Merge pull request RethinkRobotics#15 from RethinkRobotics/baxter_msgs

rethink-kmaroney · rethink-kmaroney · commit 557a2bc43779 · 2013-08-14T14:52:50.000-07:00
Adding catkinized baxter_msgs to baxter_common.
diff --git a/README.md b/README.md
@@ -3,4 +3,4 @@ baxter_common
 RSDK Wiki: http://github.com/RethinkRobotics/sdk-docs/wiki
 
 ## Repository Description
-URDF and 3D models describing the Baxter Research Robot by Rethink Robotics Inc.
+URDF, 3D models, and custom messages describing the Baxter Research Robot from Rethink Robotics Inc.
diff --git a/baxter_common/package.xml b/baxter_common/package.xml
@@ -2,8 +2,8 @@
 <package>
   <name>baxter_common</name>
   <version>0.6.1</version>
-  <description>URDF and meshes describing the Baxter robot from Rethink
-    Robotics.
+  <description>URDF, meshes, and custom messages
+    describing the Baxter robot from Rethink Robotics.
   </description>
 
   <maintainer email="rsdk.support@rethinkrobotics.com">
@@ -22,6 +22,7 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <run_depend>baxter_description</run_depend>
+  <run_depend>baxter_msgs</run_depend>
 
   <export>
     <metapackage/>
diff --git a/baxter_msgs/CMakeLists.txt b/baxter_msgs/CMakeLists.txt
@@ -0,0 +1,51 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(baxter_msgs)
+
+find_package(catkin REQUIRED COMPONENTS message_generation std_msgs geometry_msgs)
+
+add_message_files(
+  FILES
+  AnalogIOState.msg
+  AnalogIOStates.msg
+  AnalogOutputCommand.msg
+  AssemblyState.msg
+  CalibrateArmEnable.msg 
+  CameraControl.msg  
+  CameraSettings.msg 
+  DigitalIOState.msg
+  DigitalIOStates.msg
+  DigitalOutputCommand.msg 
+  EndpointState.msg
+  GripperCommand.msg 
+  GripperIdentity.msg 
+  GripperProperties.msg 
+  GripperState.msg
+  HeadPanCommand.msg
+  HeadState.msg
+  ITB.msg
+  ITBStates.msg
+  JointCommandMode.msg
+  JointPositions.msg
+  JointTorques.msg
+  JointVelocities.msg
+  RobustControllerStatus.msg
+  TareData.msg
+  TareEnable.msg
+  UpdateSource.msg
+  UpdateSources.msg
+  UpdateStatus.msg
+)
+
+add_service_files(
+  FILES
+  CloseCamera.srv
+  ListCameras.srv
+  LSCores.srv
+  OpenCamera.srv
+  RMCores.srv
+  SolvePositionIK.srv
+)
+
+generate_messages(DEPENDENCIES geometry_msgs std_msgs)
+
+catkin_package(CATKIN_DEPENDS std_msgs geometry_msgs)
diff --git a/baxter_msgs/msg/AnalogIOState.msg b/baxter_msgs/msg/AnalogIOState.msg
@@ -0,0 +1,3 @@
+time timestamp
+float64 value
+bool isInputOnly
diff --git a/baxter_msgs/msg/AnalogIOStates.msg b/baxter_msgs/msg/AnalogIOStates.msg
@@ -0,0 +1,2 @@
+string[]         names
+AnalogIOState[] states
diff --git a/baxter_msgs/msg/AnalogOutputCommand.msg b/baxter_msgs/msg/AnalogOutputCommand.msg
@@ -0,0 +1,4 @@
+##the name of the output
+string name  
+##the value to set output 
+uint16 value   
diff --git a/baxter_msgs/msg/AssemblyState.msg b/baxter_msgs/msg/AssemblyState.msg
@@ -0,0 +1,17 @@
+bool enabled             # true if enabled
+bool stopped             # true if stopped -- e-stop asserted
+bool error               # true if a component of the assembly has an error
+#
+# The following are specific to the robot top-level assembly:
+uint8  estop_button      # One of the following:
+  uint8   ESTOP_BUTTON_UNPRESSED = 0   # Robot is not stopped and button is not pressed
+  uint8   ESTOP_BUTTON_PRESSED   = 1
+  uint8   ESTOP_BUTTON_UNKNOWN   = 2   # STATE_UNKNOWN when estop was asserted by a non-user source
+  uint8   ESTOP_BUTTON_RELEASED  = 3   # Was pressed, is now known to be released, but robot is still stopped.
+#
+uint8  estop_source      # If stopped is true, the source of the e-stop.  One of the following:
+  uint8  ESTOP_SOURCE_NONE      = 0   # e-stop is not asserted
+  uint8  ESTOP_SOURCE_USER      = 1   # e-stop source is user input (the red button)
+  uint8  ESTOP_SOURCE_UNKNOWN   = 2   # e-stop source is unknown
+  uint8  ESTOP_SOURCE_FAULT     = 3   # MotorController asserted e-stop in response to a joint fault
+  uint8  ESTOP_SOURCE_BRAIN     = 4   # MotorController asserted e-stop in response to a lapse of the brain heartbeat
diff --git a/baxter_msgs/msg/CalibrateArmEnable.msg b/baxter_msgs/msg/CalibrateArmEnable.msg
@@ -0,0 +1,10 @@
+## @file CalibrateArmEnable.msg See the file below for additional documentation
+## @addtogroup RobustControllersMsgs
+## @{
+## @class RobustControllersMsgs::CalibrateArmEnable
+
+bool isEnabled
+string uid
+std_msgs/Empty data
+
+## @}
diff --git a/baxter_msgs/msg/CameraControl.msg b/baxter_msgs/msg/CameraControl.msg
@@ -0,0 +1,13 @@
+int32   id
+int32   value
+
+int32 CAMERA_CONTROL_EXPOSURE=100
+int32 CAMERA_CONTROL_GAIN=101
+int32 CAMERA_CONTROL_WHITE_BALANCE_R=102
+int32 CAMERA_CONTROL_WHITE_BALANCE_G=103
+int32 CAMERA_CONTROL_WHITE_BALANCE_B=104
+int32 CAMERA_CONTROL_WINDOW_X=105
+int32 CAMERA_CONTROL_WINDOW_Y=106
+int32 CAMERA_CONTROL_FLIP=107
+int32 CAMERA_CONTROL_MIRROR=108
+int32 CAMERA_CONTROL_RESOLUTION_HALF=109
diff --git a/baxter_msgs/msg/CameraSettings.msg b/baxter_msgs/msg/CameraSettings.msg
@@ -0,0 +1,4 @@
+int32           width
+int32           height
+float32         fps
+CameraControl[] controls
diff --git a/baxter_msgs/msg/DigitalIOState.msg b/baxter_msgs/msg/DigitalIOState.msg
@@ -0,0 +1,7 @@
+int8 state
+bool isInputOnly
+
+int8 OFF = 0
+int8 ON  = 1
+int8 PRESSED = 1
+int8 UNPRESSED = 0
diff --git a/baxter_msgs/msg/DigitalIOStates.msg b/baxter_msgs/msg/DigitalIOStates.msg
@@ -0,0 +1,2 @@
+string[]         names
+DigitalIOState[] states
diff --git a/baxter_msgs/msg/DigitalOutputCommand.msg b/baxter_msgs/msg/DigitalOutputCommand.msg
@@ -0,0 +1,4 @@
+##the name of the output
+string name  
+##the value to set output 
+bool value   
diff --git a/baxter_msgs/msg/EndpointState.msg b/baxter_msgs/msg/EndpointState.msg
@@ -0,0 +1,3 @@
+geometry_msgs/Pose   pose
+geometry_msgs/Twist  twist
+geometry_msgs/Wrench wrench
diff --git a/baxter_msgs/msg/GripperCommand.msg b/baxter_msgs/msg/GripperCommand.msg
@@ -0,0 +1,6 @@
+## General electric gripper command message
+float32 position # position, as a percentage of max position;      0=closed - 100=open
+float32 force    # force limit, as a percentage of max force;      0=none   - 100=max
+float32 velocity # velocity, as a percentage of max velocity;      0=none   - 100=max
+float32 holding  # holding force, as a percentage of max velocity; 0=none   - 100=max
+float32 deadZone # dead zone, as a percentage of max position;     0=none   - 100=max
diff --git a/baxter_msgs/msg/GripperIdentity.msg b/baxter_msgs/msg/GripperIdentity.msg
@@ -0,0 +1,14 @@
+string name       # Gripper type name
+uint8  type       # Gripper type identifier
+# Heartland gripper type enumeration:
+    uint8  NO_GRIPPER = 0
+    uint8  SUCTION_CUP_GRIPPER = 1
+    uint8  PNEUMATIC_GRIPPER = 2
+    uint8  ELECTRIC_GRIPPER = 128
+#
+uint8  hardware_id   # Gripper hardware id
+# Gripper hardware id enumeration:
+    uint8  INVALID_GRIPPER_HARDWARE_ID = 0
+uint8  version_major # Gripper version, 0 if none
+uint8  version_minor # Gripper version, 0 if none
+uint8  revision_lsb  # Gripper revision number, 0 if none
diff --git a/baxter_msgs/msg/GripperProperties.msg b/baxter_msgs/msg/GripperProperties.msg
@@ -0,0 +1,6 @@
+# Gripper properties
+#
+bool   hasForce             # true if the gripper has force control
+bool   hasPosition          # true if the gripper has position control
+bool   isReverse	    # true if the gripper grips when opened
+
diff --git a/baxter_msgs/msg/GripperState.msg b/baxter_msgs/msg/GripperState.msg
@@ -0,0 +1,39 @@
+# The following Gripper State fields are tristate: 0 = false; 1 = true; 2 = unknown/unsupported
+  uint8   STATE_FALSE = 0
+  uint8   STATE_TRUE = 1
+  uint8   STATE_UNKNOWN = 2
+#
+uint8   enabled             # true if enabled
+uint8   calibrated          # true if calibration has completed
+uint8   ready               # true if ready to grip
+uint8   moving              # true if moving
+uint8   gripping            # true if gripping
+uint8   missed              # true if GRIP/GOTO/SET was commanded and the gripper reaches the end of travel
+uint8   error               # true if the gripper is in an error state
+#
+uint8   command             # current gripper command, one of the following:
+  # Note that while these have the same as values as the gripper opcodes they
+  # are not used that way.
+  uint8   CMD_IDLE            = 0 
+  uint8   CMD_GET_ID          = 1
+  uint8   CMD_RESET_ALL       = 2
+  uint8   CMD_RESET_FSM       = 3
+  uint8   CMD_CALIBRATE       = 4
+  uint8   CMD_PREPARE_TO_GRIP = 5
+  uint8   CMD_GRIP            = 6
+  uint8   CMD_RELEASE         = 7
+  uint8   CMD_GOTO            = 8
+  uint8   CMD_STOP            = 9
+  uint8   CMD_SET             = 10
+  uint8   CMD_CLEAR_CALIBRATION = 11
+#
+float32 position            # position as a percentage of the max position;      0=closed - 100=open
+#
+  float32 POSITION_CLOSED = 0.0
+  float32 POSITION_OPEN   = 100.0
+#
+float32 force               # force as a percentage of max force;                0=none   - 100=max
+#
+  float32 FORCE_MIN = 0.0
+  float32 FORCE_MAX = 100.0
+#
diff --git a/baxter_msgs/msg/HeadPanCommand.msg b/baxter_msgs/msg/HeadPanCommand.msg
@@ -0,0 +1,4 @@
+#Header header
+float32 target # radians for target, 0 str
+int32 speed # between 0 and 100, 100 = max
+
diff --git a/baxter_msgs/msg/HeadState.msg b/baxter_msgs/msg/HeadState.msg
@@ -0,0 +1,3 @@
+float32 pan
+bool isPanning
+bool isNodding
diff --git a/baxter_msgs/msg/ITB.msg b/baxter_msgs/msg/ITB.msg
@@ -0,0 +1,13 @@
+bool[4] buttons
+bool    up
+bool    down
+bool    left
+bool    right
+uint8   wheel
+
+
+# true if the inner light is on, false if not
+bool innerLight
+
+# true if the outer light is on, false if not
+bool outerLight
diff --git a/baxter_msgs/msg/ITBStates.msg b/baxter_msgs/msg/ITBStates.msg
@@ -0,0 +1,3 @@
+# used when publishing multiple itbs
+string[]         names
+ITB[] states
diff --git a/baxter_msgs/msg/JointCommandMode.msg b/baxter_msgs/msg/JointCommandMode.msg
@@ -0,0 +1,4 @@
+uint8 POSITION=1
+uint8 VELOCITY=2
+uint8 TORQUE=3
+uint8 mode
diff --git a/baxter_msgs/msg/JointPositions.msg b/baxter_msgs/msg/JointPositions.msg
@@ -0,0 +1,4 @@
+# Joint angles in radians:
+float64[] angles
+# A list of names associated with the above angles
+string[]  names
diff --git a/baxter_msgs/msg/JointTorques.msg b/baxter_msgs/msg/JointTorques.msg
@@ -0,0 +1,4 @@
+# Joint torques in Nm:
+float64[] torques
+# A list of names associated with the above torques
+string[]  names
diff --git a/baxter_msgs/msg/JointVelocities.msg b/baxter_msgs/msg/JointVelocities.msg
@@ -0,0 +1,4 @@
+# Joint velocities in radians/sec:
+float64[] velocities
+# A list of names associated with the above velocities
+string[]  names
diff --git a/baxter_msgs/msg/RobustControllerStatus.msg b/baxter_msgs/msg/RobustControllerStatus.msg
@@ -0,0 +1,23 @@
+# True if the RC is enabled and running, false if not.
+bool isEnabled
+
+# The state of the RC with respect to its completion goal.  One of
+# NOT_COMPLETE, COMPLETE_W_FAILURE, or COMPLETE_W_SUCCESS
+int32 complete
+int32 NOT_COMPLETE = 0
+int32 COMPLETE_W_FAILURE = 1
+int32 COMPLETE_W_SUCCESS = 2
+
+# Identifies the sender of the Enable message that the RC is using for its
+# commands.  This should correspond to the "uid" field of a recently published
+# RC *Enable message.
+string controlUid
+
+# Set to true when the RC self-disables as a result of too much time elapsing
+# without receiving an Enable message.
+bool timedOut
+
+# A list of relevant error codes.  Error codes are defined by the individual
+# robust controllers, consult a robust controller's documentation to see what
+# error codes it generates.
+string[] errorCodes
diff --git a/baxter_msgs/msg/TareData.msg b/baxter_msgs/msg/TareData.msg
@@ -0,0 +1 @@
+bool tuneGravitySpring
diff --git a/baxter_msgs/msg/TareEnable.msg b/baxter_msgs/msg/TareEnable.msg
@@ -0,0 +1,3 @@
+bool isEnabled
+string uid
+baxter_msgs/TareData data
diff --git a/baxter_msgs/msg/UpdateSource.msg b/baxter_msgs/msg/UpdateSource.msg
@@ -0,0 +1,4 @@
+string  devname
+string  filename
+string  version
+string  uuid
diff --git a/baxter_msgs/msg/UpdateSources.msg b/baxter_msgs/msg/UpdateSources.msg
@@ -0,0 +1,2 @@
+string          uuid
+UpdateSource[]  sources
diff --git a/baxter_msgs/msg/UpdateStatus.msg b/baxter_msgs/msg/UpdateStatus.msg
@@ -0,0 +1,20 @@
+# See the class UpdateRunner()
+# status:           One-word description of the current action being performed
+# long_description: Details pertaining to status if any.  Used for verbose error messages.
+
+uint16  status
+float32 progress
+string  long_description
+
+uint16 STS_IDLE            = 0
+uint16 STS_INVALID         = 1
+uint16 STS_BUSY            = 2
+uint16 STS_CANCELLED       = 3
+uint16 STS_ERR             = 4
+uint16 STS_MOUNT_UPDATE    = 5
+uint16 STS_VERIFY_UPDATE   = 6
+uint16 STS_PREP_STAGING    = 7
+uint16 STS_MOUNT_STAGING   = 8
+uint16 STS_EXTRACT_UPDATE  = 9
+uint16 STS_LOAD_KEXEC      = 10
+
diff --git a/baxter_msgs/package.xml b/baxter_msgs/package.xml
@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+<package>
+  <name>baxter_msgs</name>
+  <version>0.6.1</version>
+  <description>
+    Messages and Services required for communication
+    with the Baxter robot from Rethink Robotics.
+  </description>
+
+  <maintainer email="rsdk.support@rethinkrobotics.com">
+    Rethink Robotics Inc.
+  </maintainer>
+  <license>BSD</license>
+  <url type="website">http://www.rethinkrobotics.com</url>
+  <url type="repository">
+    https://github.com/RethinkRobotics/sdk-examples
+  </url>
+  <url type="bugtracker">
+    https://github.com/RethinkRobotics/sdk-examples/issues
+  </url>
+  <author>Rethink Robotics Inc.</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  
+  <build_depend>message_generation</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+
+  <run_depend>message_runtime</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+
+</package>
diff --git a/baxter_msgs/srv/CloseCamera.srv b/baxter_msgs/srv/CloseCamera.srv
@@ -0,0 +1,3 @@
+string          name
+---
+int32           err
diff --git a/baxter_msgs/srv/LSCores.srv b/baxter_msgs/srv/LSCores.srv
@@ -0,0 +1,2 @@
+---
+string[]    cores
diff --git a/baxter_msgs/srv/ListCameras.srv b/baxter_msgs/srv/ListCameras.srv
@@ -0,0 +1,2 @@
+---
+string[]    cameras
diff --git a/baxter_msgs/srv/OpenCamera.srv b/baxter_msgs/srv/OpenCamera.srv
@@ -0,0 +1,4 @@
+string          name
+CameraSettings  settings
+---
+int32           err
diff --git a/baxter_msgs/srv/RMCores.srv b/baxter_msgs/srv/RMCores.srv
@@ -0,0 +1,4 @@
+string  core
+---
+int32   err
+string  err_str
diff --git a/baxter_msgs/srv/SolvePositionIK.srv b/baxter_msgs/srv/SolvePositionIK.srv
@@ -0,0 +1,4 @@
+geometry_msgs/PoseStamped[] pose_stamp
+---
+baxter_msgs/JointPositions[] joints
+bool[] isValid

Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,3 @@`
	`1`	`+time timestamp`
	`2`	`+float64 value`
	`3`	`+bool isInputOnly`
Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,2 @@`
	`1`	`+string[] names`
	`2`	`+AnalogIOState[] states`