Remove mav_planning_msgs as a dependency.

Author: rikba

README.md

@@ -68,7 +68,7 @@ The polygon can be set via
 - RVIZ Polygon Tool as in the video above.
 
 The plan is generated via
-- ROS [service](https://github.com/ethz-asl/mav_comm/blob/master/mav_planning_msgs/srv/PlannerService.srv) call 'rosservice call /coverage_planner/plan_path' or
+- ROS [service](polygon_coverage_msgs/srv/PlannerService.srv) call 'rosservice call /coverage_planner/plan_path' or
 - clicking start and goal points using the RVIZ clicked_point tool as in the video above.
 
 ### Euclidean Shortest Path Planning

install/prepare-jenkins-slave.sh

@@ -8,7 +8,7 @@ sudo apt-get install -y python-wstool python-catkin-tools
 
 # Package dependencies.
 echo "Installing MAV_COMM dependencies."
-sudo apt-get install -y ros-${ROS_VERSION}-mav-msgs ros-${ROS_VERSION}-mav-planning-msgs
+sudo apt-get install -y ros-${ROS_VERSION}-mav-msgs
 echo "Installing CGAL dependencies."
 sudo apt-get install -y libgmp-dev libmpfr-dev
 echo "Installing MONO dependencies."

polygon_coverage_benchmark/test/benchmark-test.cpp

@@ -27,7 +27,7 @@
 #include <ros/ros.h>
 #include <yaml-cpp/yaml.h>
 
-#include <mav_planning_msgs/PolygonWithHoles.h>
+#include <polygon_coverage_msgs/PolygonWithHoles.h>
 
 #include <polygon_coverage_geometry/cgal_definitions.h>
 #include <polygon_coverage_planners/cost_functions/path_cost_functions.h>

polygon_coverage_msgs/package.xml

@@ -21,6 +21,7 @@
   <depend>message_runtime</depend>
   <depend>geometry_msgs</depend>
   <depend>std_msgs</depend>
+  <depend>trajectory_msgs</depend>
   <depend>xmlrpcpp</depend>
   <depend>polygon_coverage_geometry</depend>
 </package>

polygon_coverage_msgs/srv/PlannerService.srv

@@ -0,0 +1,8 @@
+#request fields
+geometry_msgs/PoseStamped start_pose #start pose for the planner
+geometry_msgs/PoseStamped goal_pose #start pose for the planner
+---
+# True on success, false on planning failure
+bool success
+# Either contains a polynomial trajectory:
+trajectory_msgs/MultiDOFJointTrajectory sampled_plan

polygon_coverage_ros/cfg/polygons/example_l.yaml

@@ -1,4 +1,4 @@
-# A mav_planning_msgs/PolygonWithHoles.msg to describe a rectangle.
+# A polygon_coverage_msgs/PolygonWithHoles.msg to describe a rectangle.
 polygon:
   header:
     seq: 0

polygon_coverage_ros/cfg/polygons/example_polygon_bcd_cell.yaml

@@ -1,4 +1,4 @@
-# A mav_planning_msgs/PolygonWithHoles.msg to describe a typical BCD cell.
+# A polygon_coverage_msgs/PolygonWithHoles.msg to describe a typical BCD cell.
 polygon:
   header:
     seq: 0

polygon_coverage_ros/cfg/polygons/example_polygon_epfl.yaml

@@ -1,4 +1,4 @@
-# A mav_planning_msgs/PolygonWithHoles.msg to describe a forest.
+# A polygon_coverage_msgs/PolygonWithHoles.msg to describe a forest.
 # The planner always picks the largest z as the fixed altitude it plans in.
 polygon:
   header:

polygon_coverage_ros/cfg/polygons/example_polygon_epfl_simple.yaml

@@ -1,4 +1,4 @@
-# A mav_planning_msgs/PolygonWithHoles.msg to describe a forest.
+# A polygon_coverage_msgs/PolygonWithHoles.msg to describe a forest.
 # The planner always picks the largest z as the fixed altitude it plans in.
 polygon:
   header:

polygon_coverage_ros/cfg/polygons/example_polygon_epfl_trivial.yaml

@@ -1,4 +1,4 @@
-# A mav_planning_msgs/PolygonWithHoles.msg to describe a forest.
+# A polygon_coverage_msgs/PolygonWithHoles.msg to describe a forest.
 # The planner always picks the largest z as the fixed altitude it plans in.
 polygon:
   header: