From 9245049b64bcc1e6cca6c88bf0b210a4f7b2ef0c Mon Sep 17 00:00:00 2001
From: Yara Shahin <yara.shahin@b-robotized.com>
Date: Wed, 8 Oct 2025 12:48:13 +0300
Subject: [PATCH 1/2] add VDA5050SafetyState msg

---
 control_msgs/CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt
index 3fe67f2..441a51e 100644
--- a/control_msgs/CMakeLists.txt
+++ b/control_msgs/CMakeLists.txt
@@ -45,6 +45,7 @@ set(msg_files
   msg/SteeringControllerStatus.msg
   msg/SteeringControllerCommand.msg
   msg/SpeedScalingFactor.msg
+  msg/VDA5050SafetyState.msg
   msg/VDA5050State.msg
   msg/WrenchFramed.msg
 )

From b398006db1815a6817fb0f7c37b9a7f5db3dce79 Mon Sep 17 00:00:00 2001
From: Yara Shahin <yara.shahin@b-robotized.com>
Date: Wed, 8 Oct 2025 12:50:04 +0300
Subject: [PATCH 2/2] add msg

---
 control_msgs/msg/VDA5050SafetyState.msg | 12 ++++++++++++
 1 file changed, 12 insertions(+)
 create mode 100644 control_msgs/msg/VDA5050SafetyState.msg

diff --git a/control_msgs/msg/VDA5050SafetyState.msg b/control_msgs/msg/VDA5050SafetyState.msg
new file mode 100644
index 0000000..3adfb74
--- /dev/null
+++ b/control_msgs/msg/VDA5050SafetyState.msg
@@ -0,0 +1,12 @@
+string e_stop           # Enum {autoAck, manual, remote, none} Acknowledge-Type of eStop:
+                        # autoAck: autoacknowledgeable e-stop is activated e.g. by bumper or protective field
+                        # manual: e-stop has to be acknowledged manually at the vehicle
+                        # remote: facility estop has to be acknowledged remotely
+                        # none: no e-stop activated
+bool field_violation    # Protective field violation. True: field is violated False: field is not violated
+
+# Enums for eStop
+string AUTO_ACK="autoAck"
+string MANUAL="manual"
+string REMOTE="remote"
+string NONE="none"