Merge pull request #16 from husarion/ros2-update-panther-msgs

ROS 2 update panther msgs
husarion · Oct 19, 2023 · ba9c388 · ba9c388
2 parents fc9fdff + dababae
commit ba9c388
Show file tree

Hide file tree

Showing 17 changed files with 104 additions and 28 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,24 +1,33 @@
-cmake_minimum_required(VERSION 3.5)
-
+cmake_minimum_required(VERSION 3.10.2)
 project(panther_msgs)
 
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
-  "msg/LightsMessage.msg"
-  DEPENDENCIES builtin_interfaces std_msgs
+  "msg/DriverState.msg"
+  "msg/FaultFlag.msg"
+  "msg/IOState.msg"
+  "msg/LEDAnimation.msg"
+  "msg/LEDAnimationQueue.msg"
+  "msg/LEDImageAnimation.msg"
+  "msg/MotorControllerState.msg"
+  "msg/MotorState.msg"
+  "msg/RuntimeError.msg"
+  "msg/ScriptFlag.msg"
+  "msg/SystemStatus.msg"
+  "srv/SetLEDAnimation.srv"
+  "srv/SetLEDBrightness.srv"
+  "srv/SetLEDImageAnimation.srv"
+  DEPENDENCIES std_msgs
 )
 
 ament_export_dependencies(rosidl_default_runtime)
 
-ament_package()
+ament_package()
diff --git a/msg/DriverState.msg b/msg/DriverState.msg
@@ -0,0 +1,4 @@
+std_msgs/Header header
+
+panther_msgs/MotorControllerState front
+panther_msgs/MotorControllerState rear
diff --git a/msg/FaultFlag.msg b/msg/FaultFlag.msg
@@ -0,0 +1,9 @@
+bool can_net_err
+bool overheat
+bool overvoltage
+bool undervoltage
+bool short_circuit
+bool emergency_stop
+bool motor_or_sensor_setup_fault
+bool mosfet_failure
+bool default_config_loaded_at_startup
diff --git a/msg/IOState.msg b/msg/IOState.msg
@@ -0,0 +1,7 @@
+bool aux_power
+bool charger_connected
+bool charger_enabled
+bool digital_power
+bool fan
+bool motor_on
+bool power_button
diff --git a/msg/LEDAnimation.msg b/msg/LEDAnimation.msg
@@ -0,0 +1,13 @@
+uint16 E_STOP = 0
+uint16 READY = 1
+uint16 ERROR = 2
+uint16 MANUAL_ACTION = 3
+uint16 AUTONOMOUS_ACTION = 4
+uint16 GOAL_ACHIEVED = 5
+uint16 LOW_BATTERY = 6
+uint16 CRITICAL_BATTERY = 7
+uint16 BATTERY_STATE = 8
+uint16 CHARGING_BATTERY = 9
+
+uint16 id
+string param
diff --git a/msg/LEDAnimationQueue.msg b/msg/LEDAnimationQueue.msg
@@ -0,0 +1 @@
+string[] queue
diff --git a/msg/LEDImageAnimation.msg b/msg/LEDImageAnimation.msg
@@ -0,0 +1,5 @@
+string image
+float32 duration
+float32 brightness
+uint8 repeat
+uint32 color
diff --git a/msg/LightsMessage.msg b/msg/LightsMessage.msg
diff --git a/msg/MotorControllerState.msg b/msg/MotorControllerState.msg
@@ -0,0 +1,7 @@
+float32 voltage
+float32 current
+float32 temperature
+panther_msgs/FaultFlag fault_flag
+panther_msgs/ScriptFlag script_flag
+panther_msgs/MotorState left_motor
+panther_msgs/MotorState right_motor
diff --git a/msg/MotorState.msg b/msg/MotorState.msg
@@ -0,0 +1,2 @@
+string motor_joint_name
+panther_msgs/RuntimeError runtime_error
diff --git a/msg/RuntimeError.msg b/msg/RuntimeError.msg
@@ -0,0 +1,7 @@
+bool amps_limit_active
+bool motor_stall
+bool loop_error
+bool safety_stop_active
+bool forward_limit_triggered
+bool reverse_limit_triggered
+bool amps_trigger_activated
diff --git a/msg/ScriptFlag.msg b/msg/ScriptFlag.msg
@@ -0,0 +1,3 @@
+bool loop_error
+bool encoder_disconected
+bool amp_limiter
diff --git a/msg/SystemStatus.msg b/msg/SystemStatus.msg
@@ -0,0 +1,7 @@
+std_msgs/Header header
+
+float32[] cpu_percent
+float32 cpu_temp
+float32 avg_load_percent
+float32 ram_usage_percent
+float32 disc_usage_percent
diff --git a/package.xml b/package.xml
@@ -1,19 +1,17 @@
 <?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>panther_msgs</name>
-  <version>0.0.0</version>
-  <description>
-    Custom messages for Panther robot.
-  </description>
-
+  <version>0.0.1</version>
+  <description>Custom messages for Panther robot.</description>
   <maintainer email="[email protected]">Husarion</maintainer>
-
   <license>Apache License 2.0</license>
 
   <url type="website">https://husarion.com/</url>
   <url type="repository">https://github.com/husarion/panther_msgs/tree/ros2</url>
   <url type="bugtracker">https://github.com/husarion/panther_msgs/issues</url>
+
+  <author email="[email protected]">Dawid Kmak</author>
   <author email="[email protected]">Krzysztof Wojciechowski</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>

diff --git a/srv/SetLEDAnimation.srv b/srv/SetLEDAnimation.srv
@@ -0,0 +1,5 @@
+panther_msgs/LEDAnimation animation
+bool repeating
+---
+bool success
+string message
diff --git a/srv/SetLEDBrightness.srv b/srv/SetLEDBrightness.srv
@@ -0,0 +1,4 @@
+float32 data
+---
+bool success
+string message
diff --git a/srv/SetLEDImageAnimation.srv b/srv/SetLEDImageAnimation.srv
@@ -0,0 +1,7 @@
+panther_msgs/LEDImageAnimation front
+panther_msgs/LEDImageAnimation rear
+bool interrupting
+bool repeating
+---
+bool success
+string message