Add: Message definitions for odometry covariance watchdog

Signed-off-by: Stephen Phillips <[email protected]>
clearpathrobotics · Jul 31, 2024 · fefe8e5 · fefe8e5
1 parent 00a8337
commit fefe8e5
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Showing 4 changed files with 17 additions and 0 deletions.
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/CMakeLists.txt b/clearpath_outdoornav_msgs/clearpath_safety_msgs/CMakeLists.txt
@@ -21,6 +21,7 @@ add_message_files(
     WatchdogConfigNodeletStatus.msg
     WatchdogConfigNodeStatus.msg
     WatchdogConfigNumPoints.msg
+    WatchdogConfigOdomCovariance.msg
     WatchdogConfigRtkFix.msg
     WatchdogConfigTopicData.msg
     WatchdogStatus.msg
@@ -35,6 +36,7 @@ add_service_files(
     AddNodeletStatusWatchdog.srv
     AddNodeStatusWatchdog.srv
     AddNumPointsWatchdog.srv
+    AddOdomCovarianceWatchdog.srv
     AddRtkFixWatchdog.srv
     AddTopicDataWatchdog.srv
     RemoveWatchdog.srv
@@ -44,6 +46,7 @@ add_service_files(
     UpdateNodeletStatusWatchdog.srv
     UpdateNodeStatusWatchdog.srv
     UpdateNumPointsWatchdog.srv
+    UpdateOdomCovarianceWatchdog.srv
     UpdateRtkFixWatchdog.srv
     UpdateTopicDataWatchdog.srv
   )

diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigOdomCovariance.msg b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigOdomCovariance.msg
@@ -0,0 +1,4 @@
+WatchdogConfigCommon base_config
+string topic          # Odometry topic
+float32 xy_threshold
+float32 yaw_threshold
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddOdomCovarianceWatchdog.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddOdomCovarianceWatchdog.srv
@@ -0,0 +1,5 @@
+
+WatchdogConfigOdomCovariance config
+
+---
+bool success
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/UpdateOdomCovarianceWatchdog.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/UpdateOdomCovarianceWatchdog.srv
@@ -0,0 +1,5 @@
+
+WatchdogConfigOdomCovariance new_config
+string current_name     # used as a key to find the watchdog in the list of watchdogs
+---
+bool success