remove useless dependencies

Author: MatCat960

CMakeLists.txt

@@ -24,7 +24,7 @@ find_package(rclpy REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
-find_package(turtlebot3_msgs REQUIRED)
+# find_package(turtlebot3_msgs REQUIRED)
 find_package(gmm_msgs REQUIRED)
 find_package(gaussian_mixture_model REQUIRED)
 find_package(visualization_msgs REQUIRED)

include/gmm_coverage/Graphics.h

@@ -11,7 +11,7 @@
 // My includes
 #include "Voronoi.h"
 #include "Vettore.h"
-#include "turtlebot3_msgs/msg/gmm.hpp"
+#include "gmm_msgs/msg/gmm.hpp"
 
 //Color points/sites
 const uint8_t P_RED = 100;    //[0-255]
@@ -433,7 +433,7 @@ class Graphics
         }
     }
 
-    void drawGMM(const turtlebot3_msgs::msg::GMM& gmm){
+    void drawGMM(const gmm_msgs::msg::GMM& gmm){
         for (std::size_t i = 0; i < gmm.gaussians.size(); ++i){
             sf::CircleShape circle(0.75*POINT_RADIUS);
             circle.setFillColor(sf::Color(255,255,102));

include/gmm_coverage/Voronoi.h

@@ -10,10 +10,10 @@
 #include "FortuneAlgorithm.h"
 #include "Utility.h"
 #include <iostream>
-// #include "/home/mattia/arscontrol_turtlebot/install/turtlebot3_msgs/include/turtlebot3_msgs/msg/gmm.hpp"
-// #include "/home/mattia/arscontrol_turtlebot/install/turtlebot3_msgs/include/turtlebot3_msgs/msg/gaussian.hpp"
-#include "turtlebot3_msgs/msg/gmm.hpp"
-#include "turtlebot3_msgs/msg/gaussian.hpp"
+// #include "/home/mattia/arscontrol_turtlebot/install/gmm_msgs/include/gmm_msgs/msg/gmm.hpp"
+// #include "/home/mattia/arscontrol_turtlebot/install/gmm_msgs/include/gmm_msgs/msg/gaussian.hpp"
+#include "gmm_msgs/msg/gmm.hpp"
+#include "gmm_msgs/msg/gaussian.hpp"
 
 
 #define M_PI   3.14159265358979323846  /*pi*/
@@ -22,11 +22,11 @@
 
 float gauss3d_pdf(std::vector<float> mean, std::vector<std::vector<float>> var, std::vector<float> pt);
 float multiple_gauss3d_pdf(std::vector<std::vector<float>> means_pt, std::vector<std::vector<std::vector<float>>> vars, std::vector<float> pt, std::vector<float> weights);
-float gauss3d_pdf2(turtlebot3_msgs::msg::Gaussian gaussian, std::vector<float> pt);
-float multiple_gauss3d_pdf2(turtlebot3_msgs::msg::GMM gmm, std::vector<float> pt);
-float single_component_pdf(turtlebot3_msgs::msg::Gaussian gaussian, std::vector<float> pt);
-float mixture_pdf(turtlebot3_msgs::msg::GMM gmm, std::vector<float> pt);
-std::vector<float> computeGMMPolygonCentroid2(const Diagram<double> &polygon, turtlebot3_msgs::msg::GMM gmm, std::vector<Box<double>> ObstacleBoxes, float discretize_precision);
+float gauss3d_pdf2(gmm_msgs::msg::Gaussian gaussian, std::vector<float> pt);
+float multiple_gauss3d_pdf2(gmm_msgs::msg::GMM gmm, std::vector<float> pt);
+float single_component_pdf(gmm_msgs::msg::Gaussian gaussian, std::vector<float> pt);
+float mixture_pdf(gmm_msgs::msg::GMM gmm, std::vector<float> pt);
+std::vector<float> computeGMMPolygonCentroid2(const Diagram<double> &polygon, gmm_msgs::msg::GMM gmm, std::vector<Box<double>> ObstacleBoxes, float discretize_precision);
 
 //***********************************************************************************************************************************
 //-------------------------------- FUNZIONI AUSILIARIE INIZIALI (trasformazione coordinate + sensing) ---------------------------------
@@ -1198,10 +1198,10 @@ std::vector<float> computeGMMPolygonCentroid(const Diagram<double> &polygon, std
 }
 
 // Funzione per il calcolo del centroide in caso di GMM definite con messaggio custom
-std::vector<float> computeGMMPolygonCentroid2(const Diagram<double> &polygon, turtlebot3_msgs::msg::GMM gmm, std::vector<Box<double>> ObstacleBoxes = {}, float discretize_precision = 1.0/10.0){
+std::vector<float> computeGMMPolygonCentroid2(const Diagram<double> &polygon, gmm_msgs::msg::GMM gmm, std::vector<Box<double>> ObstacleBoxes = {}, float discretize_precision = 1.0/10.0){
 
     // Transform GMM to local coordinates
-    turtlebot3_msgs::msg::GMM gmm_local;
+    gmm_msgs::msg::GMM gmm_local;
     gmm_local.weights = gmm.weights;
     for (long unsigned int i = 0; i < gmm.gaussians.size(); ++i)
     {
@@ -1455,7 +1455,7 @@ float gauss3d_pdf(std::vector<float> mean, std::vector<std::vector<float>> var,
     return prob;
 }
 
-float gauss3d_pdf2(turtlebot3_msgs::msg::Gaussian gaussian, std::vector<float> pt){
+float gauss3d_pdf2(gmm_msgs::msg::Gaussian gaussian, std::vector<float> pt){
     std::vector<float> mean = {};                                // mean vector (1D, 2D or 3D)
     std::vector<std::vector<float>> var = {};                    // covariance matrix
     std::vector<float> row = {};                                 // covariance matrix rows
@@ -1527,7 +1527,7 @@ float gauss3d_pdf2(turtlebot3_msgs::msg::Gaussian gaussian, std::vector<float> p
 }
 
 
-float single_component_pdf(turtlebot3_msgs::msg::Gaussian gaussian, std::vector<float> pt){
+float single_component_pdf(gmm_msgs::msg::Gaussian gaussian, std::vector<float> pt){
     // std::cout << "Entered single component pdf" << std::endl;
     Eigen::VectorXd mean_pt;
     Eigen::MatrixXd cov_matrix;
@@ -1602,7 +1602,7 @@ float single_component_pdf(turtlebot3_msgs::msg::Gaussian gaussian, std::vector<
 }
 
 
-float mixture_pdf(turtlebot3_msgs::msg::GMM gmm, std::vector<float> pt)
+float mixture_pdf(gmm_msgs::msg::GMM gmm, std::vector<float> pt)
 {
     // std::cout << "Entered multi-component pdf" << std::endl;
     float val = 0;
@@ -1685,7 +1685,7 @@ float multiple_gauss3d_pdf(std::vector<std::vector<float>> means_pt, std::vector
 }
 
 //funzione per calcolare il valore di un punto dato un Gaussian Mixture Model
-float multiple_gauss3d_pdf2(turtlebot3_msgs::msg::GMM gmm, std::vector<float> pt){
+float multiple_gauss3d_pdf2(gmm_msgs::msg::GMM gmm, std::vector<float> pt){
     float val = 0;
 
     // devo avere stesso numero di punti medi, varianze e pesi

scripts/interface.py

@@ -9,7 +9,7 @@
 # ROS imports
 import rclpy
 from rclpy.node import Node
-from turtlebot3_msgs.msg import GMM, Gaussian
+from gmm_msgs.msg import GMM, Gaussian
 from geometry_msgs.msg import Point
 from ament_index_python.packages import get_package_prefix
 

src/centralized_gmm.cpp

@@ -44,8 +44,8 @@
 #include <geometry_msgs/msg/twist.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
-#include "turtlebot3_msgs/msg/gaussian.hpp"
-#include "turtlebot3_msgs/msg/gmm.hpp"
+#include "gmm_msgs/msg/gaussian.hpp"
+#include "gmm_msgs/msg/gmm.hpp"
 
 #define M_PI   3.14159265358979323846  /*pi*/
 
@@ -132,7 +132,7 @@ class Controller : public rclcpp::Node
             }
         }
         joySub_ = this->create_subscription<geometry_msgs::msg::Twist>("/joy_vel", 1, std::bind(&Controller::joy_callback, this, _1));
-        gmmSub_ = this->create_subscription<turtlebot3_msgs::msg::GMM>("/gaussian_mixture_model", 1, std::bind(&Controller::gmm_callback, this, _1));
+        gmmSub_ = this->create_subscription<gmm_msgs::msg::GMM>("/gaussian_mixture_model", 1, std::bind(&Controller::gmm_callback, this, _1));
         timer_ = this->create_wall_timer(500ms, std::bind(&Controller::Formation, this));
         //rclcpp::on_shutdown(std::bind(&Controller::stop,this));
 
@@ -162,7 +162,7 @@ class Controller : public rclcpp::Node
     void odomCallback(const nav_msgs::msg::Odometry::SharedPtr msg, int j);
     void poseCallback(const geometry_msgs::msg::PoseStamped::SharedPtr msg, int j);
     void joy_callback(const geometry_msgs::msg::Twist::SharedPtr msg);
-    void gmm_callback(const turtlebot3_msgs::msg::GMM::SharedPtr msg);
+    void gmm_callback(const gmm_msgs::msg::GMM::SharedPtr msg);
     Eigen::VectorXd Matrix_row_sum(Eigen::MatrixXd x);
     Eigen::MatrixXd Diag_Matrix(Eigen::VectorXd V);
     void Formation();
@@ -195,9 +195,9 @@ class Controller : public rclcpp::Node
     std::vector<rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr> poseSub_;
     std::vector<rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr> odomSub_;
     rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr joySub_;
-    rclcpp::Subscription<turtlebot3_msgs::msg::GMM>::SharedPtr gmmSub_;
+    rclcpp::Subscription<gmm_msgs::msg::GMM>::SharedPtr gmmSub_;
     rclcpp::TimerBase::SharedPtr timer_;
-    turtlebot3_msgs::msg::GMM gmm_msg;
+    gmm_msgs::msg::GMM gmm_msg;
     //-----------------------------------------------------------------------------------
 
     //Rendering with SFML
@@ -311,7 +311,7 @@ void Controller::joy_callback(const geometry_msgs::msg::Twist::SharedPtr msg)
     this->vel_angular_z = msg->angular.z;
 }
 
-void Controller::gmm_callback(const turtlebot3_msgs::msg::GMM::SharedPtr msg)
+void Controller::gmm_callback(const gmm_msgs::msg::GMM::SharedPtr msg)
 {
     // std::cout << "ROBOT " << std::to_string(ID) << " dentro a GMM callback" << std::endl;
     this->gmm_msg.gaussians = msg->gaussians;

src/distributed_gmm.cpp

@@ -47,8 +47,10 @@
 #include <geometry_msgs/msg/polygon.hpp>
 #include <geometry_msgs/msg/polygon_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
-#include "turtlebot3_msgs/msg/gaussian.hpp"
-#include "turtlebot3_msgs/msg/gmm.hpp"
+// #include "gmm_msgs/msg/gaussian.hpp"
+// #include "gmm_msgs/msg/gmm.hpp"
+#include "gmm_msgs/msg/gaussian.hpp"
+#include "gmm_msgs/msg/gmm.hpp"
 
 #define M_PI   3.14159265358979323846  /*pi*/
 
@@ -136,7 +138,7 @@ class Controller : public rclcpp::Node
     }
 
     joySub_ = this->create_subscription<geometry_msgs::msg::Twist>("/joy_vel", 1, std::bind(&Controller::joy_callback, this, _1));
-    gmmSub_ = this->create_subscription<turtlebot3_msgs::msg::GMM>("/gaussian_mixture_model", 1, std::bind(&Controller::gmm_callback, this, _1));
+    gmmSub_ = this->create_subscription<gmm_msgs::msg::GMM>("/gaussian_mixture_model", 1, std::bind(&Controller::gmm_callback, this, _1));
     voronoiPub = this->create_publisher<geometry_msgs::msg::PolygonStamped>("/voronoi"+std::to_string(ID)+"_diagram", 1);
     timer_ = this->create_wall_timer(200ms, std::bind(&Controller::Formation, this));
     //rclcpp::on_shutdown(std::bind(&Controller::stop,this));
@@ -160,7 +162,7 @@ class Controller : public rclcpp::Node
     void odomCallback(const nav_msgs::msg::Odometry::SharedPtr msg, int j);
     void poseCallback(const geometry_msgs::msg::PoseStamped::SharedPtr msg, int j);
     void joy_callback(const geometry_msgs::msg::Twist::SharedPtr msg);
-    void gmm_callback(const turtlebot3_msgs::msg::GMM::SharedPtr msg);
+    void gmm_callback(const gmm_msgs::msg::GMM::SharedPtr msg);
     void Formation();
     geometry_msgs::msg::Twist Diff_drive_compute_vel(double vel_x, double vel_y, double alfa);
 
@@ -194,10 +196,10 @@ class Controller : public rclcpp::Node
     std::vector<rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr> poseSub_;
     std::vector<rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr> odomSub_;
     rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr joySub_;
-    rclcpp::Subscription<turtlebot3_msgs::msg::GMM>::SharedPtr gmmSub_;
+    rclcpp::Subscription<gmm_msgs::msg::GMM>::SharedPtr gmmSub_;
     rclcpp::Publisher<geometry_msgs::msg::PolygonStamped>::SharedPtr voronoiPub;
     rclcpp::TimerBase::SharedPtr timer_;
-    turtlebot3_msgs::msg::GMM gmm_msg;
+    gmm_msgs::msg::GMM gmm_msg;
     geometry_msgs::msg::Polygon polygon_msg;
     geometry_msgs::msg::PolygonStamped polygonStamped_msg;
 
@@ -307,7 +309,7 @@ void Controller::joy_callback(const geometry_msgs::msg::Twist::SharedPtr msg)
     this->vel_angular_z = msg->angular.z;
 }
 
-void Controller::gmm_callback(const turtlebot3_msgs::msg::GMM::SharedPtr msg)
+void Controller::gmm_callback(const gmm_msgs::msg::GMM::SharedPtr msg)
 {
     this->gmm_msg.gaussians = msg->gaussians;
     this->gmm_msg.weights = msg->weights;

src/gmm_calc.cpp

@@ -33,8 +33,8 @@
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/point.hpp>
 #include <nav_msgs/msg/odometry.hpp>
-#include "turtlebot3_msgs/msg/gaussian.hpp"
-#include "turtlebot3_msgs/msg/gmm.hpp"
+#include "gmm_msgs/msg/gaussian.hpp"
+#include "gmm_msgs/msg/gmm.hpp"
 #include <visualization_msgs/msg/marker.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
@@ -77,7 +77,7 @@ class Supervisor : public rclcpp::Node
         //-----------------------------------------------------------------------------------------------------------------------------------
 
         //------------------------------------------------- ROS publishers and subscribers -------------------------------------------------
-        gmm_pub_ = this->create_publisher<turtlebot3_msgs::msg::GMM>("/gaussian_mixture_model_"+std::to_string(ID), 10);
+        gmm_pub_ = this->create_publisher<gmm_msgs::msg::GMM>("/gaussian_mixture_model_"+std::to_string(ID), 10);
         odom_sub_ = this->create_subscription<nav_msgs::msg::Odometry>("turtlebot" + std::to_string(ID) + "/odom", 1, std::bind(&Supervisor::odomCallback, this, _1));
         for (int i = 0; i < TARGETS_NUM; i++)
         {
@@ -181,7 +181,7 @@ class Supervisor : public rclcpp::Node
     Eigen::MatrixXd p_j;
     std::vector<Eigen::VectorXd> targets_real;
 
-    rclcpp::Publisher<turtlebot3_msgs::msg::GMM>::SharedPtr gmm_pub_;
+    rclcpp::Publisher<gmm_msgs::msg::GMM>::SharedPtr gmm_pub_;
     std::vector<rclcpp::Subscription<geometry_msgs::msg::Pose>::SharedPtr> target_subs_;
     rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_sub_;
     std::vector<rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr> neighbor_subs_;
@@ -325,12 +325,12 @@ void Supervisor::loop()
     // }
 
     // Create ROS GMM msg
-    turtlebot3_msgs::msg::GMM gmm_msg;
+    gmm_msgs::msg::GMM gmm_msg;
     gmm_msg.weights = weights;
 
     for(int i = 0; i < mean_points.size(); i++)
     {
-        turtlebot3_msgs::msg::Gaussian gaussian;
+        gmm_msgs::msg::Gaussian gaussian;
         gaussian.mean_point.x = mean_points[i](0);
         gaussian.mean_point.y = mean_points[i](1);
         gaussian.covariance.push_back(covariances[i](0,0));

src/gmm_test_node.cpp

@@ -26,8 +26,8 @@
 
 
 #include "rclcpp/rclcpp.hpp"
-#include "turtlebot3_msgs/msg/gaussian.hpp"
-#include "turtlebot3_msgs/msg/gmm.hpp"
+#include "gmm_msgs/msg/gaussian.hpp"
+#include "gmm_msgs/msg/gmm.hpp"
 
 
 #include "gaussian_mixture_model/gaussian_mixture_model.h"
@@ -45,8 +45,8 @@ class GMM_Test : public rclcpp::Node
 
     // ROS Related Variables
     rclcpp::TimerBase::SharedPtr timer_;
-    turtlebot3_msgs::msg::GMM gmm_msg;
-    rclcpp::Publisher<turtlebot3_msgs::msg::GMM>::SharedPtr gmm_pub_;
+    gmm_msgs::msg::GMM gmm_msg;
+    rclcpp::Publisher<gmm_msgs::msg::GMM>::SharedPtr gmm_pub_;
 
 public:
 
@@ -57,7 +57,7 @@ class GMM_Test : public rclcpp::Node
 
         // Initialize ROS variables
         timer_ = this->create_wall_timer(std::chrono::milliseconds(100), std::bind(&GMM_Test::timerCallback, this));
-        gmm_pub_ = this->create_publisher<turtlebot3_msgs::msg::GMM>("/gaussian_mixture_model", 10);
+        gmm_pub_ = this->create_publisher<gmm_msgs::msg::GMM>("/gaussian_mixture_model", 10);
 
         samples.resize(2,200);
         double dev = 0.5;
@@ -150,7 +150,7 @@ class GMM_Test : public rclcpp::Node
 
         for(int i = 0; i < mean_points.size(); i++)
         {
-            turtlebot3_msgs::msg::Gaussian gaussian;
+            gmm_msgs::msg::Gaussian gaussian;
             gaussian.mean_point.x = mean_points[i](0);
             gaussian.mean_point.y = mean_points[i](1);
             gaussian.covariance.push_back(covariances[i](0,0));

src/gmm_visualizer.cpp

@@ -45,8 +45,8 @@
 #include <nav_msgs/msg/odometry.hpp>
 #include <visualization_msgs/msg/marker.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
-#include "turtlebot3_msgs/msg/gaussian.hpp"
-#include "turtlebot3_msgs/msg/gmm.hpp"
+#include "gmm_msgs/msg/gaussian.hpp"
+#include "gmm_msgs/msg/gmm.hpp"
 
 #define M_PI   3.14159265358979323846  /*pi*/
 
@@ -67,15 +67,15 @@ class Visualizer : public rclcpp::Node
         // --------------------------------------------------------- GMM ROS publishers and subscribers -------------------------------------------------------
         publisher = this->create_publisher<visualization_msgs::msg::MarkerArray>("/gmm_markers", 1);
         timer_ = this->create_wall_timer(1000ms, std::bind(&Visualizer::show, this));
-        gmmSub_ = this->create_subscription<turtlebot3_msgs::msg::GMM>("/gaussian_mixture_model", 1, std::bind(&Visualizer::gmm_callback, this, _1));
+        gmmSub_ = this->create_subscription<gmm_msgs::msg::GMM>("/gaussian_mixture_model", 1, std::bind(&Visualizer::gmm_callback, this, _1));
 
     }
     ~Visualizer()
     {
         std::cout<<"DESTROYER HAS BEEN CALLED"<<std::endl;
     }
 
-    void gmm_callback(const turtlebot3_msgs::msg::GMM::SharedPtr msg);
+    void gmm_callback(const gmm_msgs::msg::GMM::SharedPtr msg);
     void GroundColorMix(double* color, double x, double min, double max);
     void show();
 
@@ -91,15 +91,15 @@ class Visualizer : public rclcpp::Node
     //------------------------- Publishers and subscribers ------------------------------
     rclcpp::TimerBase::SharedPtr timer_;
     rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr publisher;
-    rclcpp::Subscription<turtlebot3_msgs::msg::GMM>::SharedPtr gmmSub_;
-    turtlebot3_msgs::msg::GMM gmm_msg;
+    rclcpp::Subscription<gmm_msgs::msg::GMM>::SharedPtr gmmSub_;
+    gmm_msgs::msg::GMM gmm_msg;
     visualization_msgs::msg::MarkerArray markers_msg;
     std::vector<visualization_msgs::msg::Marker> markers_array;
     //-----------------------------------------------------------------------------------
 
 };
 
-void Visualizer::gmm_callback(const turtlebot3_msgs::msg::GMM::SharedPtr msg)
+void Visualizer::gmm_callback(const gmm_msgs::msg::GMM::SharedPtr msg)
 {
     this->gmm_msg.gaussians = msg->gaussians;
     this->gmm_msg.weights = msg->weights;

src/hs_interface.cpp

@@ -43,8 +43,8 @@
 #include <geometry_msgs/msg/twist.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
-#include "turtlebot3_msgs/msg/gaussian.hpp"
-#include "turtlebot3_msgs/msg/gmm.hpp"
+#include "gmm_msgs/msg/gaussian.hpp"
+#include "gmm_msgs/msg/gmm.hpp"
 // #include <GaussianMixtureModel/GaussianMixtureModel.h>
 // #include <GaussianMixtureModel/ExpectationMaximization.h>
 // #include <GaussianMixtureModel/TrainSet.h>
@@ -82,7 +82,7 @@ class Interface : public rclcpp::Node
         this->get_parameter("PARTICLES_NUM", PARTICLES_NUM);
 
         // --------------------------------------------------------- GMM ROS publisher -------------------------------------------------------
-        publisher = this->create_publisher<turtlebot3_msgs::msg::GMM>("/gaussian_mixture_model", 1);
+        publisher = this->create_publisher<gmm_msgs::msg::GMM>("/gaussian_mixture_model", 1);
         timer_ = this->create_wall_timer(100ms, std::bind(&Interface::timer_callback, this));
 
         //----------------------------------------------------------- init Variables ---------------------------------------------------------
@@ -124,7 +124,7 @@ class Interface : public rclcpp::Node
 
         for(int i = 0; i < mean_points.size(); i++)
         {
-            turtlebot3_msgs::msg::Gaussian gaussian;
+            gmm_msgs::msg::Gaussian gaussian;
             gaussian.mean_point.x = mean_points[i](0);
             gaussian.mean_point.y = mean_points[i](1);
             gaussian.covariance.push_back(covariances[i](0,0));
@@ -165,8 +165,8 @@ class Interface : public rclcpp::Node
     Eigen::MatrixXd samples;
     //------------------------- Publishers and subscribers ------------------------------
     rclcpp::TimerBase::SharedPtr timer_;
-    rclcpp::Publisher<turtlebot3_msgs::msg::GMM>::SharedPtr publisher;
-    turtlebot3_msgs::msg::GMM gmm_msg;
+    rclcpp::Publisher<gmm_msgs::msg::GMM>::SharedPtr publisher;
+    gmm_msgs::msg::GMM gmm_msg;
     //-----------------------------------------------------------------------------------
 
     // SFML GUI