From cc0a5c8100450dc5f95dbe6c3e3912e5b6f63b6c Mon Sep 17 00:00:00 2001 From: Henning Kayser Date: Tue, 11 Mar 2025 15:20:40 +0000 Subject: [PATCH 1/2] Add ObjectiveServerStatus message Used for objective server heartbeat and objective status broadcasting. --- moveit_studio_msgs/moveit_studio_agent_msgs/CMakeLists.txt | 1 + .../moveit_studio_agent_msgs/msg/ObjectiveServerStatus.msg | 7 +++++++ 2 files changed, 8 insertions(+) create mode 100644 moveit_studio_msgs/moveit_studio_agent_msgs/msg/ObjectiveServerStatus.msg diff --git a/moveit_studio_msgs/moveit_studio_agent_msgs/CMakeLists.txt b/moveit_studio_msgs/moveit_studio_agent_msgs/CMakeLists.txt index 77211ae..06d384c 100644 --- a/moveit_studio_msgs/moveit_studio_agent_msgs/CMakeLists.txt +++ b/moveit_studio_msgs/moveit_studio_agent_msgs/CMakeLists.txt @@ -23,6 +23,7 @@ set(msg_files "msg/Json.msg" "msg/LicenseInfo.msg" "msg/Log.msg" + "msg/ObjectiveServerStatus.msg" "msg/PlanningGroup.msg" "msg/RobotJointState.msg" "msg/Waypoint.msg" diff --git a/moveit_studio_msgs/moveit_studio_agent_msgs/msg/ObjectiveServerStatus.msg b/moveit_studio_msgs/moveit_studio_agent_msgs/msg/ObjectiveServerStatus.msg new file mode 100644 index 0000000..0a9d361 --- /dev/null +++ b/moveit_studio_msgs/moveit_studio_agent_msgs/msg/ObjectiveServerStatus.msg @@ -0,0 +1,7 @@ +# Heartbeat of the Objective Server node +builtin_interfaces/Time timestamp + +# Name and status descriptor of the current objective tree +# See StatusTree::NodeStatus for valid objective_status values +string objective_name +string objective_status From d1153c1af718a8deb686abfc687cbc00a833610b Mon Sep 17 00:00:00 2001 From: Henning Kayser Date: Tue, 11 Mar 2025 21:51:01 +0000 Subject: [PATCH 2/2] Separate heartbeat timestamps --- .../moveit_studio_agent_msgs/msg/ObjectiveServerStatus.msg | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/moveit_studio_msgs/moveit_studio_agent_msgs/msg/ObjectiveServerStatus.msg b/moveit_studio_msgs/moveit_studio_agent_msgs/msg/ObjectiveServerStatus.msg index 0a9d361..fbc60c2 100644 --- a/moveit_studio_msgs/moveit_studio_agent_msgs/msg/ObjectiveServerStatus.msg +++ b/moveit_studio_msgs/moveit_studio_agent_msgs/msg/ObjectiveServerStatus.msg @@ -1,5 +1,6 @@ -# Heartbeat of the Objective Server node -builtin_interfaces/Time timestamp +# Heartbeat timestamps of the Objective Server node +builtin_interfaces/Time process_timestamp +builtin_interfaces/Time ros_timestamp # Name and status descriptor of the current objective tree # See StatusTree::NodeStatus for valid objective_status values