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Dhruv Tyagi
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Merge branch 'dhruv/move-cortex_msgs' into 'main'
Resolve "Move cortex_msgs" Closes #11 See merge request polymathrobotics/polymath_msgs!10
2 parents 8342743 + 83a98fb commit d62f23e

20 files changed

+266
-6
lines changed

‎CMakeLists.txt

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@@ -10,8 +10,36 @@ find_package(ament_cmake REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(builtin_interfaces REQUIRED)
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find_package(actionlib_msgs REQUIRED)
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find_package(action_msgs REQUIRED)
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find_package(geographic_msgs REQUIRED)
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find_package(nav_msgs REQUIRED)
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set(dependencies
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std_msgs
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builtin_interfaces
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actionlib_msgs
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geometry_msgs
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nav_msgs
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geographic_msgs
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action_msgs
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)
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rosidl_generate_interfaces(${PROJECT_NAME}
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"msg/Option.msg"
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"msg/KeyValue.msg"
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"msg/VehicleFeedback.msg"
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"msg/NavigationOptions.msg"
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"msg/VehicleCommand.msg"
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"msg/CortexStatus.msg"
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"msg/FlowCommand.msg"
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"msg/ReferenceTarget.msg"
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"msg/NavigationCommand.msg"
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"msg/NavigationFeedback.msg"
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"msg/CortexCommand.msg"
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"msg/CortexFeedback.msg"
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"msg/RouteNavGoal.msg"
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"msg/RouteNode.msg"
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"msg/RouteEdge.msg"
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"msg/Route.msg"
@@ -20,12 +48,13 @@ rosidl_generate_interfaces(${PROJECT_NAME}
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"srv/ModifyRouteEdge.srv"
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"srv/ListRouteGraphs.srv"
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"srv/ManageRouteGraph.srv"
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DEPENDENCIES std_msgs geometry_msgs
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"srv/CommandCortexFlow.srv"
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"srv/ModifyCortexQueue.srv"
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"srv/ListVehicleOptions.srv"
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"srv/ListPathLogicOptions.srv"
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"srv/ListReferenceTargets.srv"
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DEPENDENCIES ${dependencies}
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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install(DIRECTORY msg srv DESTINATION share/${PROJECT_NAME})
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ament_package()

‎msg/CortexCommand.msg

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# Command Types (Enum)
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#
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# FLOW: Cortex logic flow commands such as PAUSE
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# NAVIGATION: Navigation commands that we will ask Nav2 to complete
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# VEHICLE: Commands that we will ask the HAL layer to complete
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uint8 FLOW=1
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uint8 NAVIGATION=2
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uint8 VEHICLE=3
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# Command Type defines type of command to be applied
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# (See available options above)
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#
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# default: Undefined. Command will not do anything unless explicitly set.
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uint8 type
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# Only command of type specified by "type" will be used. All others will be ignored.
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# Effectively implemented as a oneof
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polymath_msgs/FlowCommand flow
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polymath_msgs/NavigationCommand navigation
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polymath_msgs/VehicleCommand vehicle

‎msg/CortexFeedback.msg

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# General Information
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builtin_interfaces/Time timestamp_utc
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# Cortex Status
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polymath_msgs/CortexStatus cortex_status
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# Navigation Feedback
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polymath_msgs/NavigationFeedback navigation_feedback
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# Vehicle Feedback
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polymath_msgs/VehicleFeedback vehicle_feedback
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# Current Pose converted back to GPS post Filters
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# Requires localization to be up to return useful data
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geographic_msgs/GeoPoseStamped current_pose
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# Number in queue that is currently running
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uint32 current_command_index
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# Number of commands remaining in the queue
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uint32 number_commands_remaining

‎msg/CortexStatus.msg

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# Cortex Status (Enum)
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#
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# STOPPED: Cortex in a STOPPED state
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# IDLE: Cortex waiting in idle
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# PAUSED: Cortex paused and waiting to resume or stop
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# NAVIGATION_EXECUTING: Cortex in Navigation Subtree
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# VEHICLE_EXECUTING: Cortex in Vehicle subtree
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uint8 STOPPED=0
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uint8 IDLE=1
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uint8 PAUSED=2
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uint8 NAVIGATION_EXECUTING=3
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uint8 VEHICLE_EXECUTING=4
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# Cortex Current Status
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# (See available options above)
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uint8 status
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# Additional description if needed on current state
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string description

‎msg/FlowCommand.msg

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# Cortex Control Commands (ENUM)
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# STOP terminates all commands, stops operations, and clears queues
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# PAUSE stores commands and stops operation. Can be resumed.
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# RESUME resumes from PAUSE
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uint8 STOP=0
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uint8 PAUSE=1
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uint8 RESUME=2
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# Set cortex control command type for Cortex to implement
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# (See types above)
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uint8 command

‎msg/KeyValue.msg

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# polymath_msgs/KeyValue
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string key
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string value

‎msg/NavigationCommand.msg

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# Navigation Command Type (ENUM)
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#
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# GEO_PATH: Geo Path Command type
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# RELATIVE_PATH: Relative Path Command type
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# ROUTE_PATH: Route Navigation Path Command Type
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uint8 GEO_PATH=0
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uint8 RELATIVE_PATH=1
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uint8 ROUTE_PATH=2
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# Navigation Command Type
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# (See available options above)
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#
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# Default: GEOPATH
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uint8 type
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polymath_msgs/NavigationOptions options
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# Array of offsetted values to each pose
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# Orientation relative to goal_paths below
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# Should either be Length=1 OR Length=Length of Path
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geometry_msgs/PoseArray path_offsets
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# ONEOF the following goal_paths:
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geographic_msgs/GeoPath geo_path
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# Relative to current position at the time this path is initialized
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nav_msgs/Path relative_path
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# For route server navigation
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polymath_msgs/RouteNavGoal route_path

‎msg/NavigationFeedback.msg

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# Nav2 Goal State
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action_msgs/GoalStatus nav2_goal_status
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# Distance in meters
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float32 total_distance_remaining
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# Current Target GeoPose
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geographic_msgs/GeoPoseStamped target_pose
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# Final Target Geopose
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geographic_msgs/GeoPoseStamped final_pose
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# Current Pose ID
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int16 current_pose_index
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# Number of Poses remaining
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int16 number_of_poses_remaining
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builtin_interfaces/Duration navigation_time
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builtin_interfaces/Duration estimated_time_remaining

‎msg/NavigationOptions.msg

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# option
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# This is a key-value-pair of path type and options. It will be parsed into a machine readable format for usage.
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# Call "GetNavigationOptions" to get supported options
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polymath_msgs/Option path_option

‎msg/Option.msg

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# polymath_msgs/Action
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string name
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polymath_msgs/KeyValue[] params

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