From f59fef6628424773e544ed6c8ccc25f07385298f Mon Sep 17 00:00:00 2001 From: AJ Date: Wed, 26 Oct 2022 15:30:15 -0700 Subject: [PATCH 01/26] feat: ROS2 complete --- brain_box_msgs/CMakeLists.txt | 421 +++++++++--------- brain_box_msgs/CMakeLists_org.txt | 224 ++++++++++ brain_box_msgs/action/VxFlightExec.action | 4 +- .../action/WaypointNavigation.action | 2 +- brain_box_msgs/msg/AMMap.msg | 2 +- brain_box_msgs/msg/BBLatency.msg | 24 +- brain_box_msgs/msg/BBVxCommand.msg | 4 +- brain_box_msgs/msg/BabySitterStatus.msg | 4 +- brain_box_msgs/msg/BeaconRangeMsg.msg | 4 +- brain_box_msgs/msg/BlinkMCommand.msg | 2 +- brain_box_msgs/msg/BoundingBox.msg | 2 +- brain_box_msgs/msg/BoundingBoxes.msg | 6 +- brain_box_msgs/msg/C2Status.msg | 4 +- brain_box_msgs/msg/CeilingHist.msg | 2 +- brain_box_msgs/msg/CeilingStatus.msg | 4 +- brain_box_msgs/msg/Collision.msg | 16 +- brain_box_msgs/msg/CollisionViews.msg | 5 +- brain_box_msgs/msg/CommsStatus.msg | 4 +- brain_box_msgs/msg/ControlVariables.msg | 6 +- brain_box_msgs/msg/ControllerState.msg | 2 +- brain_box_msgs/msg/CorrFrontHist.msg | 2 +- brain_box_msgs/msg/CorrSidesHist.msg | 2 +- brain_box_msgs/msg/CorrSidesYawList.msg | 2 +- brain_box_msgs/msg/CorrStatus.msg | 16 +- brain_box_msgs/msg/DelayStats.msg | 4 +- brain_box_msgs/msg/DepthCmnd.msg | 2 +- brain_box_msgs/msg/DepthStatus.msg | 6 +- brain_box_msgs/msg/EdgeHist.msg | 2 +- brain_box_msgs/msg/EdgeStatus.msg | 12 +- brain_box_msgs/msg/FTPCmnd.msg | 2 +- brain_box_msgs/msg/FTPStatus.msg | 4 +- brain_box_msgs/msg/FeatureStatus.msg | 2 +- brain_box_msgs/msg/FeatureStatusList.msg | 4 +- brain_box_msgs/msg/FeatureStatusPose.msg | 2 +- brain_box_msgs/msg/GISEntity.msg | 2 +- brain_box_msgs/msg/GPSLocation.msg | 5 +- brain_box_msgs/msg/GSAMStatus.msg | 4 +- brain_box_msgs/msg/GSCommand.msg | 4 +- brain_box_msgs/msg/GSMSDKStatus.msg | 4 +- brain_box_msgs/msg/GSPNStatus.msg | 4 +- brain_box_msgs/msg/Gimbal.msg | 2 +- brain_box_msgs/msg/Heartbeat.msg | 2 +- brain_box_msgs/msg/Int32Stamped.msg | 2 +- brain_box_msgs/msg/LaserCluster.msg | 10 +- brain_box_msgs/msg/LaserClusters.msg | 4 +- brain_box_msgs/msg/LatencyHeader.msg | 2 +- brain_box_msgs/msg/LatencyImage.msg | 3 + brain_box_msgs/msg/LatencyLaserScan.msg | 3 + brain_box_msgs/msg/LatencyOdometry.msg | 3 + ...y_PointCloud.msg => LatencyPointCloud.msg} | 0 ...PointCloud2.msg => LatencyPointCloud2.msg} | 0 ...PoseStamped.msg => LatencyPoseStamped.msg} | 0 ...g => LatencyPoseWithCovarianceStamped.msg} | 0 ...istStamped.msg => LatencyTwistStamped.msg} | 0 ... => LatencyTwistWithCovarianceStamped.msg} | 0 brain_box_msgs/msg/Latency_Image.msg | 3 - brain_box_msgs/msg/Latency_LaserScan.msg | 3 - brain_box_msgs/msg/Latency_Odometry.msg | 3 - brain_box_msgs/msg/LidarStatus.msg | 4 +- brain_box_msgs/msg/LifeCycleCommand.msg | 2 +- brain_box_msgs/msg/LifeCycleState.msg | 2 +- brain_box_msgs/msg/LocationSource.msg | 2 +- brain_box_msgs/msg/MarkDetectStatus.msg | 4 +- brain_box_msgs/msg/MarkerConfig.msg | 4 +- brain_box_msgs/msg/MarkerStatus.msg | 2 +- brain_box_msgs/msg/NormalsStamped.msg | 2 +- .../msg/NormalsWithPointsStamped.msg | 2 +- brain_box_msgs/msg/OdomLatency.msg | 2 +- brain_box_msgs/msg/OperatorCommand.msg | 2 +- brain_box_msgs/msg/OperatorMsg.msg | 2 +- brain_box_msgs/msg/PIDParam.msg | 16 +- brain_box_msgs/msg/PanelHist.msg | 2 +- brain_box_msgs/msg/PanelStatus.msg | 8 +- brain_box_msgs/msg/PassageFeatures.msg | 4 +- brain_box_msgs/msg/PolarPointCloud.msg | 2 +- brain_box_msgs/msg/ProximityList.msg | 2 +- brain_box_msgs/msg/ProximityVector.msg | 10 +- brain_box_msgs/msg/RPYMsgs.msg | 2 +- brain_box_msgs/msg/RangeBall.msg | 12 +- brain_box_msgs/msg/RowView.msg | 4 +- brain_box_msgs/msg/SCStatus.msg | 4 +- brain_box_msgs/msg/SPStatus.msg | 6 +- brain_box_msgs/msg/SSStatus.msg | 4 +- brain_box_msgs/msg/StampedAltimeter.msg | 2 +- brain_box_msgs/msg/StampedHeartBeat.msg | 2 +- brain_box_msgs/msg/StampedInterruptTime.msg | 2 +- brain_box_msgs/msg/StationStatus.msg | 2 +- brain_box_msgs/msg/Status.msg | 2 +- brain_box_msgs/msg/Super2Status.msg | 2 +- brain_box_msgs/msg/SuperNodeStatus.msg | 6 +- brain_box_msgs/msg/SuperStatus.msg | 18 +- brain_box_msgs/msg/SystemReport.msg | 6 +- brain_box_msgs/msg/SystemState.msg | 2 +- brain_box_msgs/msg/TargetPose.msg | 4 +- brain_box_msgs/msg/VideoCmnd.msg | 2 +- brain_box_msgs/msg/VideoStatus.msg | 4 +- brain_box_msgs/msg/VisLogStatus.msg | 4 +- brain_box_msgs/msg/VisionCmnd.msg | 4 +- brain_box_msgs/msg/VisionStatus.msg | 6 +- brain_box_msgs/msg/VxFCUStatus.msg | 2 +- brain_box_msgs/msg/VxFeaturePose.msg | 2 +- brain_box_msgs/msg/VxFlightPlanCmd.msg | 2 +- brain_box_msgs/msg/VxFlightPlanStatus.msg | 4 +- brain_box_msgs/msg/VxKinematics.msg | 4 +- brain_box_msgs/msg/VxManeuver.msg | 4 +- brain_box_msgs/msg/VxMilestone.msg | 10 +- brain_box_msgs/msg/VxMissionExecCmd.msg | 2 +- brain_box_msgs/msg/VxMissionStatus.msg | 4 +- brain_box_msgs/msg/VxProximity.msg | 2 +- brain_box_msgs/msg/VxState.msg | 2 +- brain_box_msgs/msg/VxTrajectory.msg | 4 +- brain_box_msgs/msg/VxTrajectorySegment.msg | 6 +- brain_box_msgs/msg/VxTrajectoryStatus.msg | 6 +- brain_box_msgs/msg/ZEDStatus.msg | 4 +- brain_box_msgs/package.xml | 37 +- brain_box_msgs/package_org.xml | 25 ++ brain_box_msgs/srv/VelocityControl.srv | 2 +- brain_box_msgs/srv/VxFlightPlan.srv | 4 +- brain_box_msgs/srv/VxMissionExec.srv | 2 +- 119 files changed, 704 insertions(+), 465 deletions(-) create mode 100644 brain_box_msgs/CMakeLists_org.txt create mode 100644 brain_box_msgs/msg/LatencyImage.msg create mode 100644 brain_box_msgs/msg/LatencyLaserScan.msg create mode 100644 brain_box_msgs/msg/LatencyOdometry.msg rename brain_box_msgs/msg/{Latency_PointCloud.msg => LatencyPointCloud.msg} (100%) rename brain_box_msgs/msg/{Latency_PointCloud2.msg => LatencyPointCloud2.msg} (100%) rename brain_box_msgs/msg/{Latency_PoseStamped.msg => LatencyPoseStamped.msg} (100%) rename brain_box_msgs/msg/{Latency_PoseWithCovarianceStamped.msg => LatencyPoseWithCovarianceStamped.msg} (100%) rename brain_box_msgs/msg/{Latency_TwistStamped.msg => LatencyTwistStamped.msg} (100%) rename brain_box_msgs/msg/{Latency_TwistWithCovarianceStamped.msg => LatencyTwistWithCovarianceStamped.msg} (100%) delete mode 100644 brain_box_msgs/msg/Latency_Image.msg delete mode 100644 brain_box_msgs/msg/Latency_LaserScan.msg delete mode 100644 brain_box_msgs/msg/Latency_Odometry.msg create mode 100644 brain_box_msgs/package_org.xml diff --git a/brain_box_msgs/CMakeLists.txt b/brain_box_msgs/CMakeLists.txt index a1b6f77..71eeccc 100644 --- a/brain_box_msgs/CMakeLists.txt +++ b/brain_box_msgs/CMakeLists.txt @@ -1,224 +1,215 @@ -cmake_minimum_required(VERSION 2.8.3) +cmake_minimum_required(VERSION 3.5) project(brain_box_msgs) -find_package(catkin REQUIRED COMPONENTS - message_generation - geometry_msgs - nav_msgs - uuid_msgs - genmsg - actionlib_msgs - actionlib - std_msgs - sensor_msgs - shape_msgs) - -################################### -## catkin specific configuration ## -################################### -add_message_files( - DIRECTORY msg - FILES - AMMap.msg - BabySitterStatus.msg - BBAttitude.msg - BBGlobalPosition.msg - BBLatency.msg - BBVxCommand.msg - BeaconRangeMsg.msg - BlinkMCommand.msg - BoundingBox.msg - BoundingBoxes.msg - C2Status.msg - CeilingHist.msg - CeilingPC2.msg - CeilingStatus.msg - Collision.msg - CollisionView.msg - CollisionViews.msg - CommsStatus.msg - ControllerState.msg - ControlVariables.msg - CorrFrontHist.msg - CorrSidesHist.msg - CorrSidesYawList.msg - CorrStatus.msg - CRUD.msg - DelayStats.msg - DepthCmnd.msg - DepthStatus.msg - EdgeHist.msg - EdgeStatus.msg - FeatureStatus.msg - FeatureStatusList.msg - FeatureStatusPose.msg - FlightSegment.msg - FlightSegments.msg - FlightSegmentStatus.msg - Float32ArrayStamped.msg - FTPCmnd.msg - FTPStatus.msg - Gimbal.msg - GimbalPose.msg - GISEntity.msg - GPSLocation.msg - GSAMStatus.msg - GSCommand.msg - GSHeader.msg - GSMSDKStatus.msg - GSPNStatus.msg - GuidanceStatus.msg - Int32Stamped.msg - Heartbeat.msg - KeyValue.msg - LidarStatus.msg - LifeCycleState.msg - LifeCycleCommand.msg - Line.msg - LineP2P.msg - LaserCluster.msg - LaserClusters.msg - Latency_Image.msg - Latency_LaserScan.msg - Latency_Odometry.msg - Latency_PointCloud.msg - Latency_PointCloud2.msg - Latency_PoseStamped.msg - Latency_PoseWithCovarianceStamped.msg - Latency_TwistStamped.msg - Latency_TwistWithCovarianceStamped.msg - Latency.msg - LatencyHeader.msg - LocationCoord.msg - LocationSource.msg - LogControl.msg - MarkerConfig.msg - MarkerConfigFamily.msg - MarkDetectStatus.msg - MarkerStatus.msg - MarkerType.msg - MaxMinAve.msg - NodeStatus.msg - NormalsStamped.msg - NormalWithPoint.msg - NormalsWithPointsStamped.msg - OdomLatency.msg - OperatorCommand.msg - OperatorMsg.msg - PassageFeature.msg - PassageFeatures.msg - PassageFeatureWindow.msg - PolarPointCloud.msg - PanelStatus.msg - PanelHist.msg - ProximityVector.msg - ProximityList.msg - PIDParam.msg - Point2.msg - Profiling.msg - ProfilingArray.msg - Range.msg - RangeBall.msg - RGB.msg - Row.msg - RowView.msg - RPYMsgs.msg - Segment.msg - SegmentationIndicesStamped.msg - SegmentationStamped.msg - SegmentIndex.msg - SeqNo.msg - SPStatus.msg - Status.msg - SSStatus.msg - SCStatus.msg - StampedAltimeter.msg - StampedHeartBeat.msg - StampedInterruptTime.msg - StationStatus.msg - SuperNodeStatus.msg - SuperStatus.msg - Super2Status.msg - SystemReport.msg - SystemState.msg - TargetPose.msg - TargetPoseArray.msg - VideoCmnd.msg - VideoStatus.msg - VisionCmnd.msg - VisionStatus.msg - VisLogStatus.msg - VxFCUStatus.msg - VxFeaturePose.msg - VxFlightPlanCmd.msg - VxFlightPlanStatus.msg - VxKinematics.msg - VxManeuver.msg - VxMilestone.msg - VxMissionExecCmd.msg - VxMissionStatus.msg - VxProximity.msg - VxState.msg - VxTrajectory.msg - VxTrajectorySegment.msg - VxTrajectoryStatus.msg - VxYaw.msg - ZEDStatus.msg - ) - -add_service_files( - DIRECTORY srv - FILES - AMMapBoundingBoxQuery.srv - AttitudeControl.srv - CameraActionControl.srv - CameraSelect.srv - DroneTaskControl.srv - GetAMMap.srv - GimbalAngleControl.srv - GimbalSpeedControl.srv - GlobalPositionControl.srv - LocalPositionControl.srv - SDKPermissionControl.srv - SegmentSearch.srv - VelocityControl.srv - VxFlightPlan.srv - VxMissionExec.srv) - -add_action_files( - DIRECTORY action - FILES - CheckForObjects.action - GlobalPositionNavigation.action - LocalPositionNavigation.action - WaypointNavigation.action - Launch.action - Land.action - RTL.action - VxFlightExec.action) +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() -generate_messages( DEPENDENCIES uuid_msgs std_msgs nav_msgs geometry_msgs actionlib_msgs sensor_msgs shape_msgs) +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() -set(CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}") +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() -catkin_package( +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(rosidl_default_generators REQUIRED) #for message generation +find_package(std_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) - CATKIN_DEPENDS - message_runtime - geometry_msgs - nav_msgs - uuid_msgs - std_msgs - sensor_msgs - shape_msgs -) +rosidl_generate_interfaces(${PROJECT_NAME} -############# -## Install ## -############# -if (EXISTS include/${PROJECT_NAME}) -install(DIRECTORY include/${PROJECT_NAME} - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) + #messages + msg/AMMap.msg + msg/BabySitterStatus.msg + msg/BBAttitude.msg + msg/BBGlobalPosition.msg + msg/BBLatency.msg + msg/BBVxCommand.msg + msg/BeaconRangeMsg.msg + msg/BlinkMCommand.msg + msg/BoundingBox.msg + msg/BoundingBoxes.msg + msg/C2Status.msg + msg/CeilingHist.msg + msg/CeilingPC2.msg + msg/CeilingStatus.msg + msg/Collision.msg + msg/CollisionView.msg + msg/CollisionViews.msg + msg/CommsStatus.msg + msg/ControllerState.msg + msg/ControlVariables.msg + msg/CorrFrontHist.msg + msg/CorrSidesHist.msg + msg/CorrSidesYawList.msg + msg/CorrStatus.msg + msg/CRUD.msg + msg/DelayStats.msg + msg/DepthCmnd.msg + msg/DepthStatus.msg + msg/EdgeHist.msg + msg/EdgeStatus.msg + msg/FeatureStatus.msg + msg/FeatureStatusList.msg + msg/FeatureStatusPose.msg + msg/FlightSegment.msg + msg/FlightSegments.msg + msg/FlightSegmentStatus.msg + msg/Float32ArrayStamped.msg + msg/FTPCmnd.msg + msg/FTPStatus.msg + msg/Gimbal.msg + msg/GimbalPose.msg + msg/GISEntity.msg + msg/GPSLocation.msg + msg/GSAMStatus.msg + msg/GSCommand.msg + msg/GSHeader.msg + msg/GSMSDKStatus.msg + msg/GSPNStatus.msg + msg/GuidanceStatus.msg + msg/Heartbeat.msg + msg/Int32Stamped.msg + msg/KeyValue.msg + msg/LaserCluster.msg + msg/LaserClusters.msg + msg/LatencyImage.msg + msg/LatencyLaserScan.msg + msg/LatencyOdometry.msg + msg/LatencyPointCloud.msg + msg/LatencyPointCloud2.msg + msg/LatencyPoseStamped.msg + msg/LatencyPoseWithCovarianceStamped.msg + msg/LatencyTwistStamped.msg + msg/LatencyTwistWithCovarianceStamped.msg + msg/Latency.msg + msg/LatencyHeader.msg + msg/LidarStatus.msg + msg/LifeCycleState.msg + msg/LifeCycleCommand.msg + msg/Line.msg + msg/LineP2P.msg + msg/LocationCoord.msg + msg/LocationSource.msg + msg/LogControl.msg + msg/MarkerConfig.msg + msg/MarkerConfigFamily.msg + msg/MarkDetectStatus.msg + msg/MarkerStatus.msg + msg/MarkerType.msg + msg/MaxMinAve.msg + msg/NodeStatus.msg + msg/NormalsStamped.msg + msg/NormalWithPoint.msg + msg/NormalsWithPointsStamped.msg + msg/OdomLatency.msg + msg/OperatorCommand.msg + msg/OperatorMsg.msg + msg/PassageFeature.msg + msg/PassageFeatures.msg + msg/PassageFeatureWindow.msg + msg/PolarPointCloud.msg + msg/PanelStatus.msg + msg/PanelHist.msg + msg/ProximityVector.msg + msg/ProximityList.msg + msg/PIDParam.msg + msg/Point2.msg + msg/Profiling.msg + msg/ProfilingArray.msg + msg/Range.msg + msg/RangeBall.msg + msg/RGB.msg + msg/Row.msg + msg/RowView.msg + msg/RPYMsgs.msg + msg/Segment.msg + msg/SegmentationIndicesStamped.msg + msg/SegmentationStamped.msg + msg/SegmentIndex.msg + msg/SeqNo.msg + msg/SPStatus.msg + msg/Status.msg + msg/SSStatus.msg + msg/SCStatus.msg + msg/StampedAltimeter.msg + msg/StampedHeartBeat.msg + msg/StampedInterruptTime.msg + msg/StationStatus.msg + msg/SuperNodeStatus.msg + msg/SuperStatus.msg + msg/Super2Status.msg + msg/SystemReport.msg + msg/SystemState.msg + msg/TargetPose.msg + msg/TargetPoseArray.msg + msg/VideoCmnd.msg + msg/VideoStatus.msg + msg/VisionCmnd.msg + msg/VisionStatus.msg + msg/VisLogStatus.msg + msg/VxFCUStatus.msg + msg/VxFeaturePose.msg + msg/VxFlightPlanCmd.msg + msg/VxFlightPlanStatus.msg + msg/VxKinematics.msg + msg/VxManeuver.msg + msg/VxMilestone.msg + msg/VxMissionExecCmd.msg + msg/VxMissionStatus.msg + msg/VxProximity.msg + msg/VxState.msg + msg/VxTrajectory.msg + msg/VxTrajectorySegment.msg + msg/VxTrajectoryStatus.msg + msg/VxYaw.msg + msg/ZEDStatus.msg + + #services + srv/AMMapBoundingBoxQuery.srv + srv/AttitudeControl.srv + srv/CameraActionControl.srv + srv/CameraSelect.srv + srv/DroneTaskControl.srv + srv/GetAMMap.srv + srv/GimbalAngleControl.srv + srv/GimbalSpeedControl.srv + srv/GlobalPositionControl.srv + srv/LocalPositionControl.srv + srv/SDKPermissionControl.srv + srv/SegmentSearch.srv + srv/VelocityControl.srv + srv/VxFlightPlan.srv + srv/VxMissionExec.srv + + #actions + action/CheckForObjects.action + action/GlobalPositionNavigation.action + action/LocalPositionNavigation.action + action/WaypointNavigation.action + action/Launch.action + action/Land.action + action/RTL.action + action/VxFlightExec.action + + + DEPENDENCIES builtin_interfaces std_msgs geometry_msgs + ) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # uncomment the line when a copyright and license is not present in all source files + #set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # uncomment the line when this package is not in a git repo + #set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() endif() - +ament_package() diff --git a/brain_box_msgs/CMakeLists_org.txt b/brain_box_msgs/CMakeLists_org.txt new file mode 100644 index 0000000..a1b6f77 --- /dev/null +++ b/brain_box_msgs/CMakeLists_org.txt @@ -0,0 +1,224 @@ +cmake_minimum_required(VERSION 2.8.3) +project(brain_box_msgs) + +find_package(catkin REQUIRED COMPONENTS + message_generation + geometry_msgs + nav_msgs + uuid_msgs + genmsg + actionlib_msgs + actionlib + std_msgs + sensor_msgs + shape_msgs) + +################################### +## catkin specific configuration ## +################################### +add_message_files( + DIRECTORY msg + FILES + AMMap.msg + BabySitterStatus.msg + BBAttitude.msg + BBGlobalPosition.msg + BBLatency.msg + BBVxCommand.msg + BeaconRangeMsg.msg + BlinkMCommand.msg + BoundingBox.msg + BoundingBoxes.msg + C2Status.msg + CeilingHist.msg + CeilingPC2.msg + CeilingStatus.msg + Collision.msg + CollisionView.msg + CollisionViews.msg + CommsStatus.msg + ControllerState.msg + ControlVariables.msg + CorrFrontHist.msg + CorrSidesHist.msg + CorrSidesYawList.msg + CorrStatus.msg + CRUD.msg + DelayStats.msg + DepthCmnd.msg + DepthStatus.msg + EdgeHist.msg + EdgeStatus.msg + FeatureStatus.msg + FeatureStatusList.msg + FeatureStatusPose.msg + FlightSegment.msg + FlightSegments.msg + FlightSegmentStatus.msg + Float32ArrayStamped.msg + FTPCmnd.msg + FTPStatus.msg + Gimbal.msg + GimbalPose.msg + GISEntity.msg + GPSLocation.msg + GSAMStatus.msg + GSCommand.msg + GSHeader.msg + GSMSDKStatus.msg + GSPNStatus.msg + GuidanceStatus.msg + Int32Stamped.msg + Heartbeat.msg + KeyValue.msg + LidarStatus.msg + LifeCycleState.msg + LifeCycleCommand.msg + Line.msg + LineP2P.msg + LaserCluster.msg + LaserClusters.msg + Latency_Image.msg + Latency_LaserScan.msg + Latency_Odometry.msg + Latency_PointCloud.msg + Latency_PointCloud2.msg + Latency_PoseStamped.msg + Latency_PoseWithCovarianceStamped.msg + Latency_TwistStamped.msg + Latency_TwistWithCovarianceStamped.msg + Latency.msg + LatencyHeader.msg + LocationCoord.msg + LocationSource.msg + LogControl.msg + MarkerConfig.msg + MarkerConfigFamily.msg + MarkDetectStatus.msg + MarkerStatus.msg + MarkerType.msg + MaxMinAve.msg + NodeStatus.msg + NormalsStamped.msg + NormalWithPoint.msg + NormalsWithPointsStamped.msg + OdomLatency.msg + OperatorCommand.msg + OperatorMsg.msg + PassageFeature.msg + PassageFeatures.msg + PassageFeatureWindow.msg + PolarPointCloud.msg + PanelStatus.msg + PanelHist.msg + ProximityVector.msg + ProximityList.msg + PIDParam.msg + Point2.msg + Profiling.msg + ProfilingArray.msg + Range.msg + RangeBall.msg + RGB.msg + Row.msg + RowView.msg + RPYMsgs.msg + Segment.msg + SegmentationIndicesStamped.msg + SegmentationStamped.msg + SegmentIndex.msg + SeqNo.msg + SPStatus.msg + Status.msg + SSStatus.msg + SCStatus.msg + StampedAltimeter.msg + StampedHeartBeat.msg + StampedInterruptTime.msg + StationStatus.msg + SuperNodeStatus.msg + SuperStatus.msg + Super2Status.msg + SystemReport.msg + SystemState.msg + TargetPose.msg + TargetPoseArray.msg + VideoCmnd.msg + VideoStatus.msg + VisionCmnd.msg + VisionStatus.msg + VisLogStatus.msg + VxFCUStatus.msg + VxFeaturePose.msg + VxFlightPlanCmd.msg + VxFlightPlanStatus.msg + VxKinematics.msg + VxManeuver.msg + VxMilestone.msg + VxMissionExecCmd.msg + VxMissionStatus.msg + VxProximity.msg + VxState.msg + VxTrajectory.msg + VxTrajectorySegment.msg + VxTrajectoryStatus.msg + VxYaw.msg + ZEDStatus.msg + ) + +add_service_files( + DIRECTORY srv + FILES + AMMapBoundingBoxQuery.srv + AttitudeControl.srv + CameraActionControl.srv + CameraSelect.srv + DroneTaskControl.srv + GetAMMap.srv + GimbalAngleControl.srv + GimbalSpeedControl.srv + GlobalPositionControl.srv + LocalPositionControl.srv + SDKPermissionControl.srv + SegmentSearch.srv + VelocityControl.srv + VxFlightPlan.srv + VxMissionExec.srv) + +add_action_files( + DIRECTORY action + FILES + CheckForObjects.action + GlobalPositionNavigation.action + LocalPositionNavigation.action + WaypointNavigation.action + Launch.action + Land.action + RTL.action + VxFlightExec.action) + +generate_messages( DEPENDENCIES uuid_msgs std_msgs nav_msgs geometry_msgs actionlib_msgs sensor_msgs shape_msgs) + +set(CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}") + +catkin_package( + + CATKIN_DEPENDS + message_runtime + geometry_msgs + nav_msgs + uuid_msgs + std_msgs + sensor_msgs + shape_msgs +) + +############# +## Install ## +############# +if (EXISTS include/${PROJECT_NAME}) +install(DIRECTORY include/${PROJECT_NAME} + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) +endif() + + diff --git a/brain_box_msgs/action/VxFlightExec.action b/brain_box_msgs/action/VxFlightExec.action index c3de299..5577776 100644 --- a/brain_box_msgs/action/VxFlightExec.action +++ b/brain_box_msgs/action/VxFlightExec.action @@ -8,7 +8,7 @@ # key="FP_ABORT" value="" abort currently executing flight plan # key="FP_PAUSE" value="" pause currently executing flight plan -KeyValue command +brain_box_msgs/KeyValue command --- # result @@ -17,4 +17,4 @@ string result --- #feedback -VxFlightPlanStatus status +brain_box_msgs/VxFlightPlanStatus status diff --git a/brain_box_msgs/action/WaypointNavigation.action b/brain_box_msgs/action/WaypointNavigation.action index f686d26..f1f96f5 100644 --- a/brain_box_msgs/action/WaypointNavigation.action +++ b/brain_box_msgs/action/WaypointNavigation.action @@ -1,5 +1,5 @@ # Milestones -VxTrajectory trajectory +brain_box_msgs/VxTrajectory trajectory --- bool result --- diff --git a/brain_box_msgs/msg/AMMap.msg b/brain_box_msgs/msg/AMMap.msg index 8366389..351eece 100644 --- a/brain_box_msgs/msg/AMMap.msg +++ b/brain_box_msgs/msg/AMMap.msg @@ -1,5 +1,5 @@ # A 3D AM occupancy map in binary format -Header header +std_msgs/Header header # Resolution (in m) of the smallest octree nodes float64 resolution diff --git a/brain_box_msgs/msg/BBLatency.msg b/brain_box_msgs/msg/BBLatency.msg index 59c0bf1..23c952b 100644 --- a/brain_box_msgs/msg/BBLatency.msg +++ b/brain_box_msgs/msg/BBLatency.msg @@ -5,15 +5,15 @@ uint8 IP_ARUCO_ARUCO_IN=3 uint8 IP_ARUCO_ARUCO_OUT=4 uint8 SP_IN=0 uint8 SP_OUT=1 -time capture_stamp -time transfer_stamp -time driver_stamp -time read_stamp -time image_pipeline_stamp0 -time image_pipeline_stamp1 -time image_pipeline_stamp2 -time image_pipeline_stamp3 -time image_pipeline_stamp4 -time smart_pilot_stamp0 -time smart_pilot_stamp1 -time mavros_stamp +builtin_interfaces/Time capture_stamp +builtin_interfaces/Time transfer_stamp +builtin_interfaces/Time driver_stamp +builtin_interfaces/Time read_stamp +builtin_interfaces/Time image_pipeline_stamp0 +builtin_interfaces/Time image_pipeline_stamp1 +builtin_interfaces/Time image_pipeline_stamp2 +builtin_interfaces/Time image_pipeline_stamp3 +builtin_interfaces/Time image_pipeline_stamp4 +builtin_interfaces/Time smart_pilot_stamp0 +builtin_interfaces/Time smart_pilot_stamp1 +builtin_interfaces/Time mavros_stamp diff --git a/brain_box_msgs/msg/BBVxCommand.msg b/brain_box_msgs/msg/BBVxCommand.msg index 9ced65e..ae03c33 100644 --- a/brain_box_msgs/msg/BBVxCommand.msg +++ b/brain_box_msgs/msg/BBVxCommand.msg @@ -10,8 +10,8 @@ uint8 FOR_TARGET=0 uint8 FOR_GLOBAL=1 uint8 FOR_VEHICLE=2 -Header header +std_msgs/Header header uint8 command string target_id uint8 frame_of_reference -VxKinematics kinematics +brain_box_msgs/VxKinematics kinematics diff --git a/brain_box_msgs/msg/BabySitterStatus.msg b/brain_box_msgs/msg/BabySitterStatus.msg index 91fc83d..500598c 100644 --- a/brain_box_msgs/msg/BabySitterStatus.msg +++ b/brain_box_msgs/msg/BabySitterStatus.msg @@ -1,4 +1,4 @@ -Header header +std_msgs/Header header string name uint16 freq -MaxMinAve max_min_ave +brain_box_msgs/MaxMinAve max_min_ave diff --git a/brain_box_msgs/msg/BeaconRangeMsg.msg b/brain_box_msgs/msg/BeaconRangeMsg.msg index 0e7360a..7906279 100644 --- a/brain_box_msgs/msg/BeaconRangeMsg.msg +++ b/brain_box_msgs/msg/BeaconRangeMsg.msg @@ -12,8 +12,8 @@ # id std_msgs/Header header -geometry_msgs/Point beaconPosition -std_msgs/Bool isLos +geometry_msgs/Point beacon_position +std_msgs/Bool is_los std_msgs/Float32 range std_msgs/Float32 std std_msgs/Float32 bias diff --git a/brain_box_msgs/msg/BlinkMCommand.msg b/brain_box_msgs/msg/BlinkMCommand.msg index c3569cc..fa13e7e 100644 --- a/brain_box_msgs/msg/BlinkMCommand.msg +++ b/brain_box_msgs/msg/BlinkMCommand.msg @@ -2,5 +2,5 @@ # rgb: red, green and blue # blink_rate: blinking rate, one cycle on and one cycle off -RGB rgb +brain_box_msgs/RGB rgb float64 blink_rate \ No newline at end of file diff --git a/brain_box_msgs/msg/BoundingBox.msg b/brain_box_msgs/msg/BoundingBox.msg index ab0b3fb..2ea6d66 100644 --- a/brain_box_msgs/msg/BoundingBox.msg +++ b/brain_box_msgs/msg/BoundingBox.msg @@ -1,4 +1,4 @@ -string Class +string class_name string camera int64 img_width int64 img_height diff --git a/brain_box_msgs/msg/BoundingBoxes.msg b/brain_box_msgs/msg/BoundingBoxes.msg index 3ec3fe8..7e314f8 100644 --- a/brain_box_msgs/msg/BoundingBoxes.msg +++ b/brain_box_msgs/msg/BoundingBoxes.msg @@ -1,3 +1,3 @@ -Header header -Header image_header -BoundingBox[] bounding_boxes +std_msgs/Header header +std_msgs/Header image_header +brain_box_msgs/BoundingBox[] bounding_boxes diff --git a/brain_box_msgs/msg/C2Status.msg b/brain_box_msgs/msg/C2Status.msg index 56af042..81dd642 100644 --- a/brain_box_msgs/msg/C2Status.msg +++ b/brain_box_msgs/msg/C2Status.msg @@ -1,5 +1,5 @@ -Header header -Status status +std_msgs/Header header +brain_box_msgs/Status status uint32 opens uint32 failures uint32 timeouts diff --git a/brain_box_msgs/msg/CeilingHist.msg b/brain_box_msgs/msg/CeilingHist.msg index 8b9fa0e..6cf8332 100644 --- a/brain_box_msgs/msg/CeilingHist.msg +++ b/brain_box_msgs/msg/CeilingHist.msg @@ -1,4 +1,4 @@ -Header header +std_msgs/Header header float32 resolution_m float32 min_x_m float32 max_x_m diff --git a/brain_box_msgs/msg/CeilingStatus.msg b/brain_box_msgs/msg/CeilingStatus.msg index afb9ce8..8eda7a1 100644 --- a/brain_box_msgs/msg/CeilingStatus.msg +++ b/brain_box_msgs/msg/CeilingStatus.msg @@ -1,5 +1,5 @@ -Header header -Status status +std_msgs/Header header +brain_box_msgs/Status status uint16 fps uint16 process_time_ms uint16 latency_ms diff --git a/brain_box_msgs/msg/Collision.msg b/brain_box_msgs/msg/Collision.msg index e2fc416..e9f0f70 100644 --- a/brain_box_msgs/msg/Collision.msg +++ b/brain_box_msgs/msg/Collision.msg @@ -1,4 +1,4 @@ -Header header +std_msgs/Header header float32 down_m float32 front_m float32 right_m @@ -6,10 +6,10 @@ float32 back_m float32 left_m float32 up_m float32[3] motion_m -uint8 downHealth -uint8 frontHealth -uint8 rightHealth -uint8 backHealth -uint8 leftHealth -uint8 upHealth -uint8 motionHealth +uint8 down_health +uint8 front_health +uint8 right_health +uint8 back_health +uint8 left_health +uint8 up_health +uint8 motion_health diff --git a/brain_box_msgs/msg/CollisionViews.msg b/brain_box_msgs/msg/CollisionViews.msg index 1c8fec2..729a2db 100644 --- a/brain_box_msgs/msg/CollisionViews.msg +++ b/brain_box_msgs/msg/CollisionViews.msg @@ -1,6 +1,5 @@ # Collection of collisions views # The frame in the header should be body_FLU -Header header - -CollisionView[] views +std_msgs/Header header +brain_box_msgs/CollisionView[] views \ No newline at end of file diff --git a/brain_box_msgs/msg/CommsStatus.msg b/brain_box_msgs/msg/CommsStatus.msg index 3aab787..33dcc8f 100644 --- a/brain_box_msgs/msg/CommsStatus.msg +++ b/brain_box_msgs/msg/CommsStatus.msg @@ -1,3 +1,3 @@ -Header header -Status status +std_msgs/Header header +brain_box_msgs/Status status bool logging \ No newline at end of file diff --git a/brain_box_msgs/msg/ControlVariables.msg b/brain_box_msgs/msg/ControlVariables.msg index 972c130..bd1838c 100644 --- a/brain_box_msgs/msg/ControlVariables.msg +++ b/brain_box_msgs/msg/ControlVariables.msg @@ -1,4 +1,4 @@ -Header header +std_msgs/Header header string controller_name @@ -18,7 +18,7 @@ float64 target_yaw_x float64 target_yaw_y uint8 yaw_type -bool body_FLU_frame +bool body_flu_frame uint8 control_type bool rotate_only @@ -34,7 +34,7 @@ float64 ramp_speed_end # ControlState drone_state float64[3] ds_location float64[3] ds_location_confidence -float64[3] ds_velocity_FLU +float64[3] ds_velocity_flu float64 ds_yaw float64 ds_yaw_confidence float64 ds_update_age diff --git a/brain_box_msgs/msg/ControllerState.msg b/brain_box_msgs/msg/ControllerState.msg index 32bd206..5e51144 100644 --- a/brain_box_msgs/msg/ControllerState.msg +++ b/brain_box_msgs/msg/ControllerState.msg @@ -3,6 +3,6 @@ # Commands generalized from to VxFCUStatus.msg uint8 COMPLETED=0 # The robot has completed the session and the controller is going inactive -Header header # frame_id field is irrelevant +std_msgs/Header header # frame_id field is irrelevant string node_name # node acting as the controller uint8 state # One of the enumerated states above diff --git a/brain_box_msgs/msg/CorrFrontHist.msg b/brain_box_msgs/msg/CorrFrontHist.msg index bba70d7..724a3f5 100644 --- a/brain_box_msgs/msg/CorrFrontHist.msg +++ b/brain_box_msgs/msg/CorrFrontHist.msg @@ -1,4 +1,4 @@ -Header header +std_msgs/Header header float32 resolution_m float32 min_x_m float32 max_x_m diff --git a/brain_box_msgs/msg/CorrSidesHist.msg b/brain_box_msgs/msg/CorrSidesHist.msg index 3953b89..b26d13b 100644 --- a/brain_box_msgs/msg/CorrSidesHist.msg +++ b/brain_box_msgs/msg/CorrSidesHist.msg @@ -1,4 +1,4 @@ -Header header +std_msgs/Header header float32 corr_width_m float32 resolution_m float32 min_x_m diff --git a/brain_box_msgs/msg/CorrSidesYawList.msg b/brain_box_msgs/msg/CorrSidesYawList.msg index d62277b..43a1e13 100644 --- a/brain_box_msgs/msg/CorrSidesYawList.msg +++ b/brain_box_msgs/msg/CorrSidesYawList.msg @@ -1,2 +1,2 @@ -Header header +std_msgs/Header header float32[] sd diff --git a/brain_box_msgs/msg/CorrStatus.msg b/brain_box_msgs/msg/CorrStatus.msg index a206f1e..d461bde 100644 --- a/brain_box_msgs/msg/CorrStatus.msg +++ b/brain_box_msgs/msg/CorrStatus.msg @@ -1,17 +1,17 @@ -Header header -Status status +std_msgs/Header header +brain_box_msgs/Status status uint16 ss_top_fps -MaxMinAve ss_top_process_time_ms -MaxMinAve ss_top_latency_ms +brain_box_msgs/MaxMinAve ss_top_process_time_ms +brain_box_msgs/MaxMinAve ss_top_latency_ms uint16 ss_front_fps -MaxMinAve ss_front_process_time_ms -MaxMinAve ss_front_latency_ms +brain_box_msgs/MaxMinAve ss_front_process_time_ms +brain_box_msgs/MaxMinAve ss_front_latency_ms uint16 lidar_fps -MaxMinAve lidar_process_time_ms -MaxMinAve lidar_latency_ms +brain_box_msgs/MaxMinAve lidar_process_time_ms +brain_box_msgs/MaxMinAve lidar_latency_ms float32 lidar_weight bool disabled diff --git a/brain_box_msgs/msg/DelayStats.msg b/brain_box_msgs/msg/DelayStats.msg index e168efa..b80bd0e 100644 --- a/brain_box_msgs/msg/DelayStats.msg +++ b/brain_box_msgs/msg/DelayStats.msg @@ -1,5 +1,5 @@ -Header header -duration duration +std_msgs/Header header +builtin_interfaces/Duration duration string node_name int64 count float64 mean_delay diff --git a/brain_box_msgs/msg/DepthCmnd.msg b/brain_box_msgs/msg/DepthCmnd.msg index 60558fc..81ed9d0 100644 --- a/brain_box_msgs/msg/DepthCmnd.msg +++ b/brain_box_msgs/msg/DepthCmnd.msg @@ -1,5 +1,5 @@ uint8 COMMAND_SAR_NAV=0 uint8 COMMAND_TRUCK_LAND=1 -Header header +std_msgs/Header header uint8 command diff --git a/brain_box_msgs/msg/DepthStatus.msg b/brain_box_msgs/msg/DepthStatus.msg index b4917fc..bc295b3 100644 --- a/brain_box_msgs/msg/DepthStatus.msg +++ b/brain_box_msgs/msg/DepthStatus.msg @@ -1,7 +1,7 @@ -Header header +std_msgs/Header header bool simulation bool enabled -Status status +brain_box_msgs/Status status float32 odometry_z_m float32 agl_m -GuidanceStatus[5] guidance_statuses +brain_box_msgs/GuidanceStatus[5] guidance_statuses diff --git a/brain_box_msgs/msg/EdgeHist.msg b/brain_box_msgs/msg/EdgeHist.msg index cadb584..95c3c25 100644 --- a/brain_box_msgs/msg/EdgeHist.msg +++ b/brain_box_msgs/msg/EdgeHist.msg @@ -1,4 +1,4 @@ -Header header +std_msgs/Header header float64 resolution_m float64 min_y_m float64 max_y_m diff --git a/brain_box_msgs/msg/EdgeStatus.msg b/brain_box_msgs/msg/EdgeStatus.msg index 21ec27c..fe3c923 100644 --- a/brain_box_msgs/msg/EdgeStatus.msg +++ b/brain_box_msgs/msg/EdgeStatus.msg @@ -1,13 +1,13 @@ -Header header -Status status +std_msgs/Header header +brain_box_msgs/Status status uint16 ss1_fps -MaxMinAve ss1_process_time_ms -MaxMinAve ss1_latency_ms +brain_box_msgs/MaxMinAve ss1_process_time_ms +brain_box_msgs/MaxMinAve ss1_latency_ms uint16 lidar_fps -MaxMinAve lidar_process_time_ms -MaxMinAve lidar_latency_ms +brain_box_msgs/MaxMinAve lidar_process_time_ms +brain_box_msgs/MaxMinAve lidar_latency_ms bool disabled bool valid_data diff --git a/brain_box_msgs/msg/FTPCmnd.msg b/brain_box_msgs/msg/FTPCmnd.msg index 36c36ff..11468db 100644 --- a/brain_box_msgs/msg/FTPCmnd.msg +++ b/brain_box_msgs/msg/FTPCmnd.msg @@ -1,5 +1,5 @@ uint8 COMMAND_DIRECTORY_LISTING=0 -Header header +std_msgs/Header header uint8 command string string_param1 diff --git a/brain_box_msgs/msg/FTPStatus.msg b/brain_box_msgs/msg/FTPStatus.msg index 56af042..81dd642 100644 --- a/brain_box_msgs/msg/FTPStatus.msg +++ b/brain_box_msgs/msg/FTPStatus.msg @@ -1,5 +1,5 @@ -Header header -Status status +std_msgs/Header header +brain_box_msgs/Status status uint32 opens uint32 failures uint32 timeouts diff --git a/brain_box_msgs/msg/FeatureStatus.msg b/brain_box_msgs/msg/FeatureStatus.msg index 661315b..27deed6 100644 --- a/brain_box_msgs/msg/FeatureStatus.msg +++ b/brain_box_msgs/msg/FeatureStatus.msg @@ -2,7 +2,7 @@ string feature_id # last time the feature was perceived -time last_contact +builtin_interfaces/Time last_contact # whether the feature is considered to be in view bool in_view diff --git a/brain_box_msgs/msg/FeatureStatusList.msg b/brain_box_msgs/msg/FeatureStatusList.msg index c483433..f32b8e9 100644 --- a/brain_box_msgs/msg/FeatureStatusList.msg +++ b/brain_box_msgs/msg/FeatureStatusList.msg @@ -1,4 +1,4 @@ -Header header +std_msgs/Header header # list of features and their status -FeatureStatus[] features +brain_box_msgs/FeatureStatus[] features diff --git a/brain_box_msgs/msg/FeatureStatusPose.msg b/brain_box_msgs/msg/FeatureStatusPose.msg index 032268f..c843250 100644 --- a/brain_box_msgs/msg/FeatureStatusPose.msg +++ b/brain_box_msgs/msg/FeatureStatusPose.msg @@ -1,2 +1,2 @@ -FeatureStatus feature_status +brain_box_msgs/FeatureStatus feature_status geometry_msgs/Pose feature_pose diff --git a/brain_box_msgs/msg/GISEntity.msg b/brain_box_msgs/msg/GISEntity.msg index 3ca785f..d9ac730 100644 --- a/brain_box_msgs/msg/GISEntity.msg +++ b/brain_box_msgs/msg/GISEntity.msg @@ -10,4 +10,4 @@ uint8 type string id # vertices of the GIS entity -LocationCoord[] points +brain_box_msgs/LocationCoord[] points diff --git a/brain_box_msgs/msg/GPSLocation.msg b/brain_box_msgs/msg/GPSLocation.msg index 55f5357..d8690a0 100644 --- a/brain_box_msgs/msg/GPSLocation.msg +++ b/brain_box_msgs/msg/GPSLocation.msg @@ -1,4 +1,4 @@ -Header header +std_msgs/Header header int32 ts #latitude is in angle float64 latitude @@ -7,5 +7,4 @@ float64 longitude float32 altitude float32 height #reliablity [0,5] -int8 health - +int8 health \ No newline at end of file diff --git a/brain_box_msgs/msg/GSAMStatus.msg b/brain_box_msgs/msg/GSAMStatus.msg index 2ea294c..934a037 100644 --- a/brain_box_msgs/msg/GSAMStatus.msg +++ b/brain_box_msgs/msg/GSAMStatus.msg @@ -1,4 +1,4 @@ -Header header -GSHeader gs_header +std_msgs/Header header +brain_box_msgs/GSHeader gs_header uint8 code diff --git a/brain_box_msgs/msg/GSCommand.msg b/brain_box_msgs/msg/GSCommand.msg index 54f4288..feab9b3 100644 --- a/brain_box_msgs/msg/GSCommand.msg +++ b/brain_box_msgs/msg/GSCommand.msg @@ -1,4 +1,4 @@ -Header header -GSHeader gs_header +std_msgs/Header header +brain_box_msgs/GSHeader gs_header uint16 id string value diff --git a/brain_box_msgs/msg/GSMSDKStatus.msg b/brain_box_msgs/msg/GSMSDKStatus.msg index 9b5ee24..0b432f8 100644 --- a/brain_box_msgs/msg/GSMSDKStatus.msg +++ b/brain_box_msgs/msg/GSMSDKStatus.msg @@ -1,3 +1,3 @@ -Header header -GSHeader gs_header +std_msgs/Header header +brain_box_msgs/GSHeader gs_header bool compass_error \ No newline at end of file diff --git a/brain_box_msgs/msg/GSPNStatus.msg b/brain_box_msgs/msg/GSPNStatus.msg index 8a4ba81..6328c72 100644 --- a/brain_box_msgs/msg/GSPNStatus.msg +++ b/brain_box_msgs/msg/GSPNStatus.msg @@ -1,5 +1,5 @@ -Header header -GSHeader gs_header +std_msgs/Header header +brain_box_msgs/GSHeader gs_header string flight_plan string trajectory string segment diff --git a/brain_box_msgs/msg/Gimbal.msg b/brain_box_msgs/msg/Gimbal.msg index 640ccf0..97a31da 100644 --- a/brain_box_msgs/msg/Gimbal.msg +++ b/brain_box_msgs/msg/Gimbal.msg @@ -1,4 +1,4 @@ -Header header +std_msgs/Header header # ts is the time it takes to achieve the desired angle, # so the shorter the time, the faster the gimbal rotates. diff --git a/brain_box_msgs/msg/Heartbeat.msg b/brain_box_msgs/msg/Heartbeat.msg index 329c7a7..b8f8bcf 100644 --- a/brain_box_msgs/msg/Heartbeat.msg +++ b/brain_box_msgs/msg/Heartbeat.msg @@ -1,4 +1,4 @@ -Header header +std_msgs/Header header float64 age diff --git a/brain_box_msgs/msg/Int32Stamped.msg b/brain_box_msgs/msg/Int32Stamped.msg index 5b2498f..bf748e8 100644 --- a/brain_box_msgs/msg/Int32Stamped.msg +++ b/brain_box_msgs/msg/Int32Stamped.msg @@ -1,2 +1,2 @@ -Header header +std_msgs/Header header int32 data diff --git a/brain_box_msgs/msg/LaserCluster.msg b/brain_box_msgs/msg/LaserCluster.msg index 1c84c0d..c857c29 100644 --- a/brain_box_msgs/msg/LaserCluster.msg +++ b/brain_box_msgs/msg/LaserCluster.msg @@ -1,9 +1,9 @@ geometry_msgs/Point32[] points -int32 clusterIndex -int32 rightBound -int32 leftBound -float64 distanceToLeftCluster -float64 distanceToRightCluster +int32 cluster_index +int32 right_bound +int32 left_bound +float64 distance_to_left_cluster +float64 distance_to_right_cluster float64 slope float64 y_intercept float64 angle_with_x_axis diff --git a/brain_box_msgs/msg/LaserClusters.msg b/brain_box_msgs/msg/LaserClusters.msg index a6beb1d..9ac4892 100644 --- a/brain_box_msgs/msg/LaserClusters.msg +++ b/brain_box_msgs/msg/LaserClusters.msg @@ -1,4 +1,4 @@ -Header header +std_msgs/Header header float64 max_cluster_distance int32 min_cluster_size -LaserCluster[] clusters +brain_box_msgs/LaserCluster[] clusters diff --git a/brain_box_msgs/msg/LatencyHeader.msg b/brain_box_msgs/msg/LatencyHeader.msg index 2ff2d94..53f3b1f 100644 --- a/brain_box_msgs/msg/LatencyHeader.msg +++ b/brain_box_msgs/msg/LatencyHeader.msg @@ -1,3 +1,3 @@ # This is a header that can be attached to varioius messages types to track the latency of data as it flow through the system -Latency[] latency +brain_box_msgs/Latency[] latency diff --git a/brain_box_msgs/msg/LatencyImage.msg b/brain_box_msgs/msg/LatencyImage.msg new file mode 100644 index 0000000..e6a7817 --- /dev/null +++ b/brain_box_msgs/msg/LatencyImage.msg @@ -0,0 +1,3 @@ +brain_box_msgs/LatencyHeader header + +sensor_msgs/Image msg \ No newline at end of file diff --git a/brain_box_msgs/msg/LatencyLaserScan.msg b/brain_box_msgs/msg/LatencyLaserScan.msg new file mode 100644 index 0000000..248f2a2 --- /dev/null +++ b/brain_box_msgs/msg/LatencyLaserScan.msg @@ -0,0 +1,3 @@ +brain_box_msgs/LatencyHeader header + +sensor_msgs/LaserScan msg diff --git a/brain_box_msgs/msg/LatencyOdometry.msg b/brain_box_msgs/msg/LatencyOdometry.msg new file mode 100644 index 0000000..ed5cc23 --- /dev/null +++ b/brain_box_msgs/msg/LatencyOdometry.msg @@ -0,0 +1,3 @@ +brain_box_msgs/LatencyHeader header + +nav_msgs/Odometry msg diff --git a/brain_box_msgs/msg/Latency_PointCloud.msg b/brain_box_msgs/msg/LatencyPointCloud.msg similarity index 100% rename from brain_box_msgs/msg/Latency_PointCloud.msg rename to brain_box_msgs/msg/LatencyPointCloud.msg diff --git a/brain_box_msgs/msg/Latency_PointCloud2.msg b/brain_box_msgs/msg/LatencyPointCloud2.msg similarity index 100% rename from brain_box_msgs/msg/Latency_PointCloud2.msg rename to brain_box_msgs/msg/LatencyPointCloud2.msg diff --git a/brain_box_msgs/msg/Latency_PoseStamped.msg b/brain_box_msgs/msg/LatencyPoseStamped.msg similarity index 100% rename from brain_box_msgs/msg/Latency_PoseStamped.msg rename to brain_box_msgs/msg/LatencyPoseStamped.msg diff --git a/brain_box_msgs/msg/Latency_PoseWithCovarianceStamped.msg b/brain_box_msgs/msg/LatencyPoseWithCovarianceStamped.msg similarity index 100% rename from brain_box_msgs/msg/Latency_PoseWithCovarianceStamped.msg rename to brain_box_msgs/msg/LatencyPoseWithCovarianceStamped.msg diff --git a/brain_box_msgs/msg/Latency_TwistStamped.msg b/brain_box_msgs/msg/LatencyTwistStamped.msg similarity index 100% rename from brain_box_msgs/msg/Latency_TwistStamped.msg rename to brain_box_msgs/msg/LatencyTwistStamped.msg diff --git a/brain_box_msgs/msg/Latency_TwistWithCovarianceStamped.msg b/brain_box_msgs/msg/LatencyTwistWithCovarianceStamped.msg similarity index 100% rename from brain_box_msgs/msg/Latency_TwistWithCovarianceStamped.msg rename to brain_box_msgs/msg/LatencyTwistWithCovarianceStamped.msg diff --git a/brain_box_msgs/msg/Latency_Image.msg b/brain_box_msgs/msg/Latency_Image.msg deleted file mode 100644 index 6e881b9..0000000 --- a/brain_box_msgs/msg/Latency_Image.msg +++ /dev/null @@ -1,3 +0,0 @@ -LatencyHeader header - -sensor_msgs/Image msg diff --git a/brain_box_msgs/msg/Latency_LaserScan.msg b/brain_box_msgs/msg/Latency_LaserScan.msg deleted file mode 100644 index 2fb8b4c..0000000 --- a/brain_box_msgs/msg/Latency_LaserScan.msg +++ /dev/null @@ -1,3 +0,0 @@ -LatencyHeader header - -sensor_msgs/LaserScan msg diff --git a/brain_box_msgs/msg/Latency_Odometry.msg b/brain_box_msgs/msg/Latency_Odometry.msg deleted file mode 100644 index 5d18b28..0000000 --- a/brain_box_msgs/msg/Latency_Odometry.msg +++ /dev/null @@ -1,3 +0,0 @@ -LatencyHeader header - -nav_msgs/Odometry msg diff --git a/brain_box_msgs/msg/LidarStatus.msg b/brain_box_msgs/msg/LidarStatus.msg index ba82fbb..f922d8d 100644 --- a/brain_box_msgs/msg/LidarStatus.msg +++ b/brain_box_msgs/msg/LidarStatus.msg @@ -1,3 +1,3 @@ -Header header -Status status +std_msgs/Header header +brain_box_msgs/Status status uint16 fps diff --git a/brain_box_msgs/msg/LifeCycleCommand.msg b/brain_box_msgs/msg/LifeCycleCommand.msg index 96bc607..04da382 100644 --- a/brain_box_msgs/msg/LifeCycleCommand.msg +++ b/brain_box_msgs/msg/LifeCycleCommand.msg @@ -7,6 +7,6 @@ uint8 COMMAND_SHUTDOWN=5 # load configuration and setup uint8 COMMAND_DESTROY=6 # return to original startup state uint8 COMMAND_LAST=6 -Header header # frame_id field is irrelevant +std_msgs/Header header # frame_id field is irrelevant string node_name # node name uint8 command # lifecycle command diff --git a/brain_box_msgs/msg/LifeCycleState.msg b/brain_box_msgs/msg/LifeCycleState.msg index 18c0a2f..73a0edc 100644 --- a/brain_box_msgs/msg/LifeCycleState.msg +++ b/brain_box_msgs/msg/LifeCycleState.msg @@ -16,7 +16,7 @@ uint8 STATUS_WARN=1 # running on edge of specifications, output is suspect uint8 STATUS_ERROR=2 # running well out of specificaiton, output can't be trusted uint8 STATUS_LAST=2 -Header header # frame_id field is irrelevant +std_msgs/Header header # frame_id field is irrelevant string node_name # node name int32 process_id # node process id uint8 state # current state diff --git a/brain_box_msgs/msg/LocationSource.msg b/brain_box_msgs/msg/LocationSource.msg index f03ce22..f7cd694 100644 --- a/brain_box_msgs/msg/LocationSource.msg +++ b/brain_box_msgs/msg/LocationSource.msg @@ -1,4 +1,4 @@ -Header header +std_msgs/Header header # feature id for the X dimension string x_id diff --git a/brain_box_msgs/msg/MarkDetectStatus.msg b/brain_box_msgs/msg/MarkDetectStatus.msg index 2bd69ad..d5cfb91 100644 --- a/brain_box_msgs/msg/MarkDetectStatus.msg +++ b/brain_box_msgs/msg/MarkDetectStatus.msg @@ -1,4 +1,4 @@ -Header header +std_msgs/Header header Status status uint16 fps_ave uint16 fps_min @@ -9,5 +9,5 @@ uint16 latency_max_ms uint16 native_image_width uint16 native_image_height uint16 skip_frames -MarkerStatus[] marker_statuses +brain_box_msgs/MarkerStatus[] marker_statuses uint8 num_detected_tags \ No newline at end of file diff --git a/brain_box_msgs/msg/MarkerConfig.msg b/brain_box_msgs/msg/MarkerConfig.msg index 2280087..5c2c2ef 100644 --- a/brain_box_msgs/msg/MarkerConfig.msg +++ b/brain_box_msgs/msg/MarkerConfig.msg @@ -1,3 +1,3 @@ -MarkerType type +brain_box_msgs/MarkerType type uint16 image_pixels_k -MarkerConfigFamily[] families +brain_box_msgs/MarkerConfigFamily[] families diff --git a/brain_box_msgs/msg/MarkerStatus.msg b/brain_box_msgs/msg/MarkerStatus.msg index 94c1e97..82467c4 100644 --- a/brain_box_msgs/msg/MarkerStatus.msg +++ b/brain_box_msgs/msg/MarkerStatus.msg @@ -1,4 +1,4 @@ -MarkerType type +brain_box_msgs/MarkerType type string family_name float32 marker_size_m uint16 image_pixels_k diff --git a/brain_box_msgs/msg/NormalsStamped.msg b/brain_box_msgs/msg/NormalsStamped.msg index 7dbc3b4..3819b74 100644 --- a/brain_box_msgs/msg/NormalsStamped.msg +++ b/brain_box_msgs/msg/NormalsStamped.msg @@ -1,4 +1,4 @@ -Header header +std_msgs/Header header #Normal geometry_msgs/Vector3[] normals diff --git a/brain_box_msgs/msg/NormalsWithPointsStamped.msg b/brain_box_msgs/msg/NormalsWithPointsStamped.msg index 3b5ab80..54759e2 100644 --- a/brain_box_msgs/msg/NormalsWithPointsStamped.msg +++ b/brain_box_msgs/msg/NormalsWithPointsStamped.msg @@ -1,4 +1,4 @@ -Header header +std_msgs/Header header #Normal brain_box_msgs/NormalWithPoint[] data diff --git a/brain_box_msgs/msg/OdomLatency.msg b/brain_box_msgs/msg/OdomLatency.msg index c828bd0..aaa334f 100644 --- a/brain_box_msgs/msg/OdomLatency.msg +++ b/brain_box_msgs/msg/OdomLatency.msg @@ -1,3 +1,3 @@ -Header header +std_msgs/Header header string child_frame_id uint16 latency_ms diff --git a/brain_box_msgs/msg/OperatorCommand.msg b/brain_box_msgs/msg/OperatorCommand.msg index a41123e..e3d6bb2 100644 --- a/brain_box_msgs/msg/OperatorCommand.msg +++ b/brain_box_msgs/msg/OperatorCommand.msg @@ -10,6 +10,6 @@ uint8 LANDED=7 # mission complete (not necessarily a success) and ready to ARM uint8 ABORT=8 # operator signals to stop mission, but not yet in manual control uint8 SHUTDOWN=9 # stopping the system completely -Header header # frame_id field is irrelevant +std_msgs/Header header # frame_id field is irrelevant string node_name # node sending the commands for the operator uint8 command # One of the enumerated commands above diff --git a/brain_box_msgs/msg/OperatorMsg.msg b/brain_box_msgs/msg/OperatorMsg.msg index d7b949a..3b58ff5 100644 --- a/brain_box_msgs/msg/OperatorMsg.msg +++ b/brain_box_msgs/msg/OperatorMsg.msg @@ -1,6 +1,6 @@ # used to send human readable messages to the operator -Header header +std_msgs/Header header # types of messages # If you make changes to these then also change operator_msg_type.h diff --git a/brain_box_msgs/msg/PIDParam.msg b/brain_box_msgs/msg/PIDParam.msg index e24ab0a..6963c18 100644 --- a/brain_box_msgs/msg/PIDParam.msg +++ b/brain_box_msgs/msg/PIDParam.msg @@ -5,23 +5,23 @@ string controller uint8 axis #default 1.5 -float32 P +float32 pid_p #default 0.2 -float32 I +float32 pid_i #default 0.25 -float32 D +float32 pid_d #default 0.03 -float32 iMax +float32 i_max #default 0.0 -float32 iMin +float32 i_min #default 5.0 -float32 maxError +float32 max_error #default 2.0 -float32 maxSetpoint +float32 max_set_point #default -2.0 -float32 minSetpoint +float32 min_set_point #default 1.0 float32 land_error diff --git a/brain_box_msgs/msg/PanelHist.msg b/brain_box_msgs/msg/PanelHist.msg index 46c0f8c..8a473de 100644 --- a/brain_box_msgs/msg/PanelHist.msg +++ b/brain_box_msgs/msg/PanelHist.msg @@ -1,4 +1,4 @@ -Header header +std_msgs/Header header float32 resolution_m float32 min_x_m float32 max_x_m diff --git a/brain_box_msgs/msg/PanelStatus.msg b/brain_box_msgs/msg/PanelStatus.msg index 6ef0c8b..c1bb568 100644 --- a/brain_box_msgs/msg/PanelStatus.msg +++ b/brain_box_msgs/msg/PanelStatus.msg @@ -1,9 +1,9 @@ -Header header -Status status +std_msgs/Header header +brain_box_msgs/Status status uint16 lidar_fps -MaxMinAve lidar_process_time_ms -MaxMinAve lidar_latency_ms +brain_box_msgs/MaxMinAve lidar_process_time_ms +brain_box_msgs/MaxMinAve lidar_latency_ms bool disabled bool valid_data diff --git a/brain_box_msgs/msg/PassageFeatures.msg b/brain_box_msgs/msg/PassageFeatures.msg index 72bf4e1..3eb4422 100644 --- a/brain_box_msgs/msg/PassageFeatures.msg +++ b/brain_box_msgs/msg/PassageFeatures.msg @@ -1,5 +1,5 @@ -Header header +std_msgs/Header header int64 vfh_count float64 sector_angle float64 window_dist_m -PassageFeature[] features \ No newline at end of file +brain_box_msgs/PassageFeature[] features \ No newline at end of file diff --git a/brain_box_msgs/msg/PolarPointCloud.msg b/brain_box_msgs/msg/PolarPointCloud.msg index 4ae0d2a..7cc4d8f 100644 --- a/brain_box_msgs/msg/PolarPointCloud.msg +++ b/brain_box_msgs/msg/PolarPointCloud.msg @@ -1,4 +1,4 @@ -Header header +std_msgs/Header header float32[] altitudes_r float32[] azimuths_r sensor_msgs/LaserScan[] scans diff --git a/brain_box_msgs/msg/ProximityList.msg b/brain_box_msgs/msg/ProximityList.msg index a08b21e..23922c4 100644 --- a/brain_box_msgs/msg/ProximityList.msg +++ b/brain_box_msgs/msg/ProximityList.msg @@ -1,2 +1,2 @@ # A simple list of proximity vectors -ProximityVector[] vectors +brain_box_msgs/ProximityVector[] vectors diff --git a/brain_box_msgs/msg/ProximityVector.msg b/brain_box_msgs/msg/ProximityVector.msg index fabc4c6..69fc31f 100644 --- a/brain_box_msgs/msg/ProximityVector.msg +++ b/brain_box_msgs/msg/ProximityVector.msg @@ -5,7 +5,7 @@ # Normal header information. # Note that the frame is typically Body_FLU, but in theory could be any frame of reference -Header header +std_msgs/Header header # Simple id string used to correlate requests for proximity info with the reporting of the proximity info string id @@ -14,13 +14,13 @@ string id float32 distance # yaw_angle of the proximity vector in the frame of reference specified in radians -float32 yaw_angle_R +float32 yaw_angle_r # pitch angle of the proximity vector in the frame of reference specified in radians -float32 pitch_angle_R +float32 pitch_angle_r # Span of the region for the perception system to search for proximities in the yaw direction in radians -float32 yaw_span_R +float32 yaw_span_r # Span of the region for the perception system to search for proximities in the pitch direction in radians -float32 pitch_span_R +float32 pitch_span_r diff --git a/brain_box_msgs/msg/RPYMsgs.msg b/brain_box_msgs/msg/RPYMsgs.msg index 8313bd2..6bd5f67 100644 --- a/brain_box_msgs/msg/RPYMsgs.msg +++ b/brain_box_msgs/msg/RPYMsgs.msg @@ -1,4 +1,4 @@ -Header header +std_msgs/Header header float64 roll float64 pitch float64 yaw diff --git a/brain_box_msgs/msg/RangeBall.msg b/brain_box_msgs/msg/RangeBall.msg index 6620b49..644ea3e 100644 --- a/brain_box_msgs/msg/RangeBall.msg +++ b/brain_box_msgs/msg/RangeBall.msg @@ -2,9 +2,9 @@ uint8 NSECTIONS=8 # Distance from drone to objects around the drone. -Header header -Range top -Range[8] upper -Range[8] equator -Range[8] lower -Range bottom +std_msgs/Header header +brain_box_msgs/Range top +brain_box_msgs/Range[8] upper +brain_box_msgs/Range[8] equator +brain_box_msgs/Range[8] lower +brain_box_msgs/Range bottom diff --git a/brain_box_msgs/msg/RowView.msg b/brain_box_msgs/msg/RowView.msg index 4b50d6f..b2904d2 100644 --- a/brain_box_msgs/msg/RowView.msg +++ b/brain_box_msgs/msg/RowView.msg @@ -1,4 +1,4 @@ # Collection of Rows -Header header +std_msgs/Header header #index left to right -Row[] rows +brain_box_msgs/Row[] rows diff --git a/brain_box_msgs/msg/SCStatus.msg b/brain_box_msgs/msg/SCStatus.msg index a14c7ba..3b71184 100644 --- a/brain_box_msgs/msg/SCStatus.msg +++ b/brain_box_msgs/msg/SCStatus.msg @@ -1,2 +1,2 @@ -Header header -Status status +std_msgs/Header header +brain_box_msgs/Status status diff --git a/brain_box_msgs/msg/SPStatus.msg b/brain_box_msgs/msg/SPStatus.msg index dee029d..bab6b12 100644 --- a/brain_box_msgs/msg/SPStatus.msg +++ b/brain_box_msgs/msg/SPStatus.msg @@ -7,8 +7,8 @@ uint8 STATE_TRAJECTORY=5 uint8 STATE_RTL=6 uint8 STATE_WAYPOINT=7 -Header header -Status status +std_msgs/Header header +brain_box_msgs/Status status uint8 state uint16 watchdog_timeouts -string target_id +string target_id \ No newline at end of file diff --git a/brain_box_msgs/msg/SSStatus.msg b/brain_box_msgs/msg/SSStatus.msg index ba82fbb..f922d8d 100644 --- a/brain_box_msgs/msg/SSStatus.msg +++ b/brain_box_msgs/msg/SSStatus.msg @@ -1,3 +1,3 @@ -Header header -Status status +std_msgs/Header header +brain_box_msgs/Status status uint16 fps diff --git a/brain_box_msgs/msg/StampedAltimeter.msg b/brain_box_msgs/msg/StampedAltimeter.msg index a231f07..1ad82c8 100644 --- a/brain_box_msgs/msg/StampedAltimeter.msg +++ b/brain_box_msgs/msg/StampedAltimeter.msg @@ -1,4 +1,4 @@ # Stamped altimeter reading from LW20 -Header header +std_msgs/Header header float32 data \ No newline at end of file diff --git a/brain_box_msgs/msg/StampedHeartBeat.msg b/brain_box_msgs/msg/StampedHeartBeat.msg index 5757312..ae096c6 100644 --- a/brain_box_msgs/msg/StampedHeartBeat.msg +++ b/brain_box_msgs/msg/StampedHeartBeat.msg @@ -1,5 +1,5 @@ # Stamped heartbeat from CAN bus on LW20 reading -Header header +std_msgs/Header header uint32 heartbeat uint32 count_lw20_reading diff --git a/brain_box_msgs/msg/StampedInterruptTime.msg b/brain_box_msgs/msg/StampedInterruptTime.msg index 2dac425..817d970 100644 --- a/brain_box_msgs/msg/StampedInterruptTime.msg +++ b/brain_box_msgs/msg/StampedInterruptTime.msg @@ -1,5 +1,5 @@ # Stamped externel interrupt time -Header header +std_msgs/Header header float64 data int32 count \ No newline at end of file diff --git a/brain_box_msgs/msg/StationStatus.msg b/brain_box_msgs/msg/StationStatus.msg index 0136e17..4340b6a 100644 --- a/brain_box_msgs/msg/StationStatus.msg +++ b/brain_box_msgs/msg/StationStatus.msg @@ -1,5 +1,5 @@ #High Level instantaneous metrics of Interest to Operators -Header header +std_msgs/Header header #VxState::state translated to corresponding string string system_state diff --git a/brain_box_msgs/msg/Status.msg b/brain_box_msgs/msg/Status.msg index 60b1cc1..0d56927 100644 --- a/brain_box_msgs/msg/Status.msg +++ b/brain_box_msgs/msg/Status.msg @@ -9,4 +9,4 @@ uint8 SUMMARY_YELLOW=2 uint8 SUMMARY_RED=3 uint8 summary -time last_contact +builtin_interfaces/Time last_contact diff --git a/brain_box_msgs/msg/Super2Status.msg b/brain_box_msgs/msg/Super2Status.msg index fd38244..dce1835 100644 --- a/brain_box_msgs/msg/Super2Status.msg +++ b/brain_box_msgs/msg/Super2Status.msg @@ -1,4 +1,4 @@ -Header header +std_msgs/Header header uint8 man uint8 man_run diff --git a/brain_box_msgs/msg/SuperNodeStatus.msg b/brain_box_msgs/msg/SuperNodeStatus.msg index 810efba..e297f3c 100644 --- a/brain_box_msgs/msg/SuperNodeStatus.msg +++ b/brain_box_msgs/msg/SuperNodeStatus.msg @@ -1,8 +1,8 @@ -Header header +std_msgs/Header header -Status super_status +brain_box_msgs/Status super_status -Status[] nodes_status +brain_box_msgs/Status[] nodes_status float32 cpu_percent_total float32[] cpu_percent_cores diff --git a/brain_box_msgs/msg/SuperStatus.msg b/brain_box_msgs/msg/SuperStatus.msg index 6a0fca7..e248b61 100644 --- a/brain_box_msgs/msg/SuperStatus.msg +++ b/brain_box_msgs/msg/SuperStatus.msg @@ -1,14 +1,14 @@ -Header header +std_msgs/Header header -Status status +brain_box_msgs/Status status -Status c2_status -Status comms_status -Status corr_status -Status lidar_status -Status ss1_status -Status ss2_status -Status vislog_status +brain_box_msgs/Status c2_status +brain_box_msgs/Status comms_status +brain_box_msgs/Status corr_status +brain_box_msgs/Status lidar_status +brain_box_msgs/Status ss1_status +brain_box_msgs/Status ss2_status +brain_box_msgs/Status vislog_status int8 cpu_percent_total int8[] cpu_percent_cores diff --git a/brain_box_msgs/msg/SystemReport.msg b/brain_box_msgs/msg/SystemReport.msg index 68aafd3..bae7cca 100644 --- a/brain_box_msgs/msg/SystemReport.msg +++ b/brain_box_msgs/msg/SystemReport.msg @@ -1,4 +1,4 @@ -Header header +std_msgs/Header header #CPU Report int32 cores_count @@ -8,14 +8,14 @@ float32[] temperatures int32[] cpu_hz #CPU and Mem Usage along with PID and Process Name with Health Status of each processes -Status[] processes +brain_box_msgs/Status[] processes #Hard Drive Report float32 hd_used_percentage float32 hd_used #Memory Report -float32 mem_total_MB +float32 mem_total_mb float32 mem_used_percentage float32 mem_free_percentage diff --git a/brain_box_msgs/msg/SystemState.msg b/brain_box_msgs/msg/SystemState.msg index f114dfa..a506d6a 100644 --- a/brain_box_msgs/msg/SystemState.msg +++ b/brain_box_msgs/msg/SystemState.msg @@ -12,7 +12,7 @@ uint8 MANUAL=10 uint8 SHUTDOWN=11 uint8 LAST_STATE=11 -Header header +std_msgs/Header header uint8 state string state_string diff --git a/brain_box_msgs/msg/TargetPose.msg b/brain_box_msgs/msg/TargetPose.msg index 5e549de..08759d2 100644 --- a/brain_box_msgs/msg/TargetPose.msg +++ b/brain_box_msgs/msg/TargetPose.msg @@ -1,10 +1,10 @@ int8 TYPE_MARKER_ARCUO = 0 int8 TYPE_MARKER_APRILTAG = 1 -Header header +std_msgs/Header header float32 confidence geometry_msgs/Pose feature_pose geometry_msgs/Pose pose uint8 type string target_id -Point2[] outline +brain_box_msgs/Point2[] outline diff --git a/brain_box_msgs/msg/VideoCmnd.msg b/brain_box_msgs/msg/VideoCmnd.msg index ca0fd2b..2e15b26 100644 --- a/brain_box_msgs/msg/VideoCmnd.msg +++ b/brain_box_msgs/msg/VideoCmnd.msg @@ -5,6 +5,6 @@ uint8 COMMAND_STREAM_VIDEO_STOP=3 uint8 COMMAND_RECORD_VIDEO_START=5 uint8 COMMAND_RECORD_VIDEO_STOP=6 -Header header +std_msgs/Header header uint8 command int32 int_param1 diff --git a/brain_box_msgs/msg/VideoStatus.msg b/brain_box_msgs/msg/VideoStatus.msg index 07a3cbc..ba31255 100644 --- a/brain_box_msgs/msg/VideoStatus.msg +++ b/brain_box_msgs/msg/VideoStatus.msg @@ -1,5 +1,5 @@ -Header header -Status status +std_msgs/Header header +brain_box_msgs/Status status uint16 fps_ave uint16 fps_min uint16 fps_max diff --git a/brain_box_msgs/msg/VisLogStatus.msg b/brain_box_msgs/msg/VisLogStatus.msg index b28e92b..3c12b0e 100644 --- a/brain_box_msgs/msg/VisLogStatus.msg +++ b/brain_box_msgs/msg/VisLogStatus.msg @@ -1,5 +1,5 @@ -Header header -Status status +std_msgs/Header header +brain_box_msgs/Status status bool enabled uint8 level diff --git a/brain_box_msgs/msg/VisionCmnd.msg b/brain_box_msgs/msg/VisionCmnd.msg index 7cdc80b..07ee540 100644 --- a/brain_box_msgs/msg/VisionCmnd.msg +++ b/brain_box_msgs/msg/VisionCmnd.msg @@ -1,2 +1,2 @@ -Header header -MarkerConfig[] marker_configs \ No newline at end of file +std_msgs/Header header +brain_box_msgs/MarkerConfig[] marker_configs \ No newline at end of file diff --git a/brain_box_msgs/msg/VisionStatus.msg b/brain_box_msgs/msg/VisionStatus.msg index eb6a3b6..fe5919d 100644 --- a/brain_box_msgs/msg/VisionStatus.msg +++ b/brain_box_msgs/msg/VisionStatus.msg @@ -1,5 +1,5 @@ -Header header -Status status +std_msgs/Header header +brain_box_msgs/Status status uint16 fps_ave uint16 fps_min uint16 fps_max @@ -8,5 +8,5 @@ uint16 latency_min_ms uint16 latency_max_ms uint16 native_image_width uint16 native_image_height -MarkerStatus[] marker_statuses +brain_box_msgs/MarkerStatus[] marker_statuses uint8 num_detected_tags \ No newline at end of file diff --git a/brain_box_msgs/msg/VxFCUStatus.msg b/brain_box_msgs/msg/VxFCUStatus.msg index 8588ddc..93c6f6d 100644 --- a/brain_box_msgs/msg/VxFCUStatus.msg +++ b/brain_box_msgs/msg/VxFCUStatus.msg @@ -36,4 +36,4 @@ float32 battery_current float32 battery_remaining # percentage 0..1 # Gimbal position -Gimbal gimbal +brain_box_msgs/Gimbal gimbal diff --git a/brain_box_msgs/msg/VxFeaturePose.msg b/brain_box_msgs/msg/VxFeaturePose.msg index 176330f..f188ce1 100644 --- a/brain_box_msgs/msg/VxFeaturePose.msg +++ b/brain_box_msgs/msg/VxFeaturePose.msg @@ -1,7 +1,7 @@ # Pose wrt the feature # The frame in this header should be tha same as the feature frame -Header header +std_msgs/Header header # Feature id # diff --git a/brain_box_msgs/msg/VxFlightPlanCmd.msg b/brain_box_msgs/msg/VxFlightPlanCmd.msg index 9e97c67..36cf268 100644 --- a/brain_box_msgs/msg/VxFlightPlanCmd.msg +++ b/brain_box_msgs/msg/VxFlightPlanCmd.msg @@ -19,4 +19,4 @@ uint8 command string object_id # amount of time to wait in sec before executing the command -duration wait_time +builtin_interfaces/Duration wait_time diff --git a/brain_box_msgs/msg/VxFlightPlanStatus.msg b/brain_box_msgs/msg/VxFlightPlanStatus.msg index 22956e5..9367ae4 100644 --- a/brain_box_msgs/msg/VxFlightPlanStatus.msg +++ b/brain_box_msgs/msg/VxFlightPlanStatus.msg @@ -1,5 +1,5 @@ # Status of currently executing flight plan -Header header +std_msgs/Header header # ID of currently executing flight plan string id @@ -16,7 +16,7 @@ uint8 status # one of the above uint16 cmd_index # currently executing command index -VxFlightPlanCmd cmd_current # currently executing command +brain_box_msgs/VxFlightPlanCmd cmd_current # currently executing command float64 cmd_duration # duration in S of currently executing command in sec diff --git a/brain_box_msgs/msg/VxKinematics.msg b/brain_box_msgs/msg/VxKinematics.msg index b58cf1c..26db6e4 100644 --- a/brain_box_msgs/msg/VxKinematics.msg +++ b/brain_box_msgs/msg/VxKinematics.msg @@ -1,4 +1,4 @@ -Header header +std_msgs/Header header geometry_msgs/Point position -BBAttitude attitude +brain_box_msgs/BBAttitude attitude geometry_msgs/Vector3 linear_vel diff --git a/brain_box_msgs/msg/VxManeuver.msg b/brain_box_msgs/msg/VxManeuver.msg index 7bde778..4d27fe4 100644 --- a/brain_box_msgs/msg/VxManeuver.msg +++ b/brain_box_msgs/msg/VxManeuver.msg @@ -3,7 +3,7 @@ # Typical message header. # Note that the frame should be the same as the frame of the feature id as defined below # -Header header +std_msgs/Header header # if the following flag is false then this maneuver is invalid # @@ -41,7 +41,7 @@ float64 flight_time # If traversal_yaw.type == FIXED then the angle is wrt to the ENU frame # If traversal_yaw.type == RELATIVE then the angle is wrt to the feature in ground plane. # -VxYaw traversal_yaw +brain_box_msgs/VxYaw traversal_yaw # coordinate milestone of the maneuver # diff --git a/brain_box_msgs/msg/VxMilestone.msg b/brain_box_msgs/msg/VxMilestone.msg index 88f9ed8..c59c917 100644 --- a/brain_box_msgs/msg/VxMilestone.msg +++ b/brain_box_msgs/msg/VxMilestone.msg @@ -7,16 +7,16 @@ string id float64 traversal_speed # Time to arrive at the milestone. Is used only if the traversal time is 0. -time arrival_time +builtin_interfaces/Time arrival_time # Amount of time in sec to loiter at the milestone -duration loiter_time +builtin_interfaces/Duration loiter_time # Yaw of the vehicle while in traversal to milestone -VxYaw traversal_yaw +brain_box_msgs/VxYaw traversal_yaw # Yaw of the vehicle while at the milestone. Only used if the loiter time > 0 -VxYaw loiter_yaw +brain_box_msgs/VxYaw loiter_yaw # Location of the milestone -GISEntity location +brain_box_msgs/GISEntity location diff --git a/brain_box_msgs/msg/VxMissionExecCmd.msg b/brain_box_msgs/msg/VxMissionExecCmd.msg index 8b99518..1eb3a5c 100644 --- a/brain_box_msgs/msg/VxMissionExecCmd.msg +++ b/brain_box_msgs/msg/VxMissionExecCmd.msg @@ -1,2 +1,2 @@ # see VxMissionExec.srv for command keys -KeyValue command +brain_box_msgs/KeyValue command diff --git a/brain_box_msgs/msg/VxMissionStatus.msg b/brain_box_msgs/msg/VxMissionStatus.msg index a1241f8..1721cb8 100644 --- a/brain_box_msgs/msg/VxMissionStatus.msg +++ b/brain_box_msgs/msg/VxMissionStatus.msg @@ -1,5 +1,5 @@ # Status of currently executing mission -Header header +std_msgs/Header header # ID of currently executing mission string id @@ -16,6 +16,6 @@ uint8 status # one of the above uint8 error # zero if no error, else error code -VxFlightPlanStatus cmd_current # currently executing command +brain_box_msgs/VxFlightPlanStatus cmd_current # currently executing command float64 duration # duration of currently executing mission diff --git a/brain_box_msgs/msg/VxProximity.msg b/brain_box_msgs/msg/VxProximity.msg index 4599278..c94b11d 100644 --- a/brain_box_msgs/msg/VxProximity.msg +++ b/brain_box_msgs/msg/VxProximity.msg @@ -1,4 +1,4 @@ -Header header +std_msgs/Header header # this is the proximity of things to the vehicle. # Order = FRONT, BACK, LEFT, RIGHT, UP, DOWN diff --git a/brain_box_msgs/msg/VxState.msg b/brain_box_msgs/msg/VxState.msg index d141550..83a7546 100644 --- a/brain_box_msgs/msg/VxState.msg +++ b/brain_box_msgs/msg/VxState.msg @@ -12,7 +12,7 @@ uint8 MANUAL=10 uint8 SHUTDOWN=11 uint8 LAST_STATE=11 -Header header +std_msgs/Header header uint8 state float64 gps_latitude float64 gps_longitude diff --git a/brain_box_msgs/msg/VxTrajectory.msg b/brain_box_msgs/msg/VxTrajectory.msg index 38bdf77..e00f35b 100644 --- a/brain_box_msgs/msg/VxTrajectory.msg +++ b/brain_box_msgs/msg/VxTrajectory.msg @@ -4,7 +4,7 @@ string id # CRUD operation -CRUD operation +brain_box_msgs/CRUD operation # Milestones -VxMilestone[] milestones +brain_box_msgs/VxMilestone[] milestones diff --git a/brain_box_msgs/msg/VxTrajectorySegment.msg b/brain_box_msgs/msg/VxTrajectorySegment.msg index 0a3eaee..cfa9833 100644 --- a/brain_box_msgs/msg/VxTrajectorySegment.msg +++ b/brain_box_msgs/msg/VxTrajectorySegment.msg @@ -4,7 +4,7 @@ # Note that the frame in the flight segment is not relevant. The frames are associated with # Specific maneuvers # -Header header +std_msgs/Header header # identifier for this segment # @@ -24,10 +24,10 @@ float32 feature_hover_time # The maneuver associated with a fearture. Note that the maneuver may not # be valid meaning that there is no feature maneuver associated with this segment # -VxManeuver feature_maneuver +brain_box_msgs/VxManeuver feature_maneuver # The default maneuver to be done if either there is no valid feature maneuver or # the features associated with that maneuver are not valid # -VxManeuver default_maneuver +brain_box_msgs/VxManeuver default_maneuver diff --git a/brain_box_msgs/msg/VxTrajectoryStatus.msg b/brain_box_msgs/msg/VxTrajectoryStatus.msg index bb494d0..123181e 100644 --- a/brain_box_msgs/msg/VxTrajectoryStatus.msg +++ b/brain_box_msgs/msg/VxTrajectoryStatus.msg @@ -4,14 +4,14 @@ # Note that the frame in the flight segment is not relevant. The frames are associated with # Specific maneuvers # -Header header +std_msgs/Header header # Current segment being executed # -VxTrajectorySegment current +brain_box_msgs/VxTrajectorySegment current # Next segment being executed. # Note that if the id attribute of the next segment is "" or "none" then there is no next segment # -VxTrajectorySegment next +brain_box_msgs/VxTrajectorySegment next diff --git a/brain_box_msgs/msg/ZEDStatus.msg b/brain_box_msgs/msg/ZEDStatus.msg index 2721e78..8215b8c 100644 --- a/brain_box_msgs/msg/ZEDStatus.msg +++ b/brain_box_msgs/msg/ZEDStatus.msg @@ -1,5 +1,5 @@ -Header header -Status status +std_msgs/Header header +brain_box_msgs/Status status uint16 fps uint16 loop_ave_ms uint16 loop_min_ms diff --git a/brain_box_msgs/package.xml b/brain_box_msgs/package.xml index 0899905..c97ffbf 100644 --- a/brain_box_msgs/package.xml +++ b/brain_box_msgs/package.xml @@ -1,25 +1,26 @@ - + + brain_box_msgs 0.0.0 - The brain_box_msgs package - info - BSD + TODO: Package description + alireza + TODO: License declaration - catkin - - geometry_msgs - nav_msgs - uuid_msgs + ament_cmake + + + rosidl_default_generators + rosidl_default_runtime + rosidl_interface_packages + std_msgs - sensor_msgs - shape_msgs - - message_generation - actionlib - actionlib_msgs - actionlib - actionlib_msgs - message_runtime + geometry_msgs + ament_lint_auto + ament_lint_common + + + ament_cmake + diff --git a/brain_box_msgs/package_org.xml b/brain_box_msgs/package_org.xml new file mode 100644 index 0000000..0899905 --- /dev/null +++ b/brain_box_msgs/package_org.xml @@ -0,0 +1,25 @@ + + + brain_box_msgs + 0.0.0 + The brain_box_msgs package + info + BSD + + catkin + + geometry_msgs + nav_msgs + uuid_msgs + std_msgs + sensor_msgs + shape_msgs + + message_generation + actionlib + actionlib_msgs + actionlib + actionlib_msgs + message_runtime + + diff --git a/brain_box_msgs/srv/VelocityControl.srv b/brain_box_msgs/srv/VelocityControl.srv index 6a46b7f..8fa7edc 100644 --- a/brain_box_msgs/srv/VelocityControl.srv +++ b/brain_box_msgs/srv/VelocityControl.srv @@ -2,6 +2,6 @@ uint8 frame float32 vx float32 vy float32 vz -float32 yawAngle +float32 yaw_angle --- bool result diff --git a/brain_box_msgs/srv/VxFlightPlan.srv b/brain_box_msgs/srv/VxFlightPlan.srv index aebb407..83547bc 100644 --- a/brain_box_msgs/srv/VxFlightPlan.srv +++ b/brain_box_msgs/srv/VxFlightPlan.srv @@ -9,10 +9,10 @@ # key="FP_LOAD_PX4_FILE value="file name" load PX4 flight plan from file # key="FP_DELETE" value="id" delete flight plan with id -KeyValue command +brain_box_msgs/KeyValue command # Actual flight plan to load if the command above is LOAD_FLIGHT_PLAN -VxFlightPlanCmd[] msg +brain_box_msgs/VxFlightPlanCmd[] msg --- # repsonse # SUCCESS or error message if not diff --git a/brain_box_msgs/srv/VxMissionExec.srv b/brain_box_msgs/srv/VxMissionExec.srv index 81d0da8..697d808 100644 --- a/brain_box_msgs/srv/VxMissionExec.srv +++ b/brain_box_msgs/srv/VxMissionExec.srv @@ -16,7 +16,7 @@ # mission. # See mission.yaml to see how to configure the mission directory. -KeyValue command +brain_box_msgs/KeyValue command --- # repsonse From a77520d88daf6c39b7b5adccdb9a9894c4396452 Mon Sep 17 00:00:00 2001 From: AJ Date: Tue, 29 Nov 2022 13:43:19 -0800 Subject: [PATCH 02/26] feat: humble build --- brain_box_msgs/CMakeLists.txt | 5 ++++- brain_box_msgs/package.xml | 5 +++++ 2 files changed, 9 insertions(+), 1 deletion(-) diff --git a/brain_box_msgs/CMakeLists.txt b/brain_box_msgs/CMakeLists.txt index 71eeccc..cc25b0f 100644 --- a/brain_box_msgs/CMakeLists.txt +++ b/brain_box_msgs/CMakeLists.txt @@ -20,6 +20,9 @@ find_package(ament_cmake REQUIRED) find_package(rosidl_default_generators REQUIRED) #for message generation find_package(std_msgs REQUIRED) find_package(geometry_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(shape_msgs REQUIRED) rosidl_generate_interfaces(${PROJECT_NAME} @@ -198,7 +201,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} action/VxFlightExec.action - DEPENDENCIES builtin_interfaces std_msgs geometry_msgs + DEPENDENCIES builtin_interfaces std_msgs geometry_msgs sensor_msgs nav_msgs shape_msgs ) if(BUILD_TESTING) diff --git a/brain_box_msgs/package.xml b/brain_box_msgs/package.xml index c97ffbf..b8cbcc4 100644 --- a/brain_box_msgs/package.xml +++ b/brain_box_msgs/package.xml @@ -10,12 +10,17 @@ ament_cmake + rosidl_default_generators + rosidl_default_generators rosidl_default_runtime rosidl_interface_packages std_msgs geometry_msgs + sensor_msgs + nav_msgs + shape_msgs ament_lint_auto ament_lint_common From 8ea5befa73a988dab99fe1ef58ea610b37b2a6f4 Mon Sep 17 00:00:00 2001 From: AJ Date: Mon, 16 Jan 2023 08:19:58 -0800 Subject: [PATCH 03/26] feat: messages for depthai --- brain_box_msgs/CMakeLists.txt | 6 +++++- brain_box_msgs/msg/SpatialDetection.msg | 16 ++++++++++++++++ brain_box_msgs/msg/SpatialDetectionArray.msg | 8 ++++++++ brain_box_msgs/package.xml | 1 + 4 files changed, 30 insertions(+), 1 deletion(-) create mode 100644 brain_box_msgs/msg/SpatialDetection.msg create mode 100644 brain_box_msgs/msg/SpatialDetectionArray.msg diff --git a/brain_box_msgs/CMakeLists.txt b/brain_box_msgs/CMakeLists.txt index cc25b0f..4d636ab 100644 --- a/brain_box_msgs/CMakeLists.txt +++ b/brain_box_msgs/CMakeLists.txt @@ -23,6 +23,8 @@ find_package(geometry_msgs REQUIRED) find_package(sensor_msgs REQUIRED) find_package(nav_msgs REQUIRED) find_package(shape_msgs REQUIRED) +find_package(vision_msgs REQUIRED) + rosidl_generate_interfaces(${PROJECT_NAME} @@ -141,6 +143,8 @@ rosidl_generate_interfaces(${PROJECT_NAME} msg/SSStatus.msg msg/SCStatus.msg msg/StampedAltimeter.msg + msg/SpatialDetection.msg + msg/SpatialDetectionArray.msg msg/StampedHeartBeat.msg msg/StampedInterruptTime.msg msg/StationStatus.msg @@ -201,7 +205,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} action/VxFlightExec.action - DEPENDENCIES builtin_interfaces std_msgs geometry_msgs sensor_msgs nav_msgs shape_msgs + DEPENDENCIES builtin_interfaces std_msgs geometry_msgs sensor_msgs nav_msgs shape_msgs vision_msgs ) if(BUILD_TESTING) diff --git a/brain_box_msgs/msg/SpatialDetection.msg b/brain_box_msgs/msg/SpatialDetection.msg new file mode 100644 index 0000000..3bbc3d2 --- /dev/null +++ b/brain_box_msgs/msg/SpatialDetection.msg @@ -0,0 +1,16 @@ +# Class probabilities +vision_msgs/ObjectHypothesis[] results + +# 2D bounding box surrounding the object. +vision_msgs/BoundingBox2D bbox + +# Center of the detected object in meters +geometry_msgs/Point position + +# If true, this message contains object tracking information. +bool is_tracking + +# ID used for consistency across multiple detection messages. This value will +# likely differ from the id field set in each individual ObjectHypothesis. +# If you set this field, be sure to also set is_tracking to True. +string tracking_id \ No newline at end of file diff --git a/brain_box_msgs/msg/SpatialDetectionArray.msg b/brain_box_msgs/msg/SpatialDetectionArray.msg new file mode 100644 index 0000000..f11d848 --- /dev/null +++ b/brain_box_msgs/msg/SpatialDetectionArray.msg @@ -0,0 +1,8 @@ +# A list of 2D detections, for a multi-object 2D detector along with 3D depth information. + +std_msgs/Header header +# A list of the detected proposals. A multi-proposal detector might generate along with the 3D depth information +# this list with many candidate detections generated from a single input. +SpatialDetection[] detections + +## These messages are created as close as possible to the official vision_msgs(http://wiki.ros.org/vision_msgs) \ No newline at end of file diff --git a/brain_box_msgs/package.xml b/brain_box_msgs/package.xml index b8cbcc4..f1952bd 100644 --- a/brain_box_msgs/package.xml +++ b/brain_box_msgs/package.xml @@ -21,6 +21,7 @@ sensor_msgs nav_msgs shape_msgs + vision_msgs ament_lint_auto ament_lint_common From 9c6b38323d66d893a502999d8a2720257100737f Mon Sep 17 00:00:00 2001 From: dan hennage Date: Tue, 7 Feb 2023 19:40:08 -0800 Subject: [PATCH 04/26] feat: added PacketMsg.msg --- brain_box_msgs/CMakeLists.txt | 1 + brain_box_msgs/msg/PacketMsg.msg | 1 + 2 files changed, 2 insertions(+) create mode 100644 brain_box_msgs/msg/PacketMsg.msg diff --git a/brain_box_msgs/CMakeLists.txt b/brain_box_msgs/CMakeLists.txt index 4d636ab..a97983d 100644 --- a/brain_box_msgs/CMakeLists.txt +++ b/brain_box_msgs/CMakeLists.txt @@ -115,6 +115,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} msg/OdomLatency.msg msg/OperatorCommand.msg msg/OperatorMsg.msg + msg/PacketMsg.msg msg/PassageFeature.msg msg/PassageFeatures.msg msg/PassageFeatureWindow.msg diff --git a/brain_box_msgs/msg/PacketMsg.msg b/brain_box_msgs/msg/PacketMsg.msg new file mode 100644 index 0000000..4f38f54 --- /dev/null +++ b/brain_box_msgs/msg/PacketMsg.msg @@ -0,0 +1 @@ +uint8[] buf From 60d4b0f3b90becf3cb93aa40b3a2f50c5c158aa5 Mon Sep 17 00:00:00 2001 From: AJ Date: Sun, 12 Mar 2023 12:03:13 -0700 Subject: [PATCH 05/26] feat: new message types for darknet_ros --- brain_box_msgs/CMakeLists.txt | 1 + brain_box_msgs/msg/ObjectCount.msg | 2 ++ 2 files changed, 3 insertions(+) create mode 100644 brain_box_msgs/msg/ObjectCount.msg diff --git a/brain_box_msgs/CMakeLists.txt b/brain_box_msgs/CMakeLists.txt index a97983d..3d4250c 100644 --- a/brain_box_msgs/CMakeLists.txt +++ b/brain_box_msgs/CMakeLists.txt @@ -112,6 +112,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} msg/NormalsStamped.msg msg/NormalWithPoint.msg msg/NormalsWithPointsStamped.msg + msg/ObjectCount.msg msg/OdomLatency.msg msg/OperatorCommand.msg msg/OperatorMsg.msg diff --git a/brain_box_msgs/msg/ObjectCount.msg b/brain_box_msgs/msg/ObjectCount.msg new file mode 100644 index 0000000..9b65c79 --- /dev/null +++ b/brain_box_msgs/msg/ObjectCount.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +int8 count From 9dc2542102fff3bb0374f7bc58708b0d1f66c8f6 Mon Sep 17 00:00:00 2001 From: edkoch Date: Mon, 3 Apr 2023 16:21:48 -0700 Subject: [PATCH 06/26] added code for testing action lib --- brain_box_msgs/CMakeLists.txt | 2 +- brain_box_msgs/action/Fibonacci.action | 5 +++++ brain_box_msgs/package.xml | 1 + 3 files changed, 7 insertions(+), 1 deletion(-) create mode 100644 brain_box_msgs/action/Fibonacci.action diff --git a/brain_box_msgs/CMakeLists.txt b/brain_box_msgs/CMakeLists.txt index cc25b0f..ab310a2 100644 --- a/brain_box_msgs/CMakeLists.txt +++ b/brain_box_msgs/CMakeLists.txt @@ -199,7 +199,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} action/Land.action action/RTL.action action/VxFlightExec.action - + action/Fibonacci.action DEPENDENCIES builtin_interfaces std_msgs geometry_msgs sensor_msgs nav_msgs shape_msgs ) diff --git a/brain_box_msgs/action/Fibonacci.action b/brain_box_msgs/action/Fibonacci.action new file mode 100644 index 0000000..9183d9e --- /dev/null +++ b/brain_box_msgs/action/Fibonacci.action @@ -0,0 +1,5 @@ +int32 order +--- +int32[] sequence +--- +int32[] partial_sequence diff --git a/brain_box_msgs/package.xml b/brain_box_msgs/package.xml index b8cbcc4..6f52ecf 100644 --- a/brain_box_msgs/package.xml +++ b/brain_box_msgs/package.xml @@ -16,6 +16,7 @@ rosidl_default_runtime rosidl_interface_packages + action_msgs std_msgs geometry_msgs sensor_msgs From 51d00893a345d69ee3be247e61be094259226241 Mon Sep 17 00:00:00 2001 From: edkoch Date: Tue, 30 May 2023 17:12:20 -0700 Subject: [PATCH 07/26] added GPSAsset. Ported from ros1 to ros2 --- brain_box_msgs/CMakeLists.txt | 1 + brain_box_msgs/msg/ControlVariables.msg | 16 ++++++++++++++++ brain_box_msgs/msg/GPSAsset.msg | 9 +++++++++ 3 files changed, 26 insertions(+) create mode 100644 brain_box_msgs/msg/GPSAsset.msg diff --git a/brain_box_msgs/CMakeLists.txt b/brain_box_msgs/CMakeLists.txt index ab310a2..5513f37 100644 --- a/brain_box_msgs/CMakeLists.txt +++ b/brain_box_msgs/CMakeLists.txt @@ -69,6 +69,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} msg/Gimbal.msg msg/GimbalPose.msg msg/GISEntity.msg + msg/GPSAsset.msg msg/GPSLocation.msg msg/GSAMStatus.msg msg/GSCommand.msg diff --git a/brain_box_msgs/msg/ControlVariables.msg b/brain_box_msgs/msg/ControlVariables.msg index bd1838c..cf7db49 100644 --- a/brain_box_msgs/msg/ControlVariables.msg +++ b/brain_box_msgs/msg/ControlVariables.msg @@ -72,4 +72,20 @@ bool feature_end uint8 flight_status uint8 control_status +# turn stuff +float64 turn_start_angle +float64 turn_end_angle +float64[3] turn_center +float64 turn_radius +float64 turn_total_arc_length +bool turn_cw +float64 turn_current_angle +float64 turn_delta_angle +float64 turn_dest_arc_length +float64[3] turn_tangent_vector +float64[3] turn_center_vector +float64 turn_center_dist +float64 turn_center_error + + diff --git a/brain_box_msgs/msg/GPSAsset.msg b/brain_box_msgs/msg/GPSAsset.msg new file mode 100644 index 0000000..f9bb2bf --- /dev/null +++ b/brain_box_msgs/msg/GPSAsset.msg @@ -0,0 +1,9 @@ +std_msgs/Header header +int32 ts +float64 latitude +float64 longitude +float64 compass_hdg +# In asset frame +float64 x +float64 y +float64 asset_hdg From 37b4ae2fbb5ecad46ee0f4d23364929c1f031716 Mon Sep 17 00:00:00 2001 From: FarmXDev Date: Tue, 19 Sep 2023 09:19:46 -0700 Subject: [PATCH 08/26] feat: Apriltag messages --- brain_box_msgs/CMakeLists.txt | 4 +++- brain_box_msgs/msg/AprilTagDetection.msg | 14 ++++++++++++++ brain_box_msgs/msg/AprilTagDetectionArray.msg | 2 ++ 3 files changed, 19 insertions(+), 1 deletion(-) create mode 100644 brain_box_msgs/msg/AprilTagDetection.msg create mode 100644 brain_box_msgs/msg/AprilTagDetectionArray.msg diff --git a/brain_box_msgs/CMakeLists.txt b/brain_box_msgs/CMakeLists.txt index fa040bd..d659136 100644 --- a/brain_box_msgs/CMakeLists.txt +++ b/brain_box_msgs/CMakeLists.txt @@ -29,7 +29,9 @@ find_package(vision_msgs REQUIRED) rosidl_generate_interfaces(${PROJECT_NAME} #messages - msg/AMMap.msg + msg/AMMap.msg + msg/AprilTagDetection.msg + msg/AprilTagDetectionArray.msg msg/BabySitterStatus.msg msg/BBAttitude.msg msg/BBGlobalPosition.msg diff --git a/brain_box_msgs/msg/AprilTagDetection.msg b/brain_box_msgs/msg/AprilTagDetection.msg new file mode 100644 index 0000000..b0c6878 --- /dev/null +++ b/brain_box_msgs/msg/AprilTagDetection.msg @@ -0,0 +1,14 @@ +# Tag ID(s). If a standalone tag, this is a vector of size 1. If a tag bundle, +# this is a vector containing the IDs of each tag in the bundle. +int32[] id + +# Tag size(s). If a standalone tag, this is a vector of size 1. If a tag bundle, +# this is a vector containing the sizes of each tag in the bundle, in the same +# order as the IDs above. +float64[] size + +# Pose in the camera frame, obtained from homography transform. If a standalone +# tag, the homography is from the four tag corners. If a tag bundle, the +# homography is from at least the four corners of one member tag and at most the +# four corners of all member tags. +geometry_msgs/PoseWithCovarianceStamped pose \ No newline at end of file diff --git a/brain_box_msgs/msg/AprilTagDetectionArray.msg b/brain_box_msgs/msg/AprilTagDetectionArray.msg new file mode 100644 index 0000000..e143357 --- /dev/null +++ b/brain_box_msgs/msg/AprilTagDetectionArray.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +brain_box_msgs/AprilTagDetection[] detections From 0631759aac8f2183ff36d70124f09bd838857994 Mon Sep 17 00:00:00 2001 From: FarmXDev Date: Wed, 20 Sep 2023 04:20:28 -0700 Subject: [PATCH 09/26] feat: apriltag srv --- brain_box_msgs/CMakeLists.txt | 1 + brain_box_msgs/srv/AnalyzeSingleImage.srv | 14 ++++++++++++++ 2 files changed, 15 insertions(+) create mode 100644 brain_box_msgs/srv/AnalyzeSingleImage.srv diff --git a/brain_box_msgs/CMakeLists.txt b/brain_box_msgs/CMakeLists.txt index d659136..b23aaca 100644 --- a/brain_box_msgs/CMakeLists.txt +++ b/brain_box_msgs/CMakeLists.txt @@ -184,6 +184,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} #services srv/AMMapBoundingBoxQuery.srv + srv/AnalyzeSingleImage.srv srv/AttitudeControl.srv srv/CameraActionControl.srv srv/CameraSelect.srv diff --git a/brain_box_msgs/srv/AnalyzeSingleImage.srv b/brain_box_msgs/srv/AnalyzeSingleImage.srv new file mode 100644 index 0000000..fe54f09 --- /dev/null +++ b/brain_box_msgs/srv/AnalyzeSingleImage.srv @@ -0,0 +1,14 @@ +# Service which takes in: +# +# full_path_to_image : full path to a .jpg image +# +# and returns: +# +# pose : the pose of the tag in the camera frame +# tag_detection_image : an image with the detected tag's border highlighted and payload value printed + +string full_path_where_to_get_image +string full_path_where_to_save_image +sensor_msgs/CameraInfo camera_info +--- +brain_box_msgs/AprilTagDetectionArray tag_detections \ No newline at end of file From 13b391e7e273a6ded22ba965f3d50cf40afd7872 Mon Sep 17 00:00:00 2001 From: FarmXDev Date: Mon, 25 Sep 2023 16:58:39 -0700 Subject: [PATCH 10/26] feat: added field for Apriltag messages --- brain_box_msgs/msg/AprilTagDetection.msg | 3 +++ brain_box_msgs/msg/AprilTagDetectionArray.msg | 2 ++ 2 files changed, 5 insertions(+) diff --git a/brain_box_msgs/msg/AprilTagDetection.msg b/brain_box_msgs/msg/AprilTagDetection.msg index b0c6878..4da8f5b 100644 --- a/brain_box_msgs/msg/AprilTagDetection.msg +++ b/brain_box_msgs/msg/AprilTagDetection.msg @@ -7,6 +7,9 @@ int32[] id # order as the IDs above. float64[] size +# Added by Farmx. This will help search faster in the bundle +string name + # Pose in the camera frame, obtained from homography transform. If a standalone # tag, the homography is from the four tag corners. If a tag bundle, the # homography is from at least the four corners of one member tag and at most the diff --git a/brain_box_msgs/msg/AprilTagDetectionArray.msg b/brain_box_msgs/msg/AprilTagDetectionArray.msg index e143357..032e6ac 100644 --- a/brain_box_msgs/msg/AprilTagDetectionArray.msg +++ b/brain_box_msgs/msg/AprilTagDetectionArray.msg @@ -1,2 +1,4 @@ std_msgs/Header header +# Added by Farmx. string for tag family name +string family brain_box_msgs/AprilTagDetection[] detections From 6735063a1e8883810e64fd5299d8de20e2e14295 Mon Sep 17 00:00:00 2001 From: dan hennage Date: Sun, 3 Dec 2023 20:49:48 -0800 Subject: [PATCH 11/26] feat: added mutiple vfh windows --- brain_box_msgs/CMakeLists.txt | 1 + brain_box_msgs/msg/PassageFeatures.msg | 1 - brain_box_msgs/msg/PassageFeaturesArray.msg | 2 ++ 3 files changed, 3 insertions(+), 1 deletion(-) create mode 100644 brain_box_msgs/msg/PassageFeaturesArray.msg diff --git a/brain_box_msgs/CMakeLists.txt b/brain_box_msgs/CMakeLists.txt index b23aaca..7f83ae1 100644 --- a/brain_box_msgs/CMakeLists.txt +++ b/brain_box_msgs/CMakeLists.txt @@ -122,6 +122,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} msg/PacketMsg.msg msg/PassageFeature.msg msg/PassageFeatures.msg + msg/PassageFeaturesArray.msg msg/PassageFeatureWindow.msg msg/PolarPointCloud.msg msg/PanelStatus.msg diff --git a/brain_box_msgs/msg/PassageFeatures.msg b/brain_box_msgs/msg/PassageFeatures.msg index 3eb4422..1782a85 100644 --- a/brain_box_msgs/msg/PassageFeatures.msg +++ b/brain_box_msgs/msg/PassageFeatures.msg @@ -1,4 +1,3 @@ -std_msgs/Header header int64 vfh_count float64 sector_angle float64 window_dist_m diff --git a/brain_box_msgs/msg/PassageFeaturesArray.msg b/brain_box_msgs/msg/PassageFeaturesArray.msg new file mode 100644 index 0000000..ef682ab --- /dev/null +++ b/brain_box_msgs/msg/PassageFeaturesArray.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +brain_box_msgs/PassageFeatures[] features_array \ No newline at end of file From 0ebef38c7186deb193ddfe165d2a71773594c7aa Mon Sep 17 00:00:00 2001 From: dan hennage Date: Thu, 7 Dec 2023 18:11:52 -0800 Subject: [PATCH 12/26] fix: added header back in --- brain_box_msgs/msg/PassageFeatures.msg | 1 + 1 file changed, 1 insertion(+) diff --git a/brain_box_msgs/msg/PassageFeatures.msg b/brain_box_msgs/msg/PassageFeatures.msg index 1782a85..3eb4422 100644 --- a/brain_box_msgs/msg/PassageFeatures.msg +++ b/brain_box_msgs/msg/PassageFeatures.msg @@ -1,3 +1,4 @@ +std_msgs/Header header int64 vfh_count float64 sector_angle float64 window_dist_m From 1580816e2585093b2de2f396038e01057559d839 Mon Sep 17 00:00:00 2001 From: FarmXDev Date: Fri, 8 Dec 2023 14:39:26 -0800 Subject: [PATCH 13/26] pto control draft --- brain_box_msgs/msg/ControlVariables.msg | 2 ++ 1 file changed, 2 insertions(+) diff --git a/brain_box_msgs/msg/ControlVariables.msg b/brain_box_msgs/msg/ControlVariables.msg index cf7db49..4246ce9 100644 --- a/brain_box_msgs/msg/ControlVariables.msg +++ b/brain_box_msgs/msg/ControlVariables.msg @@ -67,6 +67,8 @@ float64 yaw_cmd bool vel_ground_ref bool yaw_absolute +bool pto_request_on + bool feature_end uint8 flight_status From aed923f7141ef248a18d2cbd714894f0a578f49b Mon Sep 17 00:00:00 2001 From: Marisa Date: Tue, 12 Dec 2023 15:27:17 -0800 Subject: [PATCH 14/26] added Maneuver msg --- brain_box_msgs/msg/ControlVariables.msg | 1 + 1 file changed, 1 insertion(+) diff --git a/brain_box_msgs/msg/ControlVariables.msg b/brain_box_msgs/msg/ControlVariables.msg index 4246ce9..5f71e29 100644 --- a/brain_box_msgs/msg/ControlVariables.msg +++ b/brain_box_msgs/msg/ControlVariables.msg @@ -68,6 +68,7 @@ bool vel_ground_ref bool yaw_absolute bool pto_request_on +bool hitch_request_raise bool feature_end From 9f78000b98a434c27b061b82d4afd21dc83cd19d Mon Sep 17 00:00:00 2001 From: FarmXDev Date: Tue, 19 Dec 2023 00:12:13 -0800 Subject: [PATCH 15/26] added MissionIdArray.msg --- brain_box_msgs/CMakeLists.txt | 1 + brain_box_msgs/msg/MissionIdArray.msg | 2 ++ 2 files changed, 3 insertions(+) create mode 100644 brain_box_msgs/msg/MissionIdArray.msg diff --git a/brain_box_msgs/CMakeLists.txt b/brain_box_msgs/CMakeLists.txt index b23aaca..86f585f 100644 --- a/brain_box_msgs/CMakeLists.txt +++ b/brain_box_msgs/CMakeLists.txt @@ -111,6 +111,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} msg/MarkerStatus.msg msg/MarkerType.msg msg/MaxMinAve.msg + msg/MissionIdArray.msg msg/NodeStatus.msg msg/NormalsStamped.msg msg/NormalWithPoint.msg diff --git a/brain_box_msgs/msg/MissionIdArray.msg b/brain_box_msgs/msg/MissionIdArray.msg new file mode 100644 index 0000000..e38a6cb --- /dev/null +++ b/brain_box_msgs/msg/MissionIdArray.msg @@ -0,0 +1,2 @@ +string[] mission_ids +string current_mission_id \ No newline at end of file From a8b60c8d22371a90e122b7d4e891d106f5c7f27d Mon Sep 17 00:00:00 2001 From: Marisa Date: Wed, 20 Dec 2023 16:20:21 -0800 Subject: [PATCH 16/26] adding AmPilotMissionState.msg --- brain_box_msgs/CMakeLists.txt | 1 + brain_box_msgs/msg/AmPilotMissionState.msg | 12 ++++++++++++ 2 files changed, 13 insertions(+) create mode 100644 brain_box_msgs/msg/AmPilotMissionState.msg diff --git a/brain_box_msgs/CMakeLists.txt b/brain_box_msgs/CMakeLists.txt index 86f585f..659bc91 100644 --- a/brain_box_msgs/CMakeLists.txt +++ b/brain_box_msgs/CMakeLists.txt @@ -30,6 +30,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} #messages msg/AMMap.msg + msg/AmPilotMissionState.msg msg/AprilTagDetection.msg msg/AprilTagDetectionArray.msg msg/BabySitterStatus.msg diff --git a/brain_box_msgs/msg/AmPilotMissionState.msg b/brain_box_msgs/msg/AmPilotMissionState.msg new file mode 100644 index 0000000..0955ca2 --- /dev/null +++ b/brain_box_msgs/msg/AmPilotMissionState.msg @@ -0,0 +1,12 @@ +uint8 mission_state +float64 distance +float64 offset +string task_id +string task_name + +# Values for mission_state +uint8 READY=0 +uint8 PAYLOAD_CONTROL=1 +uint8 AUTO=2 +uint8 DONE=3 +uint8 LAST_STATE=3 From d90e6fa0bae29a39f2b18a75677ed5f16d4ade13 Mon Sep 17 00:00:00 2001 From: FarmXDev Date: Thu, 14 Mar 2024 08:50:08 -0700 Subject: [PATCH 17/26] feat: ParameterArray --- brain_box_msgs/CMakeLists.txt | 5 ++++- brain_box_msgs/msg/Parameter.msg | 11 +++++++++++ brain_box_msgs/msg/ParameterArray.msg | 1 + brain_box_msgs/package.xml | 1 + 4 files changed, 17 insertions(+), 1 deletion(-) create mode 100644 brain_box_msgs/msg/Parameter.msg create mode 100644 brain_box_msgs/msg/ParameterArray.msg diff --git a/brain_box_msgs/CMakeLists.txt b/brain_box_msgs/CMakeLists.txt index 5eb0075..9f7688e 100644 --- a/brain_box_msgs/CMakeLists.txt +++ b/brain_box_msgs/CMakeLists.txt @@ -24,6 +24,7 @@ find_package(sensor_msgs REQUIRED) find_package(nav_msgs REQUIRED) find_package(shape_msgs REQUIRED) find_package(vision_msgs REQUIRED) +find_package(rcl_interfaces REQUIRED) rosidl_generate_interfaces(${PROJECT_NAME} @@ -122,6 +123,8 @@ rosidl_generate_interfaces(${PROJECT_NAME} msg/OperatorCommand.msg msg/OperatorMsg.msg msg/PacketMsg.msg + msg/Parameter.msg + msg/ParameterArray.msg msg/PassageFeature.msg msg/PassageFeatures.msg msg/PassageFeaturesArray.msg @@ -214,7 +217,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} action/VxFlightExec.action action/Fibonacci.action - DEPENDENCIES builtin_interfaces std_msgs geometry_msgs sensor_msgs nav_msgs shape_msgs vision_msgs + DEPENDENCIES builtin_interfaces std_msgs geometry_msgs sensor_msgs nav_msgs shape_msgs vision_msgs rcl_interfaces ) if(BUILD_TESTING) diff --git a/brain_box_msgs/msg/Parameter.msg b/brain_box_msgs/msg/Parameter.msg new file mode 100644 index 0000000..d3bc901 --- /dev/null +++ b/brain_box_msgs/msg/Parameter.msg @@ -0,0 +1,11 @@ +#the name of the recepient node for the parameter e.g. am_locator. +# receiver_type must be set to brain_box_msgs::msg::RECEIVER_TYPE_LOCAL for the node_name to be checked +string node_name + +#an integer representing receiver type. Options: brain_box_msgs::msg::RECEIVER_TYPE_GLOBAL (0) for global parameters or brain_box_msgs::msg::RECEIVER_TYPE_LOCAL (1) for local parameters +int64 receiver_type + +rcl_interfaces/Parameter parameter + +int64 RECEIVER_TYPE_GLOBAL = 0 +int64 RECEIVER_TYPE_LOCAL = 1 \ No newline at end of file diff --git a/brain_box_msgs/msg/ParameterArray.msg b/brain_box_msgs/msg/ParameterArray.msg new file mode 100644 index 0000000..83d14a6 --- /dev/null +++ b/brain_box_msgs/msg/ParameterArray.msg @@ -0,0 +1 @@ +brain_box_msgs/Parameter[] parameters \ No newline at end of file diff --git a/brain_box_msgs/package.xml b/brain_box_msgs/package.xml index b436f53..e0c6ba3 100644 --- a/brain_box_msgs/package.xml +++ b/brain_box_msgs/package.xml @@ -23,6 +23,7 @@ nav_msgs shape_msgs vision_msgs + rcl_interfaces ament_lint_auto ament_lint_common From 0b310806fbf22bacc75e637db87885742455ec36 Mon Sep 17 00:00:00 2001 From: aaryanredkar Date: Fri, 26 Jul 2024 11:08:22 -0700 Subject: [PATCH 18/26] added new str array fields for multi node checking --- brain_box_msgs/msg/Super2Status.msg | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/brain_box_msgs/msg/Super2Status.msg b/brain_box_msgs/msg/Super2Status.msg index dce1835..4a373bb 100644 --- a/brain_box_msgs/msg/Super2Status.msg +++ b/brain_box_msgs/msg/Super2Status.msg @@ -3,4 +3,10 @@ std_msgs/Header header uint8 man uint8 man_run uint8 run -string[] nodes +string[] all +string[] man_onl +string[] man_offl +string[] unman_onl +string[] unman_offl + + From 2000518dd8c6a825dbe6497964b2d3b1268269c4 Mon Sep 17 00:00:00 2001 From: Amir Rubin Date: Tue, 10 Sep 2024 11:42:09 -0700 Subject: [PATCH 19/26] Add msg to support am tracker node communications --- brain_box_msgs/CMakeLists.txt | 2 ++ brain_box_msgs/msg/PostFeature.msg | 15 +++++++++++++++ brain_box_msgs/msg/PostFeatureArray.msg | 3 +++ 3 files changed, 20 insertions(+) create mode 100644 brain_box_msgs/msg/PostFeature.msg create mode 100644 brain_box_msgs/msg/PostFeatureArray.msg diff --git a/brain_box_msgs/CMakeLists.txt b/brain_box_msgs/CMakeLists.txt index 9f7688e..4cc48aa 100644 --- a/brain_box_msgs/CMakeLists.txt +++ b/brain_box_msgs/CMakeLists.txt @@ -136,6 +136,8 @@ rosidl_generate_interfaces(${PROJECT_NAME} msg/ProximityList.msg msg/PIDParam.msg msg/Point2.msg + msg/PostFeature.msg + msg/PostFeatureArray.msg msg/Profiling.msg msg/ProfilingArray.msg msg/Range.msg diff --git a/brain_box_msgs/msg/PostFeature.msg b/brain_box_msgs/msg/PostFeature.msg new file mode 100644 index 0000000..122ecf6 --- /dev/null +++ b/brain_box_msgs/msg/PostFeature.msg @@ -0,0 +1,15 @@ +int8 class_id +string class_label +string from_sensor + +float64 yolo_confidence +float64 score + +int8 cluster +string world_label + +geometry_msgs/Point sensor_frame_pos +geometry_msgs/Point body_frame_pos +geometry_msgs/Point asset_frame_pos +geometry_msgs/Point world_label_pos + diff --git a/brain_box_msgs/msg/PostFeatureArray.msg b/brain_box_msgs/msg/PostFeatureArray.msg new file mode 100644 index 0000000..57e75fe --- /dev/null +++ b/brain_box_msgs/msg/PostFeatureArray.msg @@ -0,0 +1,3 @@ +std_msgs/Header header +PostFeature[] posts + From 9f70c5037b453e3baaed455e40845a09296c6476 Mon Sep 17 00:00:00 2001 From: Marisa Date: Wed, 2 Oct 2024 14:53:23 -0700 Subject: [PATCH 20/26] AutosteerMotorReport msg --- brain_box_msgs/CMakeLists.txt | 1 + brain_box_msgs/CMakeLists_org.txt | 3 ++- brain_box_msgs/msg/AutosteerMotorReport.msg | 6 ++++++ 3 files changed, 9 insertions(+), 1 deletion(-) create mode 100644 brain_box_msgs/msg/AutosteerMotorReport.msg diff --git a/brain_box_msgs/CMakeLists.txt b/brain_box_msgs/CMakeLists.txt index 4cc48aa..b421dbc 100644 --- a/brain_box_msgs/CMakeLists.txt +++ b/brain_box_msgs/CMakeLists.txt @@ -34,6 +34,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} msg/AmPilotMissionState.msg msg/AprilTagDetection.msg msg/AprilTagDetectionArray.msg + msg/AutosteerMotorReport.msg msg/BabySitterStatus.msg msg/BBAttitude.msg msg/BBGlobalPosition.msg diff --git a/brain_box_msgs/CMakeLists_org.txt b/brain_box_msgs/CMakeLists_org.txt index a1b6f77..6c60e97 100644 --- a/brain_box_msgs/CMakeLists_org.txt +++ b/brain_box_msgs/CMakeLists_org.txt @@ -19,7 +19,8 @@ find_package(catkin REQUIRED COMPONENTS add_message_files( DIRECTORY msg FILES - AMMap.msg + AMMap.msg + AutosteerMotorReport.msg BabySitterStatus.msg BBAttitude.msg BBGlobalPosition.msg diff --git a/brain_box_msgs/msg/AutosteerMotorReport.msg b/brain_box_msgs/msg/AutosteerMotorReport.msg new file mode 100644 index 0000000..972167e --- /dev/null +++ b/brain_box_msgs/msg/AutosteerMotorReport.msg @@ -0,0 +1,6 @@ +# /home/ubuntu/ros2_ws/src/pn_msgs/msg/KeyaReport.msg +std_msgs/Header header +int16 motor_angle +int16 motor_speed +int16 motor_current +int16 err_code \ No newline at end of file From bfa07daae8e289c8d093306ec712712e579e38be Mon Sep 17 00:00:00 2001 From: HardikSingh97 Date: Tue, 8 Oct 2024 09:25:40 -0700 Subject: [PATCH 21/26] feat: New brain box message to communicate information about errored nodes --- brain_box_msgs/CMakeLists.txt | 1 + brain_box_msgs/msg/Super2ErrorNodes.msg | 9 +++++++++ 2 files changed, 10 insertions(+) create mode 100644 brain_box_msgs/msg/Super2ErrorNodes.msg diff --git a/brain_box_msgs/CMakeLists.txt b/brain_box_msgs/CMakeLists.txt index 4cc48aa..e92eaed 100644 --- a/brain_box_msgs/CMakeLists.txt +++ b/brain_box_msgs/CMakeLists.txt @@ -164,6 +164,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} msg/SuperNodeStatus.msg msg/SuperStatus.msg msg/Super2Status.msg + msg/Super2ErrorNodes.msg msg/SystemReport.msg msg/SystemState.msg msg/TargetPose.msg diff --git a/brain_box_msgs/msg/Super2ErrorNodes.msg b/brain_box_msgs/msg/Super2ErrorNodes.msg new file mode 100644 index 0000000..e034d19 --- /dev/null +++ b/brain_box_msgs/msg/Super2ErrorNodes.msg @@ -0,0 +1,9 @@ +std_msgs/Header header + +uint8 num_manifested_nodes +uint8 num_errored_nodes +string[] reset_nodes +string[] restart_nodes +string[] offline_nodes + + From dc46ece933e1bb984385e8c4fa635d809118fdd8 Mon Sep 17 00:00:00 2001 From: Amir Rubin Date: Tue, 8 Oct 2024 10:21:01 -0700 Subject: [PATCH 22/26] Update am_tracker msg --- brain_box_msgs/msg/PostFeature.msg | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/brain_box_msgs/msg/PostFeature.msg b/brain_box_msgs/msg/PostFeature.msg index 122ecf6..8efbb7d 100644 --- a/brain_box_msgs/msg/PostFeature.msg +++ b/brain_box_msgs/msg/PostFeature.msg @@ -3,12 +3,13 @@ string class_label string from_sensor float64 yolo_confidence -float64 score -int8 cluster +int8 cluster +int32 num_points string world_label geometry_msgs/Point sensor_frame_pos +geometry_msgs/Point box_size geometry_msgs/Point body_frame_pos geometry_msgs/Point asset_frame_pos geometry_msgs/Point world_label_pos From 65eac063d1eebd504729c12cb681c3b06dd6c915 Mon Sep 17 00:00:00 2001 From: Marisa Date: Tue, 8 Oct 2024 18:18:24 -0700 Subject: [PATCH 23/26] autosteer motor msgs --- brain_box_msgs/CMakeLists.txt | 1 + brain_box_msgs/msg/AutosteerMotorReport.msg | 8 ++++---- brain_box_msgs/srv/AutosteerMotorStatusQuery.srv | 2 ++ 3 files changed, 7 insertions(+), 4 deletions(-) create mode 100644 brain_box_msgs/srv/AutosteerMotorStatusQuery.srv diff --git a/brain_box_msgs/CMakeLists.txt b/brain_box_msgs/CMakeLists.txt index b421dbc..2adb78b 100644 --- a/brain_box_msgs/CMakeLists.txt +++ b/brain_box_msgs/CMakeLists.txt @@ -193,6 +193,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} #services srv/AMMapBoundingBoxQuery.srv + srv/AutosteerMotorStatusQuery.srv srv/AnalyzeSingleImage.srv srv/AttitudeControl.srv srv/CameraActionControl.srv diff --git a/brain_box_msgs/msg/AutosteerMotorReport.msg b/brain_box_msgs/msg/AutosteerMotorReport.msg index 972167e..ef7b6f2 100644 --- a/brain_box_msgs/msg/AutosteerMotorReport.msg +++ b/brain_box_msgs/msg/AutosteerMotorReport.msg @@ -1,6 +1,6 @@ # /home/ubuntu/ros2_ws/src/pn_msgs/msg/KeyaReport.msg std_msgs/Header header -int16 motor_angle -int16 motor_speed -int16 motor_current -int16 err_code \ No newline at end of file +int32 motor_angle +int32 motor_speed +int32 motor_current +int32 err_code \ No newline at end of file diff --git a/brain_box_msgs/srv/AutosteerMotorStatusQuery.srv b/brain_box_msgs/srv/AutosteerMotorStatusQuery.srv new file mode 100644 index 0000000..7609785 --- /dev/null +++ b/brain_box_msgs/srv/AutosteerMotorStatusQuery.srv @@ -0,0 +1,2 @@ +--- +int32 mode From d9e5786ce05807139bcf50e3a5809e751766f7f4 Mon Sep 17 00:00:00 2001 From: HardikSingh97 Date: Fri, 11 Oct 2024 15:15:49 -0700 Subject: [PATCH 24/26] Amir changes to postFeature msg --- brain_box_msgs/msg/PostFeature.msg | 32 +++++++++++++++--------------- 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/brain_box_msgs/msg/PostFeature.msg b/brain_box_msgs/msg/PostFeature.msg index 8efbb7d..9c87f0a 100644 --- a/brain_box_msgs/msg/PostFeature.msg +++ b/brain_box_msgs/msg/PostFeature.msg @@ -1,16 +1,16 @@ -int8 class_id -string class_label -string from_sensor - -float64 yolo_confidence - -int8 cluster -int32 num_points -string world_label - -geometry_msgs/Point sensor_frame_pos -geometry_msgs/Point box_size -geometry_msgs/Point body_frame_pos -geometry_msgs/Point asset_frame_pos -geometry_msgs/Point world_label_pos - +int8 class_id +string class_label +string from_sensor + +float64 yolo_confidence + +int8 cluster +int32 num_points +string world_label + +geometry_msgs/Point sensor_frame_pos +geometry_msgs/Point box_size +geometry_msgs/Point body_frame_pos +geometry_msgs/Point asset_frame_pos +geometry_msgs/Point world_label_pos + From ce13f0e359679028a5d31f72067242c925359bfd Mon Sep 17 00:00:00 2001 From: AJ Date: Wed, 11 Dec 2024 12:41:46 -0800 Subject: [PATCH 25/26] feat: messages for resource-monitor node --- brain_box_msgs/CMakeLists.txt | 8 +++++--- brain_box_msgs/msg/IPSensorStatus.msg | 7 +++++++ brain_box_msgs/msg/SystemReport.msg | 28 ++++++++++++++++++++++---- brain_box_msgs/msg/TransformStatus.msg | 6 ++++++ 4 files changed, 42 insertions(+), 7 deletions(-) create mode 100644 brain_box_msgs/msg/IPSensorStatus.msg create mode 100644 brain_box_msgs/msg/TransformStatus.msg diff --git a/brain_box_msgs/CMakeLists.txt b/brain_box_msgs/CMakeLists.txt index e29b5b4..ef78d75 100644 --- a/brain_box_msgs/CMakeLists.txt +++ b/brain_box_msgs/CMakeLists.txt @@ -86,6 +86,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} msg/GuidanceStatus.msg msg/Heartbeat.msg msg/Int32Stamped.msg + msg/IPSensorStatus.msg msg/KeyValue.msg msg/LaserCluster.msg msg/LaserClusters.msg @@ -137,8 +138,8 @@ rosidl_generate_interfaces(${PROJECT_NAME} msg/ProximityList.msg msg/PIDParam.msg msg/Point2.msg - msg/PostFeature.msg - msg/PostFeatureArray.msg + msg/PostFeature.msg + msg/PostFeatureArray.msg msg/Profiling.msg msg/ProfilingArray.msg msg/Range.msg @@ -169,7 +170,8 @@ rosidl_generate_interfaces(${PROJECT_NAME} msg/SystemReport.msg msg/SystemState.msg msg/TargetPose.msg - msg/TargetPoseArray.msg + msg/TargetPoseArray.msg + msg/TransformStatus.msg msg/VideoCmnd.msg msg/VideoStatus.msg msg/VisionCmnd.msg diff --git a/brain_box_msgs/msg/IPSensorStatus.msg b/brain_box_msgs/msg/IPSensorStatus.msg new file mode 100644 index 0000000..bdf0dc3 --- /dev/null +++ b/brain_box_msgs/msg/IPSensorStatus.msg @@ -0,0 +1,7 @@ + +uint8 DISCONNECTED=0 +uint8 CONNECTED=1 + +string ip +string alias +uint8 status diff --git a/brain_box_msgs/msg/SystemReport.msg b/brain_box_msgs/msg/SystemReport.msg index bae7cca..ab8b573 100644 --- a/brain_box_msgs/msg/SystemReport.msg +++ b/brain_box_msgs/msg/SystemReport.msg @@ -1,5 +1,12 @@ +uint8 DISCONNECTED=0 +uint8 CONNECTED=1 +uint8 CONNECTING=2 + std_msgs/Header header + +int32 uptime_seconds + #CPU Report int32 cores_count float32 cpu_percent_total @@ -14,15 +21,28 @@ brain_box_msgs/Status[] processes float32 hd_used_percentage float32 hd_used +#GPU Report +float32 gpu_temp +float32 gpu_used_percentage + #Memory Report float32 mem_total_mb float32 mem_used_percentage float32 mem_free_percentage -uint8 DISCONNECTED=0 -uint8 CONNECTED=1 -uint8 CONNECTING=2 + +#Transform Tree Status +brain_box_msgs/TransformStatus[] tf_tree_status + +#Running Node names +string[] nodes + +#IP Sensors Status +brain_box_msgs/IPSensorStatus[] ip_sensors #Network Report float32 wifi_rssi -uint8 wifi_is_connected \ No newline at end of file +uint8 wifi_is_connected + +#Error Messages +string error_msg \ No newline at end of file diff --git a/brain_box_msgs/msg/TransformStatus.msg b/brain_box_msgs/msg/TransformStatus.msg new file mode 100644 index 0000000..cc88b57 --- /dev/null +++ b/brain_box_msgs/msg/TransformStatus.msg @@ -0,0 +1,6 @@ +uint8 DISCONNECTED=0 +uint8 CONNECTED=1 + +string source +string target +uint8 status \ No newline at end of file From d8b0ed23ee848914b5e059f752fb2b762e9ea9a2 Mon Sep 17 00:00:00 2001 From: danhennage Date: Wed, 12 Mar 2025 10:22:45 -0700 Subject: [PATCH 26/26] Create LICENSE --- LICENSE | 21 +++++++++++++++++++++ 1 file changed, 21 insertions(+) create mode 100644 LICENSE diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..463d8a0 --- /dev/null +++ b/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2021 AutoModality, Inc. + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the “Software”), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE.