roslib/Header -> std_msgs/Header

core/roslib/src/roslib/genpy.py

@@ -164,7 +164,7 @@ class Special:
             return None
         
 _SPECIAL_TYPES = {
-    roslib.msgs.HEADER:   Special('roslib.msg._Header.Header()',         None,   'import roslib.msg'),
+    roslib.msgs.HEADER:   Special('std_msgs.msg._Header.Header()',     None, 'import std_msgs.msg'),
     roslib.msgs.TIME:     Special('roslib.rostime.Time()',     '%s.canon()', 'import roslib.rostime'),
     roslib.msgs.DURATION: Special('roslib.rostime.Duration()', '%s.canon()', 'import roslib.rostime'), 
     }
@@ -340,7 +340,7 @@ def compute_import(package, type_):
     # important: have to do is_builtin check first. We do this check
     # against the unresolved type builtins/specials are never
     # relative. This requires some special handling for Header, which has
-    # two names (Header and roslib/Header).
+    # two names (Header and std_msgs/Header).
     if roslib.msgs.is_builtin(orig_base_type) or \
            roslib.msgs.is_header_type(orig_base_type):
         # of the builtin types, only special types require import
@@ -1128,8 +1128,8 @@ def _gen_dyn_modify_references(py_text, types):
         py_text = py_text.replace('class %s('%base_type, 'class %s('%gen_name)
         # - super() references for __init__
         py_text = py_text.replace('super(%s,'%base_type, 'super(%s,'%gen_name)
-    # roslib/Header also has to be rewritten to be a local reference
-    py_text = py_text.replace('roslib.msg._Header.Header', _gen_dyn_name('roslib', 'Header'))
+    # std_msgs/Header also has to be rewritten to be a local reference
+    py_text = py_text.replace('std_msgs.msg._Header.Header', _gen_dyn_name('std_msgs', 'Header'))
     return py_text
 
 def generate_dynamic(core_type, msg_cat):

core/roslib/src/roslib/gentools.py

@@ -52,7 +52,7 @@ import roslib.packages
 import roslib.srvs 
 
 # name of the Header type as gentools knows it
-_header_type_name = 'roslib/Header'
+_header_type_name = 'std_msgs/Header'
 
 def _add_msgs_depends(spec, deps, package_context):
     """

core/roslib/src/roslib/message.py

@@ -264,8 +264,9 @@ def check_type(field_name, field_type, field_val):
             check_type(field_name+"[]", base_type, v)
     else:
         if isinstance(field_val, Message):
-            if field_val._type == 'roslib/Header':
-                if field_type not in ['Header', 'roslib/Header']:
+            # roslib/Header is the old location of Header. We check it for backwards compat
+            if field_val._type in ['std_msgs/Header', 'roslib/Header']:
+                if field_type not in ['Header', 'std_msgs/Header', 'roslib/Header']:
                     raise SerializationError("field %s must be a Header instead of a %s"%(field_name, field_val._type))
             elif field_val._type != field_type:
                 raise SerializationError("field %s must be of type %s instead of %s"%(field_name, field_type, field_val._type))

core/roslib/src/roslib/msgs.py

@@ -90,7 +90,9 @@ def resolve_type(type_, package_context):
     """
     Resolve type name based on current package context.
 
-    NOTE: in ROS, 'Header' always resolves to 'roslib/Header'
+    NOTE: in ROS Diamondback, 'Header' resolves to
+    'std_msgs/Header'. In previous releases, it resolves to
+    'roslib/Header' (REP 100).
 
     e.g.::
       resolve_type('String', 'std_msgs') -> 'std_msgs/String'
@@ -103,7 +105,7 @@ def resolve_type(type_, package_context):
     if bt in BUILTIN_TYPES:
         return type_
     elif bt == 'Header':
-        return 'roslib/Header'
+        return 'std_msgs/Header'
     elif SEP in type_:
         return type_
     else:
@@ -377,6 +379,8 @@ def _init():
     # register Header under both contexted and de-contexted name
     _, spec = load_from_file(header, '')
     register(HEADER, spec)
+    register('std_msgs/'+HEADER, spec)    
+    # backwards compat, REP 100
     register('roslib/'+HEADER, spec)    
     for k, spec in EXTENDED_BUILTINS.iteritems():
         register(k, spec)
@@ -675,7 +679,8 @@ def is_header_type(type_):
     @return: True if \a type_ refers to the ROS Header type
     @rtype:  bool
     """
-    return type_ in [HEADER, 'roslib/Header']
+    # for backwards compatibility, include roslib/Header. REP 100
+    return type_ in [HEADER, 'std_msgs/Header', 'roslib/Header']
        
 # time and duration types are represented as aggregate data structures
 # for the purposes of serialization from the perspective of