From 6f3777cd3478635b57a7b69331f6d01f556ffe64 Mon Sep 17 00:00:00 2001 From: wangzheqie Date: Tue, 20 Apr 2021 11:21:01 +0800 Subject: [PATCH] add ranger msg --- .gitignore | 58 +++++++ ranger_msgs/CHANGELOG.md | 6 + ranger_msgs/CMakeLists.txt | 207 ++++++++++++++++++++++++ ranger_msgs/msg/RangerActuatorState.msg | 9 ++ ranger_msgs/msg/RangerLightState.msg | 2 + ranger_msgs/msg/RangerStatus.msg | 27 ++++ ranger_msgs/package.xml | 64 ++++++++ 7 files changed, 373 insertions(+) create mode 100644 ranger_msgs/CHANGELOG.md create mode 100644 ranger_msgs/CMakeLists.txt create mode 100644 ranger_msgs/msg/RangerActuatorState.msg create mode 100644 ranger_msgs/msg/RangerLightState.msg create mode 100644 ranger_msgs/msg/RangerStatus.msg create mode 100644 ranger_msgs/package.xml diff --git a/.gitignore b/.gitignore index 259148f..093ed48 100644 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1,61 @@ +.vscode + +devel/ +logs/ +build/ +bin/ +lib/ +msg_gen/ +srv_gen/ +msg/*Action.msg +msg/*ActionFeedback.msg +msg/*ActionGoal.msg +msg/*ActionResult.msg +msg/*Feedback.msg +msg/*Goal.msg +msg/*Result.msg +msg/_*.py +build_isolated/ +devel_isolated/ + +# Generated by dynamic reconfigure +*.cfgc +/cfg/cpp/ +/cfg/*.py + +# Ignore generated docs +*.dox +*.wikidoc + +# eclipse stuff +.project +.cproject + +# Visual studio code stuff +*.vscode + +# qcreator stuff +CMakeLists.txt.user + +srv/_*.py +*.pcd +*.pyc +qtcreator-* +*.user + +/planning/cfg +/planning/docs +/planning/src + +*~ + +# Emacs +.#* + +# Catkin custom files +CATKIN_IGNORE + + # Prerequisites *.d diff --git a/ranger_msgs/CHANGELOG.md b/ranger_msgs/CHANGELOG.md new file mode 100644 index 0000000..44357c5 --- /dev/null +++ b/ranger_msgs/CHANGELOG.md @@ -0,0 +1,6 @@ +# Changelog for package scout_msgs + +## 0.0.1 (2021-04-20) +------------------ +* Initial development of ranger_msgs for Ranger +* Contributors: Zhe Wang diff --git a/ranger_msgs/CMakeLists.txt b/ranger_msgs/CMakeLists.txt new file mode 100644 index 0000000..f89bf9f --- /dev/null +++ b/ranger_msgs/CMakeLists.txt @@ -0,0 +1,207 @@ +cmake_minimum_required(VERSION 3.0.2) +project(ranger_msgs) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + message_generation + message_runtime + std_msgs + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES ranger_msgs +# CATKIN_DEPENDS message_generation message_runtime std_msgs std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/ranger_msgs.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/ranger_msgs_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_ranger_msgs.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/ranger_msgs/msg/RangerActuatorState.msg b/ranger_msgs/msg/RangerActuatorState.msg new file mode 100644 index 0000000..fa2ace8 --- /dev/null +++ b/ranger_msgs/msg/RangerActuatorState.msg @@ -0,0 +1,9 @@ +uint8 motor_id +int16 rpm +float64 current +int32 pulse_count + +float32 driver_voltage +float32 driver_temperature +int8 motor_temperature +uint8 driver_state \ No newline at end of file diff --git a/ranger_msgs/msg/RangerLightState.msg b/ranger_msgs/msg/RangerLightState.msg new file mode 100644 index 0000000..cf67389 --- /dev/null +++ b/ranger_msgs/msg/RangerLightState.msg @@ -0,0 +1,2 @@ +uint8 mode +uint8 custom_value \ No newline at end of file diff --git a/ranger_msgs/msg/RangerStatus.msg b/ranger_msgs/msg/RangerStatus.msg new file mode 100644 index 0000000..4251ba3 --- /dev/null +++ b/ranger_msgs/msg/RangerStatus.msg @@ -0,0 +1,27 @@ +Header header + +int8 MOTOR_ID_FRONT_RIGHT = 0 +int8 MOTOR_ID_FRONT_LEFT = 1 +int8 MOTOR_ID_REAR_RIGHT = 2 +int8 MOTOR_ID_REAR_LEFT = 3 + +int8 LIGHT_ID_FRONT = 0 +int8 LIGHT_ID_REAR = 1 + +# motion state +float64 linear_velocity +float64 angular_velocity + +# base state +uint8 vehicle_state +uint8 control_mode +uint16 error_code +float64 battery_voltage + +# motor state +RangerActuatorState[4] actuator_states + +# light state +bool light_control_enabled +RangerLightState front_light_state +RangerLightState rear_light_state \ No newline at end of file diff --git a/ranger_msgs/package.xml b/ranger_msgs/package.xml new file mode 100644 index 0000000..46e41c2 --- /dev/null +++ b/ranger_msgs/package.xml @@ -0,0 +1,64 @@ + + + ranger_msgs + 0.0.0 + The ranger_msgs package + + + + + qie + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + message_generation + std_msgs + std_msgs + message_runtime + std_msgs + + + + + + + +