

Any comment on this pr? @mmurooka @YuOhara @iory ?

[mmurooka]

Lots of source codes using jsk_pcl_ros.srvs must be updated, right?

[wkentaro]

Lots of source codes using jsk_pcl_ros.srvs must be updated, right?

No: #1827 (comment)
It generates the messages for both jsk_pcl_ros and jsk_recognition_msgs. This takes more build time, but won't break the API (I think).

[mmurooka]

If currently working program does not get bad effect, this PR is OK.

[wkentaro]

If currently working program does not get bad effect, this PR is OK.

The whole bad effects can't be covered by only me.
Please describe about your experience or knowledge: for example

• you usually use the service files in euslisp code
• that is used in XXXX package
• that is used by demo code in euslib

You said below, so you mean you usually the jsk_pcl_ros.srvs?

Lots of source codes using jsk_pcl_ros.srvs must be updated, right?

[mmurooka]

In drc_task_common, maybe following is the only code using jsk_pcl_ros/srvs as log as I did grep.
https://github.com/jsk-ros-pkg/jsk_demos/blob/master/jsk_2015_06_hrp_drc/drc_task_common/src/drc_task_common/manipulation_data_server.cpp#L251

If my memory is correct, jsk_pcl_ros/EuclideanSegment is used in euslisp code of PR2 fridge demo.

[YuOhara]

Related issue seems #634.
Althogh cmake macro exists, is it better to convert jsk_pcl_ros->jsk_recognition_msgs, if this macro is currentry thing?

Scripts in jsk_pcl_ros like https://github.com/jsk-ros-pkg/jsk_recognition/blob/master/jsk_pcl_ros/scripts/tower_detect_viewer_server.py#L27 can be replaced in this PR? (and https://github.com/jsk-ros-pkg/jsk_recognition/blob/master/jsk_pcl_ros/scripts/tower_detect_viewer_server.py#L26 seems to be forgotten by someone?)

@garaemon somehow used sed command for migration.

Also, my grep result by grep -r "jsk_pcl_ros" | grep srv is below.
https://gist.github.com/YuOhara/8edab837dfd41448da3b605a8ca54fc4

[YuOhara]

Anyway if the macro works well, i am ok with this PR.
(also I confirmed that some packages like pal_msgs and pr2_msgs includes service files althoth it claims 'msgs')

[wkentaro]

Another option without the macro is:

1. Copy .srv files to jsk_recognition_msgs
2. Migrate all jsk_pcl_ros/*.srv to jsk_reocgnition_msgs/*.srv for codes under jsk-ros-pkg or start-jsk.
3. Remove .srv files in jsk_pcl_ros

and this seems better.

Any idea?

[k-okada]

ok, before we merge this PR what is the plan? when we stop using cmake
macro that generate srv file under both jsk_pcl_ros.srv and
jsk_recognition.srv? and who will fix codes using jsk_pcl_ros.srv? until
when?

◉ Kei Okada

2016-10-22 3:09 GMT+09:00 Kentaro Wada [email protected]:

Another option without the macro is:

1. Copy .srv files to jsk_recognition_msgs
2. Migrate all jsk_pcl_ros/.srv to jsk_reocgnition_msgs/.srv under
   jsk-ros-pkg or start-jsk.
3. Remove .srv files in jsk_pcl_ros

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[wkentaro]

before we merge this PR what is the plan?

I think this PR can be closed.
I changed the mind of migration plan: #1827 (comment) , if you have other ideas please tell me.

who will fix codes using jsk_pcl_ros.srv? until
when?

I sent PR for fixing that all jsk-ros-pkg and start-jsk packages.

• Migrate srv files from jsk_pcl_ros to jsk_recognition_msgs jsk_visualization#644
• Migrate srv files from jsk_pcl_ros to jsk_recognition_msgs jsk_smart_apps#68
• [Major Release] Migrate srv files from jsk_pcl_ros to jsk_recognition_msgs for #1914 #1917
• Migrate srv files from jsk_pcl_ros to jsk_recognition_msgs jsk_demos#1204
• Migrate srv files from jsk_pcl_ros to jsk_recognition_msgs jsk_control#637

[k-okada]

moved to #1914 , for now

[k-okada]

I sent PR for fixing that all jsk-ros-pkg and start-jsk packages.

all done, which PR to be merged next

[wkentaro]

Thank you for the cooperation.
The next PR to be merged is jsk-ros-pkg/jsk_visualization#623, which is a goal of this migration.

[k-okada]

Remove jsk_pcl_ros/srv.

we also need this.

[wkentaro]

Ok, I summarized them: #1980