melodic.patch

diff --git a/kobuki_keyop/src/keyop_core.cpp b/kobuki_keyop/src/keyop_core.cpp
index 62cd0c46..9e76ff15 100644
--- a/kobuki_keyop/src/keyop_core.cpp
+++ b/kobuki_keyop/src/keyop_core.cpp
@@ -271,7 +271,7 @@ void KeyOpCore::keyboardInputLoop()
  */
 void KeyOpCore::remoteKeyInputReceived(const kobuki_msgs::KeyboardInput& key)
 {
-  processKeyboardInput(key.pressed_key);
+  processKeyboardInput(key.pressedKey);
 }
 
 /**
@@ -290,27 +290,27 @@ void KeyOpCore::processKeyboardInput(char c)
    */
   switch (c)
   {
-    case kobuki_msgs::KeyboardInput::KEYCODE_LEFT:
+    case kobuki_msgs::KeyboardInput::KeyCode_Left:
     {
       incrementAngularVelocity();
       break;
     }
-    case kobuki_msgs::KeyboardInput::KEYCODE_RIGHT:
+    case kobuki_msgs::KeyboardInput::KeyCode_Right:
     {
       decrementAngularVelocity();
       break;
     }
-    case kobuki_msgs::KeyboardInput::KEYCODE_UP:
+    case kobuki_msgs::KeyboardInput::KeyCode_Up:
     {
       incrementLinearVelocity();
       break;
     }
-    case kobuki_msgs::KeyboardInput::KEYCODE_DOWN:
+    case kobuki_msgs::KeyboardInput::KeyCode_Down:
     {
       decrementLinearVelocity();
       break;
     }
-    case kobuki_msgs::KeyboardInput::KEYCODE_SPACE:
+    case kobuki_msgs::KeyboardInput::KeyCode_Space:
     {
       resetVelocity();
       break;
diff --git a/kobuki_node/src/library/slot_callbacks.cpp b/kobuki_node/src/library/slot_callbacks.cpp
index 21d57788..2c41c266 100644
--- a/kobuki_node/src/library/slot_callbacks.cpp
+++ b/kobuki_node/src/library/slot_callbacks.cpp
@@ -275,9 +275,9 @@ void KobukiRos::publishButtonEvent(const ButtonEvent &event)
       default: break;
     }
     switch(event.button) {
-      case(ButtonEvent::Button0) : { msg->button = kobuki_msgs::ButtonEvent::BUTTON0; break; }
-      case(ButtonEvent::Button1) : { msg->button = kobuki_msgs::ButtonEvent::BUTTON1; break; }
-      case(ButtonEvent::Button2) : { msg->button = kobuki_msgs::ButtonEvent::BUTTON2; break; }
+      case(ButtonEvent::Button0) : { msg->button = kobuki_msgs::ButtonEvent::Button0; break; }
+      case(ButtonEvent::Button1) : { msg->button = kobuki_msgs::ButtonEvent::Button1; break; }
+      case(ButtonEvent::Button2) : { msg->button = kobuki_msgs::ButtonEvent::Button2; break; }
       default: break;
     }
     button_event_publisher.publish(msg);
diff --git a/kobuki_testsuite/scripts/gyro_perf.py b/kobuki_testsuite/scripts/gyro_perf.py
index d2e1eb3f..d5139336 100755
--- a/kobuki_testsuite/scripts/gyro_perf.py
+++ b/kobuki_testsuite/scripts/gyro_perf.py
@@ -254,13 +254,13 @@ class Tester(object):
 
   def buttonCallback(self,data):
     if rospy.is_shutdown(): return
-    if data.button == ButtonEvent.BUTTON0 and data.state == ButtonEvent.RELEASED:
+    if data.button == ButtonEvent.Button0 and data.state == ButtonEvent.RELEASED:
       #if self.debug: print 'button0 pressed'
       self.triggered=True
       return
-    #if data.button == ButtonEvent.BUTTON1 and data.state == ButtonEvent.RELEASED:
+    #if data.button == ButtonEvent.Button1 and data.state == ButtonEvent.RELEASED:
     #  if self.debug: print 'button1 pressed'; return
-    #if data.button == ButtonEvent.BUTTON2 and data.state == ButtonEvent.RELEASED:
+    #if data.button == ButtonEvent.Button2 and data.state == ButtonEvent.RELEASED:
     #  if self.debug: print 'button2 pressed'; return
 
 if __name__ == '__main__':
diff --git a/kobuki_testsuite/scripts/test_events.py b/kobuki_testsuite/scripts/test_events.py
index 4b6b88bd..fa159467 100755
--- a/kobuki_testsuite/scripts/test_events.py
+++ b/kobuki_testsuite/scripts/test_events.py
@@ -46,10 +46,10 @@ def ButtonEventCallback(data):
     if ( data.state == ButtonEvent.RELEASED ) :
         state = "released"
     else:
-        state = "pressed"  
-    if ( data.button == ButtonEvent.BUTTON0 ) :
+        state = "pressed"
+    if ( data.button == ButtonEvent.Button0 ) :
         button = "B0"
-    elif ( data.button == ButtonEvent.BUTTON1 ) :
+    elif ( data.button == ButtonEvent.Button1 ) :
         button = "B1"
     else:
         button = "B2"
@@ -59,7 +59,7 @@ def BumperEventCallback(data):
     if ( data.state == BumperEvent.RELEASED ) :
         state = "released"
     else:
-        state = "pressed"  
+        state = "pressed"
     if ( data.bumper == BumperEvent.LEFT ) :
         bumper = "Left"
     elif ( data.bumper == BumperEvent.CENTER ) :
@@ -67,23 +67,23 @@ def BumperEventCallback(data):
     else:
         bumper = "Right"
     rospy.loginfo("%s bumper is %s."%(bumper, state))
-    
+
 def WheelDropEventCallback(data):
     if ( data.state == WheelDropEvent.RAISED ) :
         state = "raised"
     else:
-        state = "dropped"  
+        state = "dropped"
     if ( data.wheel == WheelDropEvent.LEFT ) :
         wheel = "Left"
     else:
         wheel = "Right"
     rospy.loginfo("%s wheel is %s."%(wheel, state))
-    
+
 def CliffEventCallback(data):
     if ( data.state == CliffEvent.FLOOR ) :
         state = "on the floor"
     else:
-        state = "on the cliff"  
+        state = "on the cliff"
     if ( data.sensor == CliffEvent.LEFT ) :
         cliff = "Left"
     elif ( data.sensor == CliffEvent.CENTER ) :
@@ -113,7 +113,7 @@ def InputEventCallback(data):
     for val in data.values:
         val_str = "%s, %s" % (val_str, str(val))
     rospy.loginfo("Digital input values: [" + val_str[2:] + "]")
-    
+
 rospy.init_node("test_events")
 rospy.Subscriber("/mobile_base/events/button",ButtonEvent,ButtonEventCallback)
 rospy.Subscriber("/mobile_base/events/bumper",BumperEvent,BumperEventCallback)
@@ -134,4 +134,4 @@ print "  - battery low/critical"
 print "  - digital input changes"
 print ""
 rospy.spin()
-    
+
diff --git a/kobuki_testsuite/scripts/test_input.py b/kobuki_testsuite/scripts/test_input.py
index 0ef12617..8dac7564 100755
--- a/kobuki_testsuite/scripts/test_input.py
+++ b/kobuki_testsuite/scripts/test_input.py
@@ -73,35 +73,35 @@ def DigitalInputEventCallback(data):
   global digitalS
   digitalS = data.values
 
-button0 = { ButtonEvent.BUTTON0:0, ButtonEvent.BUTTON1:1, ButtonEvent.BUTTON2:2, } 
+button0 = { ButtonEvent.Button0:0, ButtonEvent.Button1:1, ButtonEvent.Button2:2, }
 button1 = { ButtonEvent.RELEASED:'Released', ButtonEvent.PRESSED:'Pressed ', }
-buttonS = [ 'Released',  'Released',  'Released', ] 
+buttonS = [ 'Released',  'Released',  'Released', ]
 
 def ButtonEventCallback(data):
   buttonS[button0[data.button]]=button1[data.state]
 
-bumper0 = { BumperEvent.LEFT:0, BumperEvent.CENTER:1, BumperEvent.RIGHT:2, } 
+bumper0 = { BumperEvent.LEFT:0, BumperEvent.CENTER:1, BumperEvent.RIGHT:2, }
 bumper1 = { BumperEvent.RELEASED:'Released', BumperEvent.PRESSED:'Pressed ', }
-bumperS = [ 'Released',  'Released',  'Released', ] 
+bumperS = [ 'Released',  'Released',  'Released', ]
 
 def BumperEventCallback(data):
   bumperS[bumper0[data.bumper]]=bumper1[data.state]
 
-wheel0 = { WheelDropEvent.LEFT:0, WheelDropEvent.RIGHT:1, } 
+wheel0 = { WheelDropEvent.LEFT:0, WheelDropEvent.RIGHT:1, }
 wheel1 = { WheelDropEvent.RAISED:'Raised ', WheelDropEvent.DROPPED:'Dropped', }
-wheelS = [ 'Raised ',  'Raised ', ] 
+wheelS = [ 'Raised ',  'Raised ', ]
 
 def WheelDropEventCallback(data):
   wheelS[wheel0[data.wheel]]=wheel1[data.state]
 
-cliff0 = { CliffEvent.LEFT:0, CliffEvent.CENTER:1, CliffEvent.RIGHT:2, } 
+cliff0 = { CliffEvent.LEFT:0, CliffEvent.CENTER:1, CliffEvent.RIGHT:2, }
 cliff1 = { CliffEvent.FLOOR:'Floor', CliffEvent.CLIFF:'Cliff', }
 cliffS = [ 'Floor', 'Floor', 'Floor',]
 
 def CliffEventCallback(data):
   cliffS[cliff0[data.sensor]]=cliff1[data.state]
 
-power0 = { 
+power0 = {
   PowerSystemEvent.UNPLUGGED:"Robot unplugged",
   PowerSystemEvent.PLUGGED_TO_ADAPTER:"Robot plugged to adapter",
   PowerSystemEvent.PLUGGED_TO_DOCKBASE:"Robot plugged to docking base",
@@ -118,7 +118,7 @@ def PowerEventCallback(data):
 def clearing():
   curses.echo()
   stdscr.keypad(0)
-  curses.endwin()  
+  curses.endwin()
 
 
 if __name__ == '__main__':
@@ -129,7 +129,7 @@ if __name__ == '__main__':
   curses.noecho()
   stdscr.keypad(1)
   stdscr.nodelay(1)
-  
+
   rospy.init_node('test_input')
   rospy.on_shutdown(clearing)
   rospy.Subscriber("/mobile_base/sensors/imu_data", Imu, ImuCallback )
@@ -140,7 +140,7 @@ if __name__ == '__main__':
   rospy.Subscriber("/mobile_base/events/wheel_drop", WheelDropEvent, WheelDropEventCallback )
   rospy.Subscriber("/mobile_base/events/cliff", CliffEvent, CliffEventCallback )
   rospy.Subscriber("/mobile_base/events/power_system",PowerSystemEvent,PowerEventCallback)
-  
+
   try:
     while not rospy.is_shutdown():
       stdscr.addstr(7,3,str("Digital input: [%5s, %5s, %5s, %5s]"\
@@ -154,8 +154,8 @@ if __name__ == '__main__':
       key = stdscr.getch()
       if key == ord('q'):
         rospy.signal_shutdown('user request')
-    
+
     clearing()
   except:
     clearing()
-    traceback.print_exc()  
+    traceback.print_exc()