From bbdb16b0b0c4fbb1dad0bf44c51e9f1ff5c30871 Mon Sep 17 00:00:00 2001
From: gavintranquilino <gavintranquilino@gmail.com>
Date: Wed, 11 Jun 2025 15:52:38 -0400
Subject: [PATCH 1/2] Package level documenation for common_msgs

---
 autonomy/wato_msgs/common_msgs/README.md | 64 ++++++++++++++++++++++++
 1 file changed, 64 insertions(+)
 create mode 100644 autonomy/wato_msgs/common_msgs/README.md

diff --git a/autonomy/wato_msgs/common_msgs/README.md b/autonomy/wato_msgs/common_msgs/README.md
new file mode 100644
index 0000000..fe5f2e0
--- /dev/null
+++ b/autonomy/wato_msgs/common_msgs/README.md
@@ -0,0 +1,64 @@
+# Common Messages (common_msgs)
+
+## File Tree/Package Structure
+This message package follows standard ROS2 package scheme:
+```
+common_msgs/
+├── CMakeLists.txt
+├── package.xml
+├── README.md
+└── msg/
+    ├── ArmPose.msg
+    ├── HandPose.msg
+    └── JointState.msg
+```
+
+## Purpose
+The `common_msgs` package serves as a global package for message definitions that are commonly used across various components and packages within the humanoid project. 
+
+## Inputs & Outputs
+This package primarily defines message structures. Therefore:
+-   **Outputs**: Provides `.msg` definitions that other ROS 2 packages can import and use.
+-   **Inputs**: Does not process data or subscribe to topics; it only defines data structures.
+
+## Key Features
+-   **Message Definitions**: Contains a collection of `.msg` files, each defining a specific data structure. These messages are designed to be generic and applicable in multiple contexts.
+
+### Message Definitions
+-   `ArmPose.msg`: Defines the pose of the humanoid arm, including optional HandPose inside.
+-   `HandPose.msg`: Defines the pose of the humanoid hand, including each JointState of each finger's joints.
+-   `JointState.msg`: Defines the state of a joint, including position, velocity, orientation, and effort.
+
+## Usage
+To use the messages defined in this package within another ROS 2 package:
+
+1.  **Copy the package into your Docker image's source workspace**: Add the following line to your Dockerfile (typically `root/docker/MODULE_NAME/MODULE_NAME.Dockerfile`), typically in the section where you copy your source code:
+    ```dockerfile
+    # # Copy in source code
+    # # COPY autonomy/wato_msgs/sample_msgs sample_msgs
+    COPY autonomy/wato_msgs/common_msgs common_msgs
+    ```
+
+2.  **Add Dependency**: Ensure that `common_msgs` is listed as a dependency in the `package.xml` of your consuming package:
+    ```xml
+    <depend>common_msgs</depend>
+    ```
+3.  **Include in CMakeLists.txt** (for C++ packages):
+    ```cmake
+    find_package(common_msgs REQUIRED)
+    ament_target_dependencies(your_target_name common_msgs)
+    ```
+4.  **Import in Python scripts**:
+    ```python
+    from common_msgs.msg import YourMessageName
+    ```
+5.  **Include in C++ code**:
+    ```cpp
+    #include "common_msgs/msg/your_message_name.hpp"
+    ```
+
+### Testing
+Currently, this package primarily contains message definitions, so testing focuses on ensuring they can be correctly compiled and used by dependent packages. 
+
+## Configuration
+-   **Parameters**: No configurable parameters are defined within this package itself.

From e8e54954f0c7674daffe19c65a36e9827f288c39 Mon Sep 17 00:00:00 2001
From: gavintranquilino <gavintranquilino@gmail.com>
Date: Wed, 11 Jun 2025 16:05:59 -0400
Subject: [PATCH 2/2] Update each message description

---
 autonomy/wato_msgs/common_msgs/README.md | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/autonomy/wato_msgs/common_msgs/README.md b/autonomy/wato_msgs/common_msgs/README.md
index fe5f2e0..73ea65d 100644
--- a/autonomy/wato_msgs/common_msgs/README.md
+++ b/autonomy/wato_msgs/common_msgs/README.md
@@ -25,9 +25,9 @@ This package primarily defines message structures. Therefore:
 -   **Message Definitions**: Contains a collection of `.msg` files, each defining a specific data structure. These messages are designed to be generic and applicable in multiple contexts.
 
 ### Message Definitions
--   `ArmPose.msg`: Defines the pose of the humanoid arm, including optional HandPose inside.
--   `HandPose.msg`: Defines the pose of the humanoid hand, including each JointState of each finger's joints.
--   `JointState.msg`: Defines the state of a joint, including position, velocity, orientation, and effort.
+-   `ArmPose.msg`: Describes the pose of an arm, including its major joints and optionally the hand.
+-   `HandPose.msg`: Details the pose of a hand, including individual finger joint states. 
+-   `JointState.msg`: A custom message (similar message structure to [sensor_msgs/JointState](https://docs.ros.org/en/humble/p/sensor_msgs/msg/JointState.html)) to represent a single joint.
 
 ## Usage
 To use the messages defined in this package within another ROS 2 package: