Update documentation.

Fix to use latest message API.

android_gingerbread/src/org/ros/android/BitmapFromCompressedImage.java

@@ -28,7 +28,7 @@ public class BitmapFromCompressedImage implements
 
   @Override
   public Bitmap call(sensor_msgs.CompressedImage message) {
-    byte[] data = PrimitiveArrays.toByteArray(message.data());
+    byte[] data = PrimitiveArrays.toByteArray(message.getData());
     return BitmapFactory.decodeByteArray(data, 0, data.length);
   }
 }

android_gingerbread/src/org/ros/android/BitmapFromImage.java

@@ -28,14 +28,15 @@ public class BitmapFromImage implements MessageCallable<Bitmap, sensor_msgs.Imag
 
   @Override
   public Bitmap call(sensor_msgs.Image message) {
-    Preconditions.checkArgument(message.encoding().equals("rgb8"));
+    Preconditions.checkArgument(message.getEncoding().equals("rgb8"));
     Bitmap bitmap =
-        Bitmap.createBitmap((int) message.width(), (int) message.height(), Bitmap.Config.ARGB_8888);
-    for (int x = 0; x < message.width(); x++) {
-      for (int y = 0; y < message.height(); y++) {
-        byte red = message.data().get((int) (y * message.step() + 3 * x)).byteValue();
-        byte green = message.data().get((int) (y * message.step() + 3 * x + 1)).byteValue();
-        byte blue = message.data().get((int) (y * message.step() + 3 * x + 2)).byteValue();
+        Bitmap.createBitmap((int) message.getWidth(), (int) message.getHeight(),
+            Bitmap.Config.ARGB_8888);
+    for (int x = 0; x < message.getWidth(); x++) {
+      for (int y = 0; y < message.getHeight(); y++) {
+        byte red = message.getData().get((int) (y * message.getStep() + 3 * x)).byteValue();
+        byte green = message.getData().get((int) (y * message.getStep() + 3 * x + 1)).byteValue();
+        byte blue = message.getData().get((int) (y * message.getStep() + 3 * x + 2)).byteValue();
         bitmap.setPixel(x, y, Color.argb(255, red & 0xFF, green & 0xFF, blue & 0xFF));
       }
     }

android_gingerbread/src/org/ros/android/OrientationPublisher.java

@@ -54,13 +54,13 @@ public class OrientationPublisher implements NodeMain {
         float[] quaternion = new float[4];
         SensorManager.getQuaternionFromVector(quaternion, event.values);
         PoseStamped pose = publisher.newMessage();
-        pose.header().frame_id("/map");
+        pose.getHeader().setFrameId("/map");
         // TODO(damonkohler): Should get time from the Node.
-        pose.header().stamp(Time.fromMillis(System.currentTimeMillis()));
-        pose.pose().orientation().w(quaternion[0]);
-        pose.pose().orientation().x(quaternion[1]);
-        pose.pose().orientation().y(quaternion[2]);
-        pose.pose().orientation().z(quaternion[3]);
+        pose.getHeader().setStamp(Time.fromMillis(System.currentTimeMillis()));
+        pose.getPose().getOrientation().setW(quaternion[0]);
+        pose.getPose().getOrientation().setX(quaternion[1]);
+        pose.getPose().getOrientation().setY(quaternion[2]);
+        pose.getPose().getOrientation().setZ(quaternion[3]);
         publisher.publish(pose);
       }
     }

android_gingerbread/src/org/ros/android/views/PublishingPreviewCallback.java

@@ -25,8 +25,6 @@ import org.ros.message.Time;
 import org.ros.node.Node;
 import org.ros.node.topic.Publisher;
 
-import java.util.ArrayList;
-
 /**
  * @author damonkohler@google.com (Damon Kohler)
  */
@@ -53,22 +51,21 @@ class PublishingPreviewCallback implements PreviewCallback {
     String frameId = "camera";
 
     sensor_msgs.CompressedImage image = imagePublisher.newMessage();
-    image.data(new ArrayList<Short>());
     for (byte b : data) {
-      image.data().add((short) b);
+      image.getData().add((short) b);
     }
-    image.format("jpeg");
-    image.header().stamp(currentTime);
-    image.header().frame_id(frameId);
+    image.setFormat("jpeg");
+    image.getHeader().setStamp(currentTime);
+    image.getHeader().setFrameId(frameId);
     imagePublisher.publish(image);
 
     sensor_msgs.CameraInfo cameraInfo = cameraInfoPublisher.newMessage();
-    cameraInfo.header().stamp(currentTime);
-    cameraInfo.header().frame_id(frameId);
+    cameraInfo.getHeader().setStamp(currentTime);
+    cameraInfo.getHeader().setFrameId(frameId);
 
     Size previewSize = camera.getParameters().getPreviewSize();
-    cameraInfo.width(previewSize.width);
-    cameraInfo.height(previewSize.height);
+    cameraInfo.setWidth(previewSize.width);
+    cameraInfo.setHeight(previewSize.height);
     cameraInfoPublisher.publish(cameraInfo);
   }
 }

android_honeycomb_mr2/src/org/ros/android/views/DistanceView.java

@@ -117,7 +117,7 @@ public class DistanceView extends GLSurfaceView implements OnTouchListener, Node
         post(new Runnable() {
           @Override
           public void run() {
-            distanceRenderer.currentSpeed(robotVelocity.linear().x());
+            distanceRenderer.currentSpeed(robotVelocity.getLinear().getX());
           }
         });
       }
@@ -143,16 +143,16 @@ public class DistanceView extends GLSurfaceView implements OnTouchListener, Node
       @Override
       public void run() {
         List<Float> outRanges = new ArrayList<Float>();
-        float minDistToObject = message.range_max();
+        float minDistToObject = message.getRangeMax();
         // Find the distance to the closest object and also create an List
         // for the ranges.
-        for (float range : message.ranges()) {
+        for (float range : message.getRanges()) {
           outRanges.add(range);
           minDistToObject = (minDistToObject > range) ? range : minDistToObject;
         }
         // Update the renderer with the latest range values.
-        distanceRenderer.updateRange(outRanges, message.range_max(), message.range_min(),
-            message.angle_min(), message.angle_increment(), minDistToObject);
+        distanceRenderer.updateRange(outRanges, message.getRangeMax(), message.getRangeMin(),
+            message.getAngleMin(), message.getAngleIncrement(), minDistToObject);
         // Request to render the surface.
         requestRender();
       }

android_honeycomb_mr2/src/org/ros/android/views/PanTiltView.java

@@ -482,8 +482,8 @@ public class PanTiltView extends RelativeLayout implements OnTouchListener, Node
     pan = (maxPan - minPan) * pan + minPan;
     // Initialize the message with the pan position value and publish it.
     sensor_msgs.JointState jointState = publisher.newMessage();
-    jointState.name().add("pan");
-    jointState.position(Arrays.asList((double) pan));
+    jointState.getName().add("pan");
+    jointState.setPosition(Arrays.asList((double) pan));
     publisher.publish(jointState);
   }
 
@@ -500,8 +500,8 @@ public class PanTiltView extends RelativeLayout implements OnTouchListener, Node
     tilt = (maxTilt - minTilt) * tilt + minTilt;
     // Initialize the message with the tilt position value and publish it.
     sensor_msgs.JointState jointState = publisher.newMessage();
-    jointState.name().add("tilt");
-    jointState.position(Arrays.asList((double) tilt));
+    jointState.getName().add("tilt");
+    jointState.setPosition(Arrays.asList((double) tilt));
     publisher.publish(jointState);
   }
 

android_honeycomb_mr2/src/org/ros/android/views/VirtualJoystickView.java

@@ -282,10 +282,10 @@ public class VirtualJoystickView extends RelativeLayout implements AnimationList
     double heading;
     // For some reason the values of z and y seem to be interchanged. If they
     // are not swapped then heading is always incorrect.
-    double w = message.pose().pose().orientation().w();
-    double x = message.pose().pose().orientation().x();
-    double y = message.pose().pose().orientation().z();
-    double z = message.pose().pose().orientation().y();
+    double w = message.getPose().getPose().getOrientation().getW();
+    double x = message.getPose().getPose().getOrientation().getX();
+    double y = message.getPose().getPose().getOrientation().getZ();
+    double z = message.getPose().getPose().getOrientation().getY();
     heading = Math.atan2(2 * y * w - 2 * x * z, x * x - y * y - z * z + w * w) * 180 / Math.PI;
     // Negating the orientation to make the math for rotation in
     // turn-in-place mode easy. Since the actual heading is irrelevant it does
@@ -824,12 +824,12 @@ public class VirtualJoystickView extends RelativeLayout implements AnimationList
    */
   private void publishVelocity(double linearVelocityX, double linearVelocityY,
       double angularVelocityZ) {
-    currentVelocityCommand.linear().x(linearVelocityX);
-    currentVelocityCommand.linear().y(-linearVelocityY);
-    currentVelocityCommand.linear().z(0);
-    currentVelocityCommand.angular().x(0);
-    currentVelocityCommand.angular().y(0);
-    currentVelocityCommand.angular().z(-angularVelocityZ);
+    currentVelocityCommand.getLinear().setX(linearVelocityX);
+    currentVelocityCommand.getLinear().setY(-linearVelocityY);
+    currentVelocityCommand.getLinear().setZ(0);
+    currentVelocityCommand.getAngular().setX(0);
+    currentVelocityCommand.getAngular().setY(0);
+    currentVelocityCommand.getAngular().setZ(-angularVelocityZ);
   }
 
   /**

android_honeycomb_mr2/src/org/ros/android/views/visualization/TransformListener.java

@@ -51,7 +51,7 @@ public class TransformListener implements NodeMain {
     tfSubscriber.addMessageListener(new MessageListener<tf.tfMessage>() {
       @Override
       public void onNewMessage(tf.tfMessage message) {
-        for (geometry_msgs.TransformStamped transform : message.transforms()) {
+        for (geometry_msgs.TransformStamped transform : message.getTransforms()) {
           frameTransformTree.updateTransform(transform);
         }
       }

android_honeycomb_mr2/src/org/ros/android/views/visualization/layer/CompressedBitmapLayer.java

@@ -87,7 +87,7 @@ public class CompressedBitmapLayer extends
     try {
       BitmapFactory.Options options = new BitmapFactory.Options();
       options.inPreferredConfig = Bitmap.Config.ARGB_8888;
-      byte[] data = PrimitiveArrays.toByteArray(compressedBitmap.data());
+      byte[] data = PrimitiveArrays.toByteArray(compressedBitmap.getData());
       bitmap = BitmapFactory.decodeByteArray(data, 0, data.length, options);
       pixels = IntBuffer.allocate(bitmap.getWidth() * bitmap.getHeight());
       bitmap.copyPixelsToBuffer(pixels);
@@ -106,8 +106,9 @@ public class CompressedBitmapLayer extends
           bitmap.getWidth(), bitmap.getHeight()), e);
       return;
     }
-    textureDrawable.update(compressedBitmap.origin(), compressedBitmap.resolution_x(), squareBitmap);
-    frame = new GraphName(compressedBitmap.header().frame_id());
+    textureDrawable.update(compressedBitmap.getOrigin(), compressedBitmap.getResolutionX(),
+        squareBitmap);
+    frame = new GraphName(compressedBitmap.getHeader().getFrameId());
     ready = true;
     requestRender();
   }

android_honeycomb_mr2/src/org/ros/android/views/visualization/layer/GridCellsLayer.java

@@ -63,12 +63,12 @@ public class GridCellsLayer extends SubscriberLayer<nav_msgs.GridCells> implemen
     }
     super.draw(gl);
     lock.lock();
-    float pointSize = Math.max(message.cell_width(), message.cell_height()) * camera.getZoom();
-    float[] vertices = new float[3 * message.cells().size()];
+    float pointSize = Math.max(message.getCellWidth(), message.getCellHeight()) * camera.getZoom();
+    float[] vertices = new float[3 * message.getCells().size()];
     int i = 0;
-    for (geometry_msgs.Point cell : message.cells()) {
-      vertices[i] = (float) cell.x();
-      vertices[i + 1] = (float) cell.y();
+    for (geometry_msgs.Point cell : message.getCells()) {
+      vertices[i] = (float) cell.getX();
+      vertices[i + 1] = (float) cell.getY();
       vertices[i + 2] = 0.0f;
       i += 3;
     }
@@ -76,7 +76,7 @@ public class GridCellsLayer extends SubscriberLayer<nav_msgs.GridCells> implemen
     gl.glVertexPointer(3, GL10.GL_FLOAT, 0, Vertices.toFloatBuffer(vertices));
     gl.glColor4f(color.getRed(), color.getGreen(), color.getBlue(), color.getAlpha());
     gl.glPointSize(pointSize);
-    gl.glDrawArrays(GL10.GL_POINTS, 0, message.cells().size());
+    gl.glDrawArrays(GL10.GL_POINTS, 0, message.getCells().size());
     gl.glDisableClientState(GL10.GL_VERTEX_ARRAY);
     lock.unlock();
   }
@@ -89,7 +89,7 @@ public class GridCellsLayer extends SubscriberLayer<nav_msgs.GridCells> implemen
     getSubscriber().addMessageListener(new MessageListener<nav_msgs.GridCells>() {
       @Override
       public void onNewMessage(nav_msgs.GridCells data) {
-        frame = new GraphName(data.header().frame_id());
+        frame = new GraphName(data.getHeader().getFrameId());
         if (frameTransformTree.canTransform(frame, frame)) {
           if (lock.tryLock()) {
             message = data;

android_honeycomb_mr2/src/org/ros/android/views/visualization/layer/LaserScanLayer.java

@@ -66,18 +66,18 @@ public class LaserScanLayer extends SubscriberLayer<sensor_msgs.LaserScan> imple
     subscriber.addMessageListener(new MessageListener<LaserScan>() {
       @Override
       public void onNewMessage(LaserScan laserScan) {
-        frame = new GraphName(laserScan.header().frame_id());
-        float[] ranges = ArrayUtils.toPrimitive(laserScan.ranges().toArray(new Float[0]));
+        frame = new GraphName(laserScan.getHeader().getFrameId());
+        float[] ranges = ArrayUtils.toPrimitive(laserScan.getRanges().toArray(new Float[0]));
         // vertices is an array of x, y, z values starting with the origin of
         // the triangle fan.
         float[] vertices = new float[(ranges.length + 1) * 3];
         vertices[0] = 0;
         vertices[1] = 0;
         vertices[2] = 0;
-        float minimumRange = laserScan.range_min();
-        float maximumRange = laserScan.range_max();
-        float angle = laserScan.angle_min();
-        float angleIncrement = laserScan.angle_increment();
+        float minimumRange = laserScan.getRangeMin();
+        float maximumRange = laserScan.getRangeMax();
+        float angle = laserScan.getAngleMin();
+        float angleIncrement = laserScan.getAngleIncrement();
         // Calculate the coordinates of the laser range values.
         for (int i = 0; i < ranges.length; i++) {
           float range = ranges[i];

android_honeycomb_mr2/src/org/ros/android/views/visualization/layer/OccupancyGridLayer.java

@@ -71,11 +71,11 @@ public class OccupancyGridLayer extends SubscriberLayer<nav_msgs.OccupancyGrid>
   }
 
   private static int[] occupancyGridToPixelArray(nav_msgs.OccupancyGrid occupancyGrid) {
-    int pixels[] = new int[occupancyGrid.data().size()];
-    for (int i = 0; i < occupancyGrid.data().size(); i++) {
-      if (occupancyGrid.data().get(i) == -1) {
+    int pixels[] = new int[occupancyGrid.getData().size()];
+    for (int i = 0; i < occupancyGrid.getData().size(); i++) {
+      if (occupancyGrid.getData().get(i) == -1) {
         pixels[i] = COLOR_UNKNOWN;
-      } else if (occupancyGrid.data().get(i) == 0) {
+      } else if (occupancyGrid.getData().get(i) == 0) {
         pixels[i] = COLOR_FREE;
       } else {
         pixels[i] = COLOR_OCCUPIED;
@@ -93,11 +93,12 @@ public class OccupancyGridLayer extends SubscriberLayer<nav_msgs.OccupancyGrid>
       public void onNewMessage(nav_msgs.OccupancyGrid occupancyGridMessage) {
         Bitmap occupancyGridBitmap =
             TextureBitmapUtilities.createSquareBitmap(
-                occupancyGridToPixelArray(occupancyGridMessage), (int) occupancyGridMessage.info()
-                    .width(), (int) occupancyGridMessage.info().height(), COLOR_UNKNOWN);
-        occupancyGrid.update(occupancyGridMessage.info().origin(), occupancyGridMessage.info()
-            .resolution(), occupancyGridBitmap);
-        frame = new GraphName(occupancyGridMessage.header().frame_id());
+                occupancyGridToPixelArray(occupancyGridMessage), (int) occupancyGridMessage
+                    .getInfo().getWidth(), (int) occupancyGridMessage.getInfo().getHeight(),
+                COLOR_UNKNOWN);
+        occupancyGrid.update(occupancyGridMessage.getInfo().getOrigin(), occupancyGridMessage
+            .getInfo().getResolution(), occupancyGridBitmap);
+        frame = new GraphName(occupancyGridMessage.getHeader().getFrameId());
         ready = true;
         requestRender();
       }

android_honeycomb_mr2/src/org/ros/android/views/visualization/layer/PathLayer.java

@@ -83,22 +83,22 @@ public class PathLayer extends SubscriberLayer<nav_msgs.Path> implements TfLayer
 
   private void updateVertexBuffer(nav_msgs.Path path) {
     ByteBuffer goalVertexByteBuffer =
-        ByteBuffer.allocateDirect(path.poses().size() * 3 * Float.SIZE / 8);
+        ByteBuffer.allocateDirect(path.getPoses().size() * 3 * Float.SIZE / 8);
     goalVertexByteBuffer.order(ByteOrder.nativeOrder());
     vertexBuffer = goalVertexByteBuffer.asFloatBuffer();
-    if (path.poses().size() > 0) {
-      frame = new GraphName(path.poses().get(0).header().frame_id());
+    if (path.getPoses().size() > 0) {
+      frame = new GraphName(path.getPoses().get(0).getHeader().getFrameId());
       // Path poses are densely packed and will make the path look like a solid
       // line even if it is drawn as points. Skipping poses provides the visual
       // point separation were looking for.
       int i = 0;
-      for (PoseStamped pose : path.poses()) {
+      for (PoseStamped pose : path.getPoses()) {
         // TODO(damonkohler): Choose the separation between points as a pixel
         // value. This will require inspecting the zoom level from the camera.
         if (i % 15 == 0) {
-          vertexBuffer.put((float) pose.pose().position().x());
-          vertexBuffer.put((float) pose.pose().position().y());
-          vertexBuffer.put((float) pose.pose().position().z());
+          vertexBuffer.put((float) pose.getPose().getPosition().getX());
+          vertexBuffer.put((float) pose.getPose().getPosition().getY());
+          vertexBuffer.put((float) pose.getPose().getPosition().getZ());
         }
         i++;
       }

android_honeycomb_mr2/src/org/ros/android/views/visualization/layer/PoseSubscriberLayer.java

@@ -65,9 +65,9 @@ public class PoseSubscriberLayer extends SubscriberLayer<geometry_msgs.PoseStamp
     getSubscriber().addMessageListener(new MessageListener<geometry_msgs.PoseStamped>() {
       @Override
       public void onNewMessage(geometry_msgs.PoseStamped pose) {
-        GraphName frame = new GraphName(pose.header().frame_id());
+        GraphName frame = new GraphName(pose.getHeader().getFrameId());
         if (frameTransformTree.canTransform(frame, targetFrame)) {
-          Transform poseTransform = Transform.newFromPoseMessage(pose.pose());
+          Transform poseTransform = Transform.newFromPoseMessage(pose.getPose());
           FrameTransform targetFrameTransform =
               frameTransformTree.newFrameTransform(frame, targetFrame);
           shape.setTransform(targetFrameTransform.getTransform().multiply(poseTransform));

android_tutorial_pubsub/src/org/ros/android/tutorial/pubsub/MainActivity.java

@@ -50,7 +50,7 @@ public class MainActivity extends RosActivity {
     rosTextView.setMessageToStringCallable(new MessageCallable<String, std_msgs.String>() {
       @Override
       public String call(std_msgs.String message) {
-        return message.data();
+        return message.getData();
       }
     });
   }

docs/src/main/sphinx/building.rst

@@ -6,22 +6,38 @@ android_core uses the `Gradle`_ build and `Apache Ant`_ build systems.
 
 To build android_core, execute the `gradle wrapper`_:
 
-.. _Gradle: http://www.gradle.com/
+.. _Gradle: http://www.gradle.org/
 .. _Apache Ant: http://ant.apache.org/
 .. _rosmake: http://ros.org/wiki/rosmake/
 .. _gradle wrapper: http://gradle.org/docs/current/userguide/gradle_wrapper.html
 
-Note that the build process currently involves extra steps that will be folded
-into Gradle tasks or otherwise eliminated.
-
 Before building ROS applications for Android, you must complete the
-instructions for building rosjava_core. Once you have completed that
+instructions for `building rosjava_core`_. Once you have completed that
 successfully, you may proceed as follows.
 
-For each android_core package you're interested in (e.g. foo):
+.. _building rosjava_core: http://docs.rosjava.googlecode.com/hg/rosjava_core/html/building.html
+
+The prerequisites for building android_core are the Android SDK and `Apache Ant`_.
+
+* Install the `Android SDK`_.
+* Install `Apache Ant`_ (e.g. on Ubuntu Lucid: ``sudo apt-get install ant1.8 ant1.8-optional``)
+
+.. _Android SDK: http://developer.android.com/sdk/installing.html
+
+Then, for each project in android_core you have to create a local.properties
+file. This will be automated in the future.
+
+#. roscd android_xxx
+#. $ANDROID_SDK/tools/android update project -p \`pwd\`
+
+Finally, you can build debug APKs for all android_core packages using `Gradle`_.
+
+#. roscd android_core
+#. ./gradlew debug
+
+At this point, you may interact with your Android projects as described in the `Android documentation`_.
 
-#. rosrun rosjava_bootstrap install_generated_modules.py foo
-#. ./gradlew foo:debug
+.. _Android documentation: http://developer.android.com/guide/developing/building/building-cmdline.html
 
 Automatic generation of Eclipse project files is not currently supported. To
 create an Eclipse project from an existing ROS Android package: