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Migration to YAML format, related to: ipa320/RosTooling#181 
1 parent c5e5073 commit 67f98b8

19 files changed

+834
-374
lines changed

‎de.fraunhofer.ipa.ros.communication.objects/BasicSpecs/Joy.ros‎

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PackageSet {
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CatkinPackage joy {
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Artifact joy_node { Node { name joy_node
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Publishers {
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Publisher { name "joy" message "sensor_msgs.Joy" },
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Publisher { name "diagnostics" message "diagnostic_msgs.DiagnosticArray" }
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}}
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}}}

‎de.fraunhofer.ipa.ros.communication.objects/BasicSpecs/Joy.ros1‎

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joy:
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artifacts:
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joy_node:
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node: joy_node
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publishers:
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joy:
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type: "sensor_msgs.Joy"
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diagnostics:
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type: "diagnostic_msgs.DiagnosticArray"

‎de.fraunhofer.ipa.ros.communication.objects/BasicSpecs/Laser2DScan.ros‎

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‎de.fraunhofer.ipa.ros.communication.objects/BasicSpecs/Laser2DScan.ros1‎

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scan_2d:
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artifacts:
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scan_2d:
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node: scan_2d
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publishers:
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scan:
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type: "sensor_msgs.LaserScan"
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diagnostics:
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type: "diagnostic_msgs.DiagnosticArray"

‎de.fraunhofer.ipa.ros.communication.objects/BasicSpecs/Teleop.ros‎

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‎de.fraunhofer.ipa.ros.communication.objects/BasicSpecs/Teleop.ros1‎

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teleop:
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artifacts:
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joystick_teleop_node:
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node: joystick_teleop_node
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publishers:
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cmd_vel:
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type: "geometry_msgs.Twist"
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subscribers:
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joy:
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type:"sensor_msgs.Joy"

‎de.fraunhofer.ipa.ros.communication.objects/basic_msgs/common_msgs.ros‎

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‎de.fraunhofer.ipa.ros.communication.objects/basic_msgs/control_msgs.ros‎

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PackageSet{
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Package control_msgs{ Specs {
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TopicSpec FollowJointTrajectoryAction{ message { FollowJointTrajectoryActionGoal action_goal FollowJointTrajectoryActionResult action_result FollowJointTrajectoryActionFeedback action_feedback }},
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TopicSpec FollowJointTrajectoryActionFeedback{ message { Header header "actionlib_msgs.GoalStatus" status FollowJointTrajectoryFeedback feedback }},
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TopicSpec FollowJointTrajectoryActionGoal{ message { Header header "actionlib_msgs.GoalID" goal_id FollowJointTrajectoryGoal goal }},
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TopicSpec FollowJointTrajectoryActionResult{ message { Header header "actionlib_msgs.GoalStatus" status FollowJointTrajectoryResult result }},
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TopicSpec FollowJointTrajectoryFeedback{ message { Header header string[] joint_names "trajectory_msgs.JointTrajectoryPoint" desired "trajectory_msgs.JointTrajectoryPoint" actual "trajectory_msgs.JointTrajectoryPoint" error }},
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TopicSpec FollowJointTrajectoryGoal{ message { "trajectory_msgs.JointTrajectory" trajectory JointTolerance[] path_tolerance JointTolerance[] goal_tolerance duration goal_time_tolerance }},
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TopicSpec FollowJointTrajectoryResult{ message { int32 error_code int32 SUCCESSFUL=0 int32 INVALID_GOAL=-1 int32 INVALID_JOINTS=-2 int32 OLD_HEADER_TIMESTAMP=-3 int32 PATH_TOLERANCE_VIOLATED=-4 int32 GOAL_TOLERANCE_VIOLATED=-5 string error_string }},
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TopicSpec GripperCommand{ message { float64 position float64 max_effort }},
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TopicSpec GripperCommandAction{ message { GripperCommandActionGoal action_goal GripperCommandActionResult action_result GripperCommandActionFeedback action_feedback }},
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TopicSpec GripperCommandActionFeedback{ message { Header header "actionlib_msgs.GoalStatus" status GripperCommandFeedback feedback }},
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TopicSpec GripperCommandActionGoal{ message { Header header "actionlib_msgs.GoalID" goal_id GripperCommandGoal goal }},
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TopicSpec GripperCommandActionResult{ message { Header header "actionlib_msgs.GoalStatus" status GripperCommandResult result }},
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TopicSpec GripperCommandFeedback{ message { float64 position float64 effort bool stalled bool reached_goal }},
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TopicSpec GripperCommandGoal{ message { GripperCommand command }},
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TopicSpec GripperCommandResult{ message { float64 position float64 effort bool stalled bool reached_goal }},
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TopicSpec JointControllerState{ message { Header header float64 set_point float64 process_value float64 process_value_dot float64 error float64 time_step float64 command float64 p float64 i float64 d float64 i_clamp bool antiwindup }},
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TopicSpec JointJog{ message { Header header string[] joint_names float64[] displacements float64[] velocities float64 duration }},
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TopicSpec JointTolerance{ message { string name float64 position float64 velocity float64 acceleration }},
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TopicSpec JointTrajectoryAction{ message { JointTrajectoryActionGoal action_goal JointTrajectoryActionResult action_result JointTrajectoryActionFeedback action_feedback }},
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TopicSpec JointTrajectoryActionFeedback{ message { Header header "actionlib_msgs.GoalStatus" status JointTrajectoryFeedback feedback }},
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TopicSpec JointTrajectoryActionGoal{ message { Header header "actionlib_msgs.GoalID" goal_id JointTrajectoryGoal goal }},
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TopicSpec JointTrajectoryActionResult{ message { Header header "actionlib_msgs.GoalStatus" status JointTrajectoryResult result }},
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TopicSpec JointTrajectoryControllerState{ message { Header header string[] joint_names "trajectory_msgs.JointTrajectoryPoint" desired "trajectory_msgs.JointTrajectoryPoint" actual "trajectory_msgs.JointTrajectoryPoint" error }},
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TopicSpec JointTrajectoryFeedback{ message { }},
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TopicSpec JointTrajectoryGoal{ message { "trajectory_msgs.JointTrajectory" trajectory }},
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TopicSpec JointTrajectoryResult{ message { }},
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TopicSpec PidState{ message { Header header duration timestep float64 error float64 error_dot float64 p_error float64 i_error float64 d_error float64 p_term float64 i_term float64 d_term float64 i_max float64 i_min float64 output }},
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TopicSpec PointHeadAction{ message { PointHeadActionGoal action_goal PointHeadActionResult action_result PointHeadActionFeedback action_feedback }},
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TopicSpec PointHeadActionFeedback{ message { Header header "actionlib_msgs.GoalStatus" status PointHeadFeedback feedback }},
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TopicSpec PointHeadActionGoal{ message { Header header "actionlib_msgs.GoalID" goal_id PointHeadGoal goal }},
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TopicSpec PointHeadActionResult{ message { Header header "actionlib_msgs.GoalStatus" status PointHeadResult result }},
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TopicSpec PointHeadFeedback{ message { float64 pointing_angle_error }},
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TopicSpec PointHeadGoal{ message { "geometry_msgs.PointStamped" target "geometry_msgs.Vector3" pointing_axis string pointing_frame duration min_duration float64 max_velocity }},
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TopicSpec PointHeadResult{ message { }},
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TopicSpec SingleJointPositionAction{ message { SingleJointPositionActionGoal action_goal SingleJointPositionActionResult action_result SingleJointPositionActionFeedback action_feedback }},
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TopicSpec SingleJointPositionActionFeedback{ message { Header header "actionlib_msgs.GoalStatus" status SingleJointPositionFeedback feedback }},
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TopicSpec SingleJointPositionActionGoal{ message { Header header "actionlib_msgs.GoalID" goal_id SingleJointPositionGoal goal }},
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TopicSpec SingleJointPositionActionResult{ message { Header header "actionlib_msgs.GoalStatus" status SingleJointPositionResult result }},
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TopicSpec SingleJointPositionFeedback{ message { Header header float64 position float64 velocity float64 error }},
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TopicSpec SingleJointPositionGoal{ message { float64 position duration min_duration float64 max_velocity }},
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TopicSpec SingleJointPositionResult{ message { }},
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ServiceSpec QueryCalibrationState{ request { } response { bool is_calibrated } },
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ServiceSpec QueryTrajectoryState{ request { time time } response { string[] name float64[] position float64[] velocity float64[] acceleration } },
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ActionSpec FollowJointTrajectory{ goal { FollowJointTrajectoryActionGoal action_goal} result {FollowJointTrajectoryActionResult action_result} feedback {FollowJointTrajectoryActionFeedback action_feedback}}
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}}
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}
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control_msgs:
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specs:
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msg: FollowJointTrajectoryAction
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message:
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FollowJointTrajectoryActionGoal action_goal FollowJointTrajectoryActionResult action_result FollowJointTrajectoryActionFeedback action_feedback
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msg: FollowJointTrajectoryActionFeedback
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message:
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Header header "actionlib_msgs.GoalStatus" status FollowJointTrajectoryFeedback feedback
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msg: FollowJointTrajectoryActionGoal
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message:
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Header header "actionlib_msgs.GoalID" goal_id FollowJointTrajectoryGoal goal
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msg: FollowJointTrajectoryActionResult
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message:
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Header header "actionlib_msgs.GoalStatus" status FollowJointTrajectoryResult result
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msg: FollowJointTrajectoryFeedback
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message:
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Header header string[] joint_names "trajectory_msgs.JointTrajectoryPoint" desired "trajectory_msgs.JointTrajectoryPoint" actual "trajectory_msgs.JointTrajectoryPoint" error
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msg: FollowJointTrajectoryGoal
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message:
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"trajectory_msgs.JointTrajectory" trajectory JointTolerance[] path_tolerance JointTolerance[] goal_tolerance duration goal_time_tolerance
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msg: FollowJointTrajectoryResult
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message:
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int32 error_code int32 SUCCESSFUL=0 int32 INVALID_GOAL=-1 int32 INVALID_JOINTS=-2 int32 OLD_HEADER_TIMESTAMP=-3 int32 PATH_TOLERANCE_VIOLATED=-4 int32 GOAL_TOLERANCE_VIOLATED=-5 string error_string
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msg: GripperCommand
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message:
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float64 position float64 max_effort
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msg: GripperCommandAction
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message:
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GripperCommandActionGoal action_goal GripperCommandActionResult action_result GripperCommandActionFeedback action_feedback
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msg: GripperCommandActionFeedback
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message:
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Header header "actionlib_msgs.GoalStatus" status GripperCommandFeedback feedback
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msg: GripperCommandActionGoal
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message:
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Header header "actionlib_msgs.GoalID" goal_id GripperCommandGoal goal
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msg: GripperCommandActionResult
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message:
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Header header "actionlib_msgs.GoalStatus" status GripperCommandResult result
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msg: GripperCommandFeedback
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message:
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float64 position float64 effort bool stalled bool reached_goal
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msg: GripperCommandGoal
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message:
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GripperCommand command
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msg: GripperCommandResult
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message:
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float64 position float64 effort bool stalled bool reached_goal
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msg: JointControllerState
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message:
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Header header float64 set_point float64 process_value float64 process_value_dot float64 error float64 time_step float64 command float64 p float64 i float64 d float64 i_clamp bool antiwindup
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msg: JointJog
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message:
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Header header string[] joint_names float64[] displacements float64[] velocities float64 duration
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msg: JointTolerance
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message:
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string name float64 position float64 velocity float64 acceleration
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msg: JointTrajectoryAction
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message:
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JointTrajectoryActionGoal action_goal JointTrajectoryActionResult action_result JointTrajectoryActionFeedback action_feedback
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msg: JointTrajectoryActionFeedback
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message:
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Header header "actionlib_msgs.GoalStatus" status JointTrajectoryFeedback feedback
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msg: JointTrajectoryActionGoal
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message:
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Header header "actionlib_msgs.GoalID" goal_id JointTrajectoryGoal goal
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msg: JointTrajectoryActionResult
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message:
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Header header "actionlib_msgs.GoalStatus" status JointTrajectoryResult result
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msg: JointTrajectoryControllerState
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message:
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Header header string[] joint_names "trajectory_msgs.JointTrajectoryPoint" desired "trajectory_msgs.JointTrajectoryPoint" actual "trajectory_msgs.JointTrajectoryPoint" error
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msg: JointTrajectoryFeedback
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message:
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msg: JointTrajectoryGoal
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message:
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"trajectory_msgs.JointTrajectory" trajectory
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msg: JointTrajectoryResult
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message:
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msg: PidState
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message:
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Header header duration timestep float64 error float64 error_dot float64 p_error float64 i_error float64 d_error float64 p_term float64 i_term float64 d_term float64 i_max float64 i_min float64 output
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msg: PointHeadAction
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message:
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PointHeadActionGoal action_goal PointHeadActionResult action_result PointHeadActionFeedback action_feedback
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msg: PointHeadActionFeedback
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message:
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Header header "actionlib_msgs.GoalStatus" status PointHeadFeedback feedback
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msg: PointHeadActionGoal
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message:
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Header header "actionlib_msgs.GoalID" goal_id PointHeadGoal goal
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msg: PointHeadActionResult
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message:
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Header header "actionlib_msgs.GoalStatus" status PointHeadResult result
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msg: PointHeadFeedback
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message:
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float64 pointing_angle_error
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msg: PointHeadGoal
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message:
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"geometry_msgs.PointStamped" target "geometry_msgs.Vector3" pointing_axis string pointing_frame duration min_duration float64 max_velocity
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msg: PointHeadResult
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message:
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msg: SingleJointPositionAction
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message:
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SingleJointPositionActionGoal action_goal SingleJointPositionActionResult action_result SingleJointPositionActionFeedback action_feedback
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msg: SingleJointPositionActionFeedback
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message:
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Header header "actionlib_msgs.GoalStatus" status SingleJointPositionFeedback feedback
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msg: SingleJointPositionActionGoal
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message:
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Header header "actionlib_msgs.GoalID" goal_id SingleJointPositionGoal goal
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msg: SingleJointPositionActionResult
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message:
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Header header "actionlib_msgs.GoalStatus" status SingleJointPositionResult result
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msg: SingleJointPositionFeedback
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message:
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Header header float64 position float64 velocity float64 error
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msg: SingleJointPositionGoal
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message:
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float64 position duration min_duration float64 max_velocity
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msg: SingleJointPositionResult
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message:
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srv: QueryCalibrationState
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request:
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response:
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bool is_calibrated
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srv: QueryTrajectoryState
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request:
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time time
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response:
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string[] name float64[] position float64[] velocity float64[] acceleration

‎de.fraunhofer.ipa.ros.communication.objects/basic_msgs/controller_manager_msgs.ros‎

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PackageSet{
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Package controller_manager_msgs{ Specs {
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TopicSpec ControllerState{},
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TopicSpec ControllerStatistics{},
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TopicSpec ControllersStatistics{},
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TopicSpec HardwareInterfaceResources{},
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ServiceSpec ListControllerTypes{},
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ServiceSpec ListControllers{},
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ServiceSpec LoadController{},
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ServiceSpec ReloadControllerLibraries{},
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ServiceSpec SwitchController{},
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ServiceSpec UnloadController{}
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}}
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}
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controller_manager_msgs:
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specs:
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msg: ControllerState
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message:
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string name string state string type "controller_manager_msgs.HardwareInterfaceResources"[] claimed_resources
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msg: ControllerStatistics
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message:
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string name string type time timestamp bool running duration max_time duration mean_time duration variance_time int32 num_control_loop_overruns time time_last_control_loop_overrun
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msg: ControllersStatistics
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message:
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"std_msgs.Header" header "controller_manager_msgs.ControllerStatistics"[] controller
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msg: HardwareInterfaceResources
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message:
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string hardware_interface string[] resources
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srv: ListControllerTypes
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request:
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response:
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string[] types string[] base_classes
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srv: ListControllers
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request:
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response:
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ControllerState[] controller
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srv: LoadController
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request:
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string name
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response:
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bool ok
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srv: ReloadControllerLibraries
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request:
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bool force_kill
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response:
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bool ok
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srv: SwitchController
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request:
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string[] start_controllers string[] stop_controllers int32 strictness int32 BEST_EFFORT=1 int32 STRICT=2 bool start_asap float64 timeout
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response:
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bool ok
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srv: UnloadController
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request:
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string name
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response:
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bool ok

‎de.fraunhofer.ipa.ros.communication.objects/basic_msgs/dynamic_reconfigure.ros‎

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PackageSet{
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Package dynamic_reconfigure{ Specs {
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TopicSpec BoolParameter{},
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TopicSpec Config{},
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TopicSpec ConfigDescription{},
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TopicSpec DoubleParameter{},
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TopicSpec Group{},
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TopicSpec GroupState{},
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TopicSpec IntParameter{},
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TopicSpec ParamDescription{},
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TopicSpec SensorLevels{},
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TopicSpec StrParameter{},
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ServiceSpec Reconfigure{}
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}}
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}
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dynamic_reconfigure:
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specs:
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msg: BoolParameter
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message:
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string name bool value
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msg: Config
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message:
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BoolParameter[] bools IntParameter[] ints StrParameter[] strs DoubleParameter[] doubles GroupState[] groups
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msg: ConfigDescription
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message:
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Group[] groups Config max Config min Config dflt
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msg: DoubleParameter
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message:
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string name float64 value
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msg: Group
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message:
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string name string type ParamDescription[] parameters int32 parent int32 id
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msg: GroupState
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message:
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string name bool state int32 id int32 parent
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msg: IntParameter
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message:
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string name int32 value
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msg: ParamDescription
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message:
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string name string type uint32 level string description string edit_method
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msg: SensorLevels
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message:
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byte RECONFIGURE_CLOSE=3 byte RECONFIGURE_STOP=1 byte RECONFIGURE_RUNNING=0
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msg: StrParameter
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message:
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string name string value
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srv: Reconfigure
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request:
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Config config
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response:
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Config config

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