MujocoImage -> ObkImage

Caltech-AMBER · Jul 20, 2024 · 54e02ec · 54e02ec
1 parent 8f02aa0
commit 54e02ec
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Showing 4 changed files with 6 additions and 6 deletions.
diff --git a/obelisk/cpp/obelisk_cpp/include/obelisk_node.h b/obelisk/cpp/obelisk_cpp/include/obelisk_node.h
@@ -12,7 +12,7 @@
 #include "obelisk_estimator_msgs/msg/estimated_state.hpp"
 
 #include "obelisk_sensor_msgs/msg/joint_encoders.hpp"
-#include "obelisk_sensor_msgs/msg/mujoco_image.hpp"
+#include "obelisk_sensor_msgs/msg/obk_image.hpp"
 #include "obelisk_sensor_msgs/msg/true_sim_state.hpp"
 
 #include "obelisk_std_msgs/msg/float_multi_array.hpp"
@@ -128,14 +128,14 @@ namespace obelisk {
         using ObeliskMsgs =
             std::tuple<obelisk_control_msgs::msg::PositionSetpoint, obelisk_estimator_msgs::msg::EstimatedState,
                        obelisk_sensor_msgs::msg::JointEncoders, obelisk_sensor_msgs::msg::TrueSimState,
-                       obelisk_sensor_msgs::msg::MujocoImage, obelisk_std_msgs::msg::FloatMultiArray,
+                       obelisk_sensor_msgs::msg::ObkImage, obelisk_std_msgs::msg::FloatMultiArray,
                        obelisk_std_msgs::msg::UInt8MultiArray>;
         // Allowed non-obelisk message types
         using ROSAllowedMsgs = std::tuple<rcl_interfaces::msg::ParameterEvent>;
 
         inline const std::array<std::string, 3> sensor_message_names = {
             obelisk_sensor_msgs::msg::JointEncoders::MESSAGE_NAME, obelisk_sensor_msgs::msg::TrueSimState::MESSAGE_NAME,
-            obelisk_sensor_msgs::msg::MujocoImage::MESSAGE_NAME};
+            obelisk_sensor_msgs::msg::ObkImage::MESSAGE_NAME};
 
         inline const std::array<std::string, 1> estimator_message_names = {
             obelisk_estimator_msgs::msg::EstimatedState::MESSAGE_NAME};

diff --git a/obelisk_ws/src/obelisk_msgs/obelisk_sensor_msgs/CMakeLists.txt b/obelisk_ws/src/obelisk_msgs/obelisk_sensor_msgs/CMakeLists.txt
@@ -17,7 +17,7 @@ find_package(obelisk_std_msgs REQUIRED)
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/JointEncoders.msg"
   "msg/TrueSimState.msg"
-  "msg/MujocoImage.msg"
+  "msg/ObkImage.msg"
   DEPENDENCIES
   std_msgs
   obelisk_std_msgs

diff --git a/...s/obelisk_sensor_msgs/msg/MujocoImage.msg → ...msgs/obelisk_sensor_msgs/msg/ObkImage.msg b/...s/obelisk_sensor_msgs/msg/MujocoImage.msg → ...msgs/obelisk_sensor_msgs/msg/ObkImage.msg
@@ -1,2 +1,2 @@
-string MESSAGE_NAME="MujocoImage"
+string MESSAGE_NAME="ObkImage"
 obelisk_std_msgs/UInt8MultiArray y
diff --git a/tests/tests_python/tests_core/test_utils/test_msg.py b/tests/tests_python/tests_core/test_utils/test_msg.py
@@ -6,7 +6,7 @@
 
 def test_conversion() -> None:
     """Test the conversion between numpy array and FloatMultiArray."""
-    arr = np.random.rand(3, 4, 5)
+    arr = np.random.rand(3, 4, 5, 6, 7)
     msg = np_to_multiarray(arr)
     assert isinstance(msg, FloatMultiArray)
     arr_recovered = multiarray_to_np(msg)