Merge pull request #1 from N-rwal/arm

rpi5 2D

Author: N-rwal

go2_interfaces/CMakeLists.txt

@@ -0,0 +1,61 @@
+cmake_minimum_required(VERSION 3.8)
+project(go2_interfaces)
+
+# Fix for CMake policy CMP0148 warning
+if(POLICY CMP0148)
+  cmake_policy(SET CMP0148 OLD)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  # Original go2_interfaces messages
+  "msg/Go2Cmd.msg"
+  "msg/Go2State.msg"
+  "msg/Go2Move.msg"
+  "msg/Go2RpyCmd.msg"
+  "msg/IMU.msg"
+  
+  # Merged from unitree_go
+  "msg/AudioData.msg"
+  "msg/BmsCmd.msg"
+  "msg/BmsState.msg"
+  "msg/Error.msg"
+  "msg/Go2FrontVideoData.msg"
+  "msg/HeightMap.msg"
+  "msg/InterfaceConfig.msg"
+  "msg/LidarState.msg"
+  "msg/LowCmd.msg"
+  "msg/LowState.msg"
+  "msg/MotorCmd.msg"
+  "msg/MotorCmds.msg"
+  "msg/MotorState.msg"
+  "msg/MotorStates.msg"
+  "msg/PathPoint.msg"
+  "msg/Req.msg"
+  "msg/Res.msg"
+  "msg/SportModeCmd.msg"
+  "msg/SportModeState.msg"
+  "msg/TimeSpec.msg"
+  "msg/UwbState.msg"
+  "msg/UwbSwitch.msg"
+  "msg/VoxelMapCompressed.msg"
+  "msg/VoxelHeightMapState.msg"
+  "msg/WebRtcReq.msg"
+  "msg/WirelessController.msg"
+
+  DEPENDENCIES geometry_msgs # Add packages that above messages depend on
+)
+
+
+ament_package()

go2_interfaces/msg/AudioData.msg

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+uint64 time_frame
+uint8[] data

go2_interfaces/msg/BmsCmd.msg

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+uint8 off
+uint8[3] reserve

go2_interfaces/msg/BmsState.msg

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+uint8 version_high
+uint8 version_low
+uint8 status
+uint8 soc
+int32 current
+uint16 cycle
+int8[2] bq_ntc
+int8[2] mcu_ntc
+uint16[15] cell_vol

go2_interfaces/msg/Error.msg

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+uint32 source
+uint32 state

go2_interfaces/msg/Go2Cmd.msg

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+uint16 cmd

go2_interfaces/msg/Go2FrontVideoData.msg

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+# Time frame as a 64-bit unsigned integer
+uint64 time_frame
+
+# Resolution as a 16-bit signed integer
+int16 resolution
+
+# Data as a sequence of bytes (octets)
+uint8[] data

go2_interfaces/msg/Go2Move.msg

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+float32 x
+float32 y
+float32 z

go2_interfaces/msg/Go2RpyCmd.msg

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+float32 roll
+float32 pitch
+float32 yaw

go2_interfaces/msg/Go2State.msg

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+uint8 mode
+int32 progress
+uint8 gait_type	
+float32 foot_raise_height		  
+float32[3] position 
+float32 body_height			  
+float32[3] velocity 			   
+float32[4] range_obstacle
+int16[4] foot_force
+float32[12] foot_position_body
+float32[12] foot_speed_body
+