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rm_msgs package from rm_control reporm_common rm_control rm_dbus rm_gazebo rm_hw rm_msgs rm_referee |
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Package Summary
Tags | No category tags. |
Version | 0.1.16 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/rm-controls/rm_control.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2023-01-02 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- qiayuan
Authors
Package Name
Overview
This package includes srv, action, msgs and other message sending mechanisms, including the message types needed in various packages. Keywords: message, mechanisms
License
The source code is released under a BSD 3-Clause license.
Author: QiayuanLiao
Affiliation: Dynamicx
Maintainer: QiayuanLiao, liaoqiayuan@gmail.com
The rm_hw package has been tested under ROS Melodic and Noetic on respectively 18.04 and 20.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.
[comment]: <> (### Publications)
[comment]: <> (If you use this work in an academic context, please cite the following publication(s):)
[comment]: <> (* P. Fankhauser, M. Bloesch, C. Gehring, M. Hutter, and R. Siegwart: PAPER TITLE. IEEE/RSJ International Conference)
[comment]: <> ( on Intelligent Robots and Systems (IROS), 2015. ([PDF](http://dx.doi.org/10.3929/ethz-a-010173654)))
[comment]: <> ( @inproceedings{Fankhauser2015,)
[comment]: <> ( author = {Fankhauser, P\'{e}ter and Hutter, Marco},)
[comment]: <> ( booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},)
[comment]: <> ( title = {{PAPER TITLE}},)
[comment]: <> ( publisher = {IEEE},)
[comment]: <> ( year = {2015})
[comment]: <> ( })
Building from Source
Building
To build from source, clone the latest version from this repository into your catkin workspace and compile the package using
cd catkin_workspace/src
git clone https://github.com/ethz-asl/rm_msgs.git
cd ../
rosdep install --from-paths . --ignore-src
catkin_make
[comment]: <> (### Running in Docker)
[comment]: <> (Docker is a great way to run an application with all dependencies and libraries bundles together. Make sure)
[comment]: <> (to [install Docker](https://docs.docker.com/get-docker/) first.)
[comment]: <> (First, spin up a simple container:)
[comment]: <> ( docker run -ti --rm --name ros-container ros:noetic bash)
[comment]: <> (This downloads the ros:noetic
image from the Docker Hub, indicates that it requires an interactive terminal (-t, -i
))
[comment]: <> (, gives it a name (--name
), removes it after you exit the container (--rm
) and runs a command (bash
).)
[comment]: <> (Now, create a catkin workspace, clone the package, build it, done!)
[comment]: <> ( apt-get update && apt-get install -y git)
[comment]: <> ( mkdir -p /ws/src && cd /ws/src)
[comment]: <> ( git clone https://github.com/leggedrobotics/ros_best_practices.git)
[comment]: <> ( cd ..)
[comment]: <> ( rosdep install --from-path src)
[comment]: <> ( catkin_make)
[comment]: <> ( source devel/setup.bash)
[comment]: <> ( roslaunch ros_package_template ros_package_template.launch)
Packages
msgs
ActuatorState.msgs
This message contains the state of An actuator contains a motor and an encoder, and is connected to a joint by a transmission.
- time[] stamp
The time at which this actuator state was measured
- string[] name
The name of the actuator
- string[] type
The type of the actuator
- string[] bus
The CAN bus
- int32[] id
The CAN id
- bool[] halted
Indicates if the motor is halted. A motor can be halted because of a voltage or temperature problem
- bool[] need_calibration
calibration
- bool[] calibration_reading
The value of the calibration reading: low (false) or high (true)
- uint16[] position_raw
The encoder raw position, represented by the number of encoder ticks
- int16[] velocity_raw
The encoder velocity, represented by rpm
- uint8[] temperature
The temperature of the motor, represented by c1elsius
- int64[] circle
The circle of absolute encoder
- uint16[] last_position_raw
The last encoder raw position, represented by the number of encoder ticks
- float64[] frequency
The encoder frequency
- float64[] position
The encoder position in radians
- float64[] velocity
The encoder velocity in radians per second
- float64[] effort
The last effort that was measured by the actuator
- float64[] commanded_effort
The last effort command that was requested without limit
- float64[] executed_effort
The last effort command that was requested with limit
- float64[] offset
The angular offset (in radians) that is added to the encoder reading, to get to the position of the actuator. This number is computed when the referece sensor is triggered during the calibration phase
BalanceState.msg
This message contains the state of balance robot.
std_msgs/Header header Standard metadata for higher-level stamped data types. This is generally used to communicate timestamped data in a particular coordinate frame.
float64 alpha
the angle alpha of robot.
- float64 alpha_dot
the angle alpha speed of robot.
- float64 vel
the velocity of robot
- float64 theta_dot
the angle theta speed of robot.
- float64 control_1
left joint control
- float64 control_2
right joint control
ChassisCmd.msg
This message contains various state parameter settings for basic chassis control
- uint8 RAW = 0
the mode RAW:the Initial state.
- uint8 FOLLOW = 1
the mode FOLLOW
- uint8 GYRO = 2
the mode GYRO
- uint8 TWIST = 3
the mod TWIST:
- uint8 mode
The current mode of the chassis.
- geometry_msgs/Accel accel
This expresses acceleration in free space broken into its linear and angular parts.
- float64 power_limit
The Current power limit on the chassis
- string follow_source_frame
The source coordinate system tracked by the current chassis
- time stamp
The time at which this actuator state was measured
DbusData.msgs
This message contains the information needed for remote control operation
- UP DOWN MID
Set various operating modes of the robot from the trackwheel
- ch_l/r-x/y
Operation of the left and right joysticks
- s_l/r
Operation of the left and right impellers
- wheel
The wave wheel that controls the small top
- m/p_xyz/lr
Various mouse operations
- key_
Various operations of the keyboard
- time stamp
The time at which this actuator state was measured
GimbalCmd.msg
This message includes various commands received by the gimbal
- uint8 RATE
Bullet launch
- uint8 TRACK
Self-aim
- uint8 DIRECT
Manual control
- time stamp
The time at which this actuator state was measured
- uint8 mode
The current mode of the chassis.
uint8 target_id
float64 rate_yaw
float64 rate_pitch
float64 bullet_speed
Bullet firing speed
- geometry_msgs/PointStamped
This represents a Point with reference coordinate frame and timestamp
GimbalDesError.msg
KalmanData.msg
This message contains various kinematics data
- std_msgs/Header header
Standard metadata for higher-level stamped data types. This is generally used to communicate timestamped data in a particular coordinate frame.
- geometry_msgs/Pose real_detection_pose
A representation of pose in free space, composed of position and orientation
- geometry_msgs/Pose filtered_detection_pose
A representation of pose in free space, composed of position and orientation
- geometry_msgs/Twist real_detection_twist
This expresses velocity in free space broken into its linear and angular parts.
- geometry_msgs/Twist filtered_detection_twist
This expresses velocity in free space broken into its linear and angular parts.
LpData.msg
MovingAverageData.msg
Referee.msg
shootCmd.msg
superCapacitor.msg
srv
action
Changelog for package rm_msgs
0.1.16 (2022-11-24)
- Merge pull request #81 from LJT666666/master Add \"distance_to_image_center\" to detection message type
- Add \"distance_to_image_center\" to detection message type
- Merge branch \'master\' into new_ui_test
- Merge pull request #78 from chenhuiYu00/dev/command_sender Check the modification of command sender.
- Delete referee msg and update command sender.
- Merge branch \'rm-controls:master\' into master
- Merge pull request #70 from chenhuiYu00/rm_referee_pr Complete the referee part of manual separation.
- Merge branch \'dev\'
- Merge branch \'rm-controls:master\' into master
- Merge branch \'master\' into rm_referee_pr
- Merge pull request #74 from ye-luo-xi-tui/dev Update 0.1.15
- Add RobotID enum.
- Delete /common/data.h, Update power_limit and heat_limit.
- Move referee part from rm_common to rm_referee and modify ui sending logic.
- Add referee is_online msg.
- Add ManualToReferee msg.
- Add referee msg.
- Merge and fixed conflict.
- Merge branch \'master\' into referee # Conflicts: # rm_common/include/rm_common/decision/service_caller.h # rm_msgs/CMakeLists.txt # rm_msgs/msg/referee/GameRobotStatus.msg # rm_msgs/msg/referee/GameStatus.msg
- Merge branch \'master\' into referee1
- Add radar part.
- Merge branch \'master\' into referee1
- Ui work success,ore ui is in test.
- Merge branch \'referee1\' of github.com:chenhuiYu00/rm_control into referee1 Conflicts: rm_common/include/rm_common/decision/command_sender.h rm_common/include/rm_common/decision/service_caller.h rm_msgs/msg/referee/CalibrationStatus.msg rm_msgs/msg/referee/CapacityData.msg rm_msgs/msg/referee/DetectionStatus.msg rm_msgs/msg/referee/EngineerCmd.msg rm_msgs/msg/referee/GameRobotHp.msg rm_msgs/msg/referee/GameRobotStatus.msg rm_msgs/msg/referee/GameStatus.msg rm_msgs/msg/referee/PowerHeatData.msg rm_msgs/msg/referee/StateCmd.msg rm_referee/config/standard3.yaml rm_referee/include/rm_referee/common/data.h rm_referee/include/rm_referee/common/referee_base.h rm_referee/include/rm_referee/engineer_referee.h rm_referee/include/rm_referee/hero_referee.h rm_referee/include/rm_referee/referee/referee.h rm_referee/include/rm_referee/referee/ui.h rm_referee/include/rm_referee/robot_referee.h rm_referee/include/rm_referee/standard_referee.h rm_referee/launch/load.launch rm_referee/src/common/referee_base.cpp rm_referee/src/engineer_referee.cpp rm_referee/src/hero_referee.cpp rm_referee/src/main.cpp rm_referee/src/referee/referee.cpp rm_referee/src/referee/ui.cpp rm_referee/src/robot_referee.cpp rm_referee/src/standard_referee.cpp
- Merge branch \'master\' into referee1
- Fixed topic naming, add time stamp in referee msgs.
- Fixed for test manual,Immature work.
- Merge branch \'rm_referee1\' into referee1
- Ljq update,fixed for test manual,Immature work.
- Add PowerHearData.msg and GameRObotHp.msg
- Add related msg of referee
- Add related msg of referee
- Add related msg of referee
- Fixed the wrong type
- Contributors: Chenhui, LJT666666, QiayuanLiao, ljq-lv, ye-luo-xi-tui, yezi, yuchen,
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | catkin | |
1 | message_runtime | |
1 | message_generation | |
2 | std_msgs | |
2 | geometry_msgs | |
1 | actionlib | |
2 | actionlib_msgs |
System Dependencies
Dependant Packages
Launch files
Messages
- msg/ShootCmd.msg
- msg/SuperCapacitor.msg
- msg/BalanceState.msg
- msg/detection/TargetDetectionArray.msg
- msg/detection/TrackData.msg
- msg/detection/TargetDetection.msg
- msg/MovingAverageData.msg
- msg/ActuatorState.msg
- msg/DbusData.msg
- msg/referee/ShootData.msg
- msg/referee/GameRobotHp.msg
- msg/referee/PowerHeatData.msg
- msg/referee/EventData.msg
- msg/referee/GameRobotStatus.msg
- msg/referee/RobotHurt.msg
- msg/referee/ManualToReferee.msg
- msg/referee/SupplyProjectileAction.msg
- msg/referee/DartClientCmd.msg
- msg/referee/IcraBuffDebuffZoneStatus.msg
- msg/referee/RadarData.msg
- msg/referee/StateCmd.msg
- msg/referee/RfidStatus.msg
- msg/referee/CapacityData.msg
- msg/referee/BulletRemaining.msg
- msg/referee/DartStatus.msg
- msg/referee/EngineerCmd.msg
- msg/referee/DartRemainingTime.msg
- msg/referee/GameStatus.msg
- msg/TofRadarData.msg
- msg/GpioData.msg
- msg/ChassisCmd.msg
- msg/LpData.msg
- msg/KalmanData.msg
- msg/GimbalCmd.msg
- msg/GimbalDesError.msg