refactor to new utils ros packages (#648)

jorgenfj · web-flow · commit c05c7b587223 · 2025-12-25T10:24:27.000+01:00
* refactor to new utils ros packages

* added utils dep for velocity controller

* fix typo
diff --git a/control/dp_adapt_backs_controller/CMakeLists.txt b/control/dp_adapt_backs_controller/CMakeLists.txt
@@ -11,6 +11,7 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(vortex_utils REQUIRED)
+find_package(vortex_utils_ros REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
 find_package(nav_msgs REQUIRED)
@@ -41,6 +42,7 @@ ament_target_dependencies(${LIB_NAME} PUBLIC
   spdlog
   vortex_msgs
   vortex_utils
+  vortex_utils_ros
 )
 
 rclcpp_components_register_node(
diff --git a/control/dp_adapt_backs_controller/package.xml b/control/dp_adapt_backs_controller/package.xml
@@ -16,6 +16,7 @@
   <depend>tf2</depend>
   <depend>vortex_msgs</depend>
   <depend>vortex_utils</depend>
+  <depend>vortex_utils_ros</depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/control/dp_adapt_backs_controller/src/dp_adapt_backs_controller_ros.cpp b/control/dp_adapt_backs_controller/src/dp_adapt_backs_controller_ros.cpp
@@ -3,7 +3,7 @@
 #include <rclcpp_components/register_node_macro.hpp>
 #include <string>
 #include <vortex/utils/math.hpp>
-#include <vortex/utils/qos_profiles.hpp>
+#include <vortex/utils/ros/qos_profiles.hpp>
 #include <vortex/utils/types.hpp>
 #include "dp_adapt_backs_controller/dp_adapt_backs_controller_utils.hpp"
 #include "dp_adapt_backs_controller/typedefs.hpp"
diff --git a/control/velocity_controller_lqr/CMakeLists.txt b/control/velocity_controller_lqr/CMakeLists.txt
@@ -6,6 +6,8 @@ find_package(rclpy REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(vortex_msgs REQUIRED)
+find_package(vortex_utils REQUIRED)
+find_package(vortex_utils_ros REQUIRED)
 
 install(DIRECTORY
   launch
diff --git a/control/velocity_controller_lqr/package.xml b/control/velocity_controller_lqr/package.xml
@@ -14,6 +14,7 @@
   <depend>nav_msgs</depend>
   <depend>vortex_msgs</depend>
   <depend>vortex_utils</depend>
+  <depend>vortex_utils_ros</depend>
   <depend>python-control-pip</depend>
   <depend>std_msgs</depend>
 
diff --git a/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py b/control/velocity_controller_lqr/scripts/velocity_controller_lqr_node.py
@@ -16,8 +16,8 @@
 )
 from vortex_msgs.msg import LOSGuidance
 from vortex_utils.python_utils import State
-from vortex_utils.qos_profiles import reliable_profile, sensor_data_profile
-from vortex_utils.ros_converter import pose_from_ros, twist_from_ros
+from vortex_utils_ros.qos_profiles import reliable_profile, sensor_data_profile
+from vortex_utils_ros.ros_converter import pose_from_ros, twist_from_ros
 
 
 class LinearQuadraticRegulator(Node):
diff --git a/guidance/los_guidance/CMakeLists.txt b/guidance/los_guidance/CMakeLists.txt
@@ -13,7 +13,7 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_action REQUIRED)
 find_package(vortex_msgs REQUIRED)
-find_package(vortex_utils REQUIRED)
+find_package(vortex_utils_ros REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(spdlog REQUIRED)
@@ -32,7 +32,7 @@ ament_target_dependencies(${LIB_NAME}
   rclcpp_action
   geometry_msgs
   vortex_msgs
-  vortex_utils
+  vortex_utils_ros
   Eigen3
   spdlog
   fmt
diff --git a/guidance/los_guidance/package.xml b/guidance/los_guidance/package.xml
@@ -13,7 +13,7 @@
   <depend>rclcpp_action</depend>
   <depend>geometry_msgs</depend>
   <depend>vortex_msgs</depend>
-  <depend>vortex_utils</depend>
+  <depend>vortex_utils_ros</depend>
   <depend>eigen</depend>
 
   <export>
diff --git a/guidance/los_guidance/src/los_guidance_ros.cpp b/guidance/los_guidance/src/los_guidance_ros.cpp
@@ -1,6 +1,6 @@
 #include "los_guidance/los_guidance_ros.hpp"
 #include <spdlog/spdlog.h>
-#include <vortex/utils/qos_profiles.hpp>
+#include <vortex/utils/ros/qos_profiles.hpp>
 
 const auto start_message = R"(
   _     ___  ____     ____       _     _
diff --git a/guidance/reference_filter_dp/CMakeLists.txt b/guidance/reference_filter_dp/CMakeLists.txt
@@ -15,6 +15,7 @@ find_package(rclcpp_action REQUIRED)
 find_package(rclcpp_components REQUIRED)
 find_package(vortex_msgs REQUIRED)
 find_package(vortex_utils REQUIRED)
+find_package(vortex_utils_ros REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(nav_msgs REQUIRED)
 find_package(Eigen3 REQUIRED)
@@ -38,6 +39,7 @@ ament_target_dependencies(${LIB_NAME} PUBLIC
   Eigen3
   vortex_msgs
   vortex_utils
+  vortex_utils_ros
   spdlog
   fmt
 )
diff --git a/guidance/reference_filter_dp/package.xml b/guidance/reference_filter_dp/package.xml
@@ -14,6 +14,7 @@
   <depend>geometry_msgs</depend>
   <depend>vortex_msgs</depend>
   <depend>vortex_utils</depend>
+  <depend>vortex_utils_ros</depend>
   <depend>nav_msgs</depend>
   <depend>eigen</depend>
 
diff --git a/guidance/reference_filter_dp/src/reference_filter_ros.cpp b/guidance/reference_filter_dp/src/reference_filter_ros.cpp
@@ -3,7 +3,7 @@
 #include <rclcpp_components/register_node_macro.hpp>
 #include <string_view>
 #include <vortex/utils/math.hpp>
-#include <vortex/utils/qos_profiles.hpp>
+#include <vortex/utils/ros/qos_profiles.hpp>
 #include <vortex/utils/types.hpp>
 
 const auto start_message = R"(
diff --git a/mission/waypoint_manager/CMakeLists.txt b/mission/waypoint_manager/CMakeLists.txt
@@ -14,7 +14,7 @@ find_package(rclcpp REQUIRED)
 find_package(rclcpp_action REQUIRED)
 find_package(rclcpp_components REQUIRED)
 find_package(vortex_msgs REQUIRED)
-find_package(vortex_utils REQUIRED)
+find_package(vortex_utils_ros REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 find_package(spdlog REQUIRED)
 find_package(fmt REQUIRED)
@@ -31,7 +31,7 @@ ament_target_dependencies(${LIB_NAME} PUBLIC
   rclcpp_components
   rclcpp_action
   vortex_msgs
-  vortex_utils
+  vortex_utils_ros
   tf2_geometry_msgs
   spdlog
   fmt
diff --git a/mission/waypoint_manager/package.xml b/mission/waypoint_manager/package.xml
@@ -13,7 +13,7 @@
   <depend>rclcpp_action</depend>
   <depend>geometry_msgs</depend>
   <depend>vortex_msgs</depend>
-  <depend>vortex_utils</depend>
+  <depend>vortex_utils_ros</depend>
   <depend>tf2_geometry_msgs</depend>
 
   <test_depend>launch_testing</test_depend>
diff --git a/mission/waypoint_manager/src/waypoint_manager_ros.cpp b/mission/waypoint_manager/src/waypoint_manager_ros.cpp
@@ -2,7 +2,7 @@
 #include <spdlog/spdlog.h>
 #include <cmath>
 #include <rclcpp_components/register_node_macro.hpp>
-#include <vortex/utils/ros_conversions.hpp>
+#include <vortex/utils/ros/ros_conversions.hpp>
 
 namespace vortex::mission {
 
diff --git a/motion/thrust_allocator_auv/CMakeLists.txt b/motion/thrust_allocator_auv/CMakeLists.txt
@@ -13,7 +13,7 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
 find_package(vortex_msgs REQUIRED)
-find_package(vortex_utils REQUIRED)
+find_package(vortex_utils_ros REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(spdlog REQUIRED)
@@ -33,7 +33,7 @@ add_library(${LIB_NAME} SHARED
   geometry_msgs
   Eigen3
   vortex_msgs
-  vortex_utils
+  vortex_utils_ros
   fmt
   spdlog
 )
diff --git a/motion/thrust_allocator_auv/package.xml b/motion/thrust_allocator_auv/package.xml
@@ -10,7 +10,7 @@
   <depend>rclcpp</depend>
   <depend>geometry_msgs</depend>
   <depend>vortex_msgs</depend>
-  <depend>vortex_utils</depend>
+  <depend>vortex_utils_ros</depend>
   <depend>eigen</depend>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
diff --git a/motion/thrust_allocator_auv/src/thrust_allocator_ros.cpp b/motion/thrust_allocator_auv/src/thrust_allocator_ros.cpp
@@ -4,7 +4,7 @@
 #include <functional>
 #include <rclcpp_components/register_node_macro.hpp>
 #include <string_view>
-#include <vortex/utils/qos_profiles.hpp>
+#include <vortex/utils/ros/qos_profiles.hpp>
 #include "thrust_allocator_auv/pseudoinverse_allocator.hpp"
 #include "thrust_allocator_auv/thrust_allocator_utils.hpp"
 
diff --git a/motion/thruster_interface_auv/CMakeLists.txt b/motion/thruster_interface_auv/CMakeLists.txt
@@ -10,7 +10,7 @@ find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(vortex_msgs REQUIRED)
-find_package(vortex_utils REQUIRED)
+find_package(vortex_utils_ros REQUIRED)
 find_package(spdlog REQUIRED)
 find_package(fmt REQUIRED)
 
@@ -27,7 +27,7 @@ ament_target_dependencies(${LIB_NAME} PUBLIC
   rclcpp_components
   std_msgs
   vortex_msgs
-  vortex_utils
+  vortex_utils_ros
   spdlog
   fmt
 )
diff --git a/motion/thruster_interface_auv/package.xml b/motion/thruster_interface_auv/package.xml
@@ -12,7 +12,7 @@
   <depend>rclcpp</depend>
   <depend>std_msgs</depend>
   <depend>vortex_msgs</depend>
-  <depend>vortex_utils</depend>
+  <depend>vortex_utils_ros</depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/motion/thruster_interface_auv/src/thruster_interface_auv_ros.cpp b/motion/thruster_interface_auv/src/thruster_interface_auv_ros.cpp
@@ -2,7 +2,7 @@
 #include <spdlog/spdlog.h>
 #include <rclcpp_components/register_node_macro.hpp>
 #include <string_view>
-#include <vortex/utils/qos_profiles.hpp>
+#include <vortex/utils/ros/qos_profiles.hpp>
 
 const auto start_message = R"(
   _____ _                    _              ___       _             __

Original file line number	Diff line number	Diff line change
`@@ -16,8 +16,8 @@`
`16`	`16`	`)`
`17`	`17`	`from vortex_msgs.msg import LOSGuidance`
`18`	`18`	`from vortex_utils.python_utils import State`
`19`		`-from vortex_utils.qos_profiles import reliable_profile, sensor_data_profile`
`20`		`-from vortex_utils.ros_converter import pose_from_ros, twist_from_ros`
	`19`	`+from vortex_utils_ros.qos_profiles import reliable_profile, sensor_data_profile`
	`20`	`+from vortex_utils_ros.ros_converter import pose_from_ros, twist_from_ros`
`21`	`21`
`22`	`22`
`23`	`23`	`class LinearQuadraticRegulator(Node):`