CMakeLists.txt

@@ -51,8 +51,6 @@ find_package(catkin REQUIRED COMPONENTS
 add_message_files(
    FILES
    RGBDFrame.msg
-   NodeProcessingSummary.msg
-   ProcessingInfo.msg
    # Note: Currently for used for backwards compatibility of e.g. bag files
    RGBDFrameOrig.msg
    
@@ -64,6 +62,9 @@ add_message_files(
    Detection2D.msg
    Detections2D.msg
    YoloRGBDFrame.msg
+
+   Normal.msg
+   NormalStamped.msg
 )
 
 ## Generate services in the 'srv' folder
@@ -104,8 +105,8 @@ generate_messages(
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
-    INCLUDE_DIRS 
-        include
+    #INCLUDE_DIRS
+    #    include
     #LIBRARIES homer_msgs
     CATKIN_DEPENDS 
         message_runtime 
@@ -123,7 +124,7 @@ catkin_package(
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
 include_directories(
-    include
+    #include
     ${catkin_INCLUDE_DIRS}
 )
 

include/homer_msgs/processing_log_helper.h

-#pragma once
-
-#include <ros/ros.h>
-
-#include <homer_msgs/NodeProcessingSummary.h>
-#include <homer_msgs/ProcessingInfo.h>
-
-namespace processing_log
-{
-
-/**
- * This message should be called on msg receival.
- */
-homer_msgs::NodeProcessingSummary& create_entry_for_this_node(homer_msgs::RGBDFrame& frame)
-{
-    const auto receiving_time = ros::Time::now();
-    frame.processing_log.emplace_back();
-    auto& log = frame.processing_log.back();
-    log.receiving_time = receiving_time;
-    log.node_name = ros::this_node::getName();
-    return log;
-};
-
-homer_msgs::ProcessingInfo& create_new_task(homer_msgs::NodeProcessingSummary& summary)
-{
-    summary.tasks.emplace_back();
-    return summary.tasks.back();
-}
-
-
-} // namespace processing_log

msg/NodeProcessingSummary.msg

-# Basic information, usually used for node name and message handling times
-string node_name 
-time receiving_time
-time sending_time
-# Log times of sub tasks executed by e.g. node
-homer_msgs/ProcessingInfo[] tasks

msg/Normal.msg

+geometry_msgs/Point origin
+geometry_msgs/Vector3 direction 

msg/NormalStamped.msg

+std_msgs/Header header
+homer_msgs/Normal normal

msg/ProcessingInfo.msg

-string task_name 
-time starting_time 
-time ending_time

msg/RGBDFrame.msg

@@ -2,6 +2,3 @@ std_msgs/Header header
 sensor_msgs/PointCloud2 point_cloud
 sensor_msgs/Image rgb_image
 sensor_msgs/Image range_image
-
-# Log, which nodes processed given frame
-homer_msgs/NodeProcessingSummary[] processing_log