XPLORER Custom Messages

Repo Containing all custom messages used for XPLORER

Instructions for Adding New Messages

• Add New Messages files to msg folder
• Add the message names to the CMakeLists.txt file after line 26
• Build the package using the following command

colcon build --packages-select squeeze_custom_msgs

Verify if messages are built

Run the following command to verify if the messages are built

ros2 interface list | grep squeeze_custom_msgs

To see the message details run the following command

ros2 interface show squeeze_custom_msgs/msg/<message_name>

Using the messages in other packages

Add the follwing line to package.xml file of the package that will use the message

<exec_depend>squeeze_custom_msgs</exec_depend>

Build the package and use the message using the following command

from squeeze_custom_msgs.msg import <message_name>

List of Messages

1. ExternalWrenchEstimate - This message is used to publish the external wrench estimate
2. ImuData - This message is used to publish the arm bending angles
3. StateMachine - This message is used to publish the state machine of the trajectory generator