expertino_msgs: add messages for fawkes navgraph management

TarikViehmann · snoato · TarikViehmann · commit 67ae2fa978ff · 2024-01-05T18:55:12.000+01:00
The messages are needed in order to relay ground-truth information from the central agent to the worker robots running fawkes. Adapted from carologistics/clips_executive#10 Co-Authored-By: Daniel Swoboda <swoboda@kbsg.rwth-aachen.de>
diff --git a/expertino_msgs/CMakeLists.txt b/expertino_msgs/CMakeLists.txt
@@ -0,0 +1,37 @@
+cmake_minimum_required(VERSION 3.8)
+project(expertino_msgs)
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(action_msgs REQUIRED)
+
+set(MSGS "msg/NavGraphInterfaceMessage.msg"
+         "msg/NavGraphWithMPSInterfaceMessage.msg")
+
+set(SERVICES
+    "srv/NavGraphInterfaceCompute.srv"
+    "srv/NavGraphInterfaceGenerateWaitzones.srv"
+    "srv/NavGraphInterfaceSetBoundingBox.srv"
+    "srv/NavGraphInterfaceUpdateStationByTag.srv")
+
+# set(ACTIONS
+
+# )
+rosidl_generate_interfaces(
+  ${PROJECT_NAME}
+  ${MSGS}
+  ${SERVICES}
+  # ${actions}
+  DEPENDENCIES
+  std_msgs
+  std_srvs
+  builtin_interfaces
+  action_msgs)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
diff --git a/expertino_msgs/msg/NavGraphInterfaceMessage.msg b/expertino_msgs/msg/NavGraphInterfaceMessage.msg
@@ -0,0 +1,5 @@
+# Feedback from Fawke's NavGraphGeneratorInterface
+
+bool final
+bool ok
+string<=1024 error_msg
diff --git a/expertino_msgs/msg/NavGraphWithMPSInterfaceMessage.msg b/expertino_msgs/msg/NavGraphWithMPSInterfaceMessage.msg
@@ -0,0 +1,3 @@
+# Feedback from Fawke's NavGraphWithMPSGeneratorInterface
+
+bool final
diff --git a/expertino_msgs/package.xml b/expertino_msgs/package.xml
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>expertino_msgs</name>
+  <version>0.0.0</version>
+  
+  <description>Messages, Services and Action files for the expertino project.</description>
+  
+  <maintainer email="viehmann@kbsg.rwth-aachen.de">Tarik Viehmann</maintainer>
+  
+  <license>GPLv2+ license</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  
+  <depend>rosidl_default_generators</depend>
+  <depend>std_msgs</depend> 
+  <depend>builtin_interfaces</depend>
+  <depend> action_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/expertino_msgs/srv/NavGraphInterfaceCompute.srv b/expertino_msgs/srv/NavGraphInterfaceCompute.srv
@@ -0,0 +1,2 @@
+---
+bool success
diff --git a/expertino_msgs/srv/NavGraphInterfaceGenerateWaitzones.srv b/expertino_msgs/srv/NavGraphInterfaceGenerateWaitzones.srv
@@ -0,0 +1,2 @@
+---
+bool success
diff --git a/expertino_msgs/srv/NavGraphInterfaceSetBoundingBox.srv b/expertino_msgs/srv/NavGraphInterfaceSetBoundingBox.srv
@@ -0,0 +1,6 @@
+float32 p1_x
+float32 p1_y
+float32 p2_x
+float32 p2_y
+---
+bool success
diff --git a/expertino_msgs/srv/NavGraphInterfaceUpdateStationByTag.srv b/expertino_msgs/srv/NavGraphInterfaceUpdateStationByTag.srv
@@ -0,0 +1,11 @@
+string name
+string side
+string frame
+float64[] tag_translation
+# (x,y,z) -> coordinate from frame origin
+float64[] tag_rotation
+# (x,y,z,w) -> Quaternion rotation from frame
+int16[] zone_coords
+# (x,y) -> Integral zone coordinates, i.e. [2,3] for C-Z23 or [-2,3] for M-Z23.
+---
+bool success

Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,3 @@`
	`1`	`+# Feedback from Fawke's NavGraphWithMPSGeneratorInterface`
	`2`	`+`
	`3`	`+bool final`