adds new trajectory and nav ctrl messages

yujinrobot · Aug 22, 2014 · 3826268 · 3826268
1 parent 36ebbf5
commit 3826268
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Showing 5 changed files with 64 additions and 34 deletions.
diff --git a/.cproject b/.cproject
@@ -1,32 +1,41 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<?fileVersion 4.0.0?>
-
-<cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
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+					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
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-				<configuration buildProperties="" id="cdt.managedbuild.toolchain.gnu.base.1913250642" name="Default" parent="org.eclipse.cdt.build.core.emptycfg">
+				<configuration buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.base.1913250642" name="Default" parent="org.eclipse.cdt.build.core.emptycfg">
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-							<builder id="cdt.managedbuild.target.gnu.builder.base.230040716" managedBuildOn="false" name="Gnu Make Builder.Default" superClass="cdt.managedbuild.target.gnu.builder.base"/>
+							<builder arguments="-f ${YUJIN_WORKSPACE}/build/${ProjName}/Makefile -j8" command="make" id="cdt.managedbuild.target.gnu.builder.base.230040716" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="cdt.managedbuild.target.gnu.builder.base"/>
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-							<tool id="cdt.managedbuild.tool.gnu.assembler.base.2047397035" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.base"/>
+							<tool id="cdt.managedbuild.tool.gnu.cpp.linker.base.1424808496" name="GCC C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.base">
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+									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
+									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
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@@ -40,4 +49,10 @@
 	<storageModule moduleId="scannerConfiguration">
 		<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
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+	<storageModule moduleId="refreshScope" versionNumber="2">
+		<configuration configurationName="Default">
+			<resource resourceType="PROJECT" workspacePath="/yocs_msgs"/>
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 </cproject>
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -3,32 +3,25 @@ project(yocs_msgs)
 
 find_package(catkin REQUIRED COMPONENTS actionlib_msgs std_msgs geometry_msgs std_srvs message_generation)
 
-## Generate messages in the 'msg' folder
-add_message_files(
-  FILES
-  Wall.msg
-  WallList.msg
-  Column.msg
-  ColumnList.msg
-  Table.msg
-  TableList.msg
-  Trajectory.msg
-  Waypoint.msg
-  WaypointList.msg
-  ARPair.msg
-  ARPairList.msg
-)
+add_message_files(FILES ARPair.msg
+                        ARPairList.msg
+                        Wall.msg
+                        WallList.msg
+                        Column.msg
+                        ColumnList.msg
+                        NavigationControl.msg
+                        NavigationControlStatus.msg
+                        Table.msg
+                        TableList.msg
+                        Trajectory.msg
+                        TrajectoryList.msg
+                        Waypoint.msg
+                        WaypointList.msg)
 
-add_service_files(
-  FILES
-  WaypointListService.srv
-)
+add_service_files(FILES WaypointListService.srv)
 
-add_action_files(
-  DIRECTORY action
-  FILES
-  NavigateTo.action
-)
+add_action_files(DIRECTORY  action
+                 FILES      NavigateTo.action)
 
 generate_messages(DEPENDENCIES actionlib_msgs std_msgs geometry_msgs std_srvs)
 

diff --git a/msg/NavigationControl.msg b/msg/NavigationControl.msg
@@ -0,0 +1,9 @@
+# Control the way point/trajectory navigation
+int8 control
+
+int8 STOP  = 0
+int8 START = 1
+int8 PAUSE = 2
+
+# Name of the way point(s) / trajectory to be execute/stopped/paused
+string goal_name
diff --git a/msg/NavigationControlStatus.msg b/msg/NavigationControlStatus.msg
@@ -0,0 +1,11 @@
+# Control the way point/trajectory navigation
+int8 status
+
+int8 ERROR     = -1
+int8 IDLING    = 0
+int8 RUNNING   = 1
+int8 COMPLETED = 2
+int8 CANCELLED = 3
+
+# Human-readable status description
+string status_desc
diff --git a/msg/TrajectoryList.msg b/msg/TrajectoryList.msg
@@ -0,0 +1,2 @@
+# A list of trajectories
+Trajectory[] trajectories
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		# A list of trajectories
		Trajectory[] trajectories