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.

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

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 TWIST = 2

  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

0.1.20 (2023-06-20)

• Merge pull request #170 from chenhuiYu00/dev/power_management Add other unpack code for power management
• Merge pull request #171 from Edwinlinks/for-sentry Add KEY_H for sentry to force run out.
• Add KEY_H for sentry to force run out.
• Update CMakeLists.txt
• Add power management msgs.
• Merge pull request #168 from chenhuiYu00/dev/update_power_management Update PowerManagement protocol v1.2
• Update PowerManagement protocol v1.2
• Merge branch 'master' into dev/sentry_map # Conflicts: # rm_referee/src/referee_base.cpp
• Merge branch 'master' into dev/sentry_map # Conflicts: # rm_referee/include/rm_referee/referee_base.h # rm_referee/src/referee_base.cpp
• Merge pull request #165 from rm-controls/revert-164-Add_engineerui Revert "Merge the engineer's ui into master"
• Revert "Merge the engineer's ui into master"
• Merge pull request #164 from ljq-lv/Add_engineerui Merge the engineer's ui into master
• Merge branch 'master' into Add_engineerui
• Merge pull request #163 from 1moule/pitch_ui Add pitch angle ui for hero
• Merge the engineer's ui into master
• Add the function of directly setting the target color and add the enumeration of purple.
• Merge branch 'master' into pitch_ui
• Merge branch 'master' into pitch_ui # Conflicts: # rm_referee/include/rm_referee/referee_base.h # rm_referee/include/rm_referee/ui/time_change_ui.h # rm_referee/src/referee_base.cpp # rm_referee/src/ui/time_change_ui.cpp
• Merge pull request #158 from chenhuiYu00/dev/power_management Update new power management
• Merge branch 'master' into windwill_auto_fire
• Merge pull request #157 from chenhuiYu00/dev/balance_cmd_send Add balance command sender and balance pitch ui
• Merge branch 'dev/power_management' into dev/balance_cmd_send_power_management # Conflicts: # rm_common/include/rm_common/decision/command_sender.h
• Merge remote-tracking branch 'chenhuiYu/dev/power_management' into dev/power_management
• Merge branch 'master' into dev/balance_cmd_send # Conflicts: # rm_referee/src/referee_base.cpp # rm_referee/src/ui/time_change_ui.cpp
• Merge branch 'master' into dev/power_management
• Merge pull request #155 from Edwinlinks/for-sentry Add key u for sentry fsm.
• Add key u for sentry fsm.
• Delete SuperCapacitor.msg and change var in CapacityData.msg
• Merge branch 'master' into dev/power_management
• Merge branch 'master' into dev/ui_refact
• Judge power management msg.
• Merge branch 'master' into suggest_fire
• Merge branch 'master' into dev/balance_cmd_send
• Merge pull request #152 from d0h0s/master Added enumerate variables for dart
• Merge pull request #153 from Edwinlinks/for-sentry Add four keys for conducting sentry.
• Add four keys for conducting sentry.
• Added enumerate variables for dart.
• Merge branch 'rm-controls:master' into master
• Merge pull request #149 from 1moule/buff_srv Added the enumeration type of small buff and big buff.
• Added the enumeration type of small buff and big buff.
• Merge branch 'dev/ui_refact' into dev/balance_cmd_send
• Update power management protocol.
• Merge branch 'master' into dev/ui_refact # Conflicts: # rm_referee/include/rm_referee/common/protocol.h # rm_referee/src/ui/graph.cpp
• Merge pull request #146 from ye-luo-xi-tui/master 0.1.19
• Add acc data in BalanceState msg.
• Merge branch 'master' into dev/balance_pitch_ui
• Merge branch 'rm-controls:master' into master
• Add balance command sender.
• Merge branch 'rm-controls:master' into master
• Merge branch 'master' into suggest_fire
• Merge pull request #1 from rm-controls/master 1
• Contributors: 1moule, BruceLannn, Edwinlinks, d0h0s, ljq-lv, ye-luo-xi-tui, yuchen, 王湘鈜

0.1.19 (2023-05-03)

• Merge pull request #143 from rm-controls/new_protocol Merge branch 'new protocol' into 'master'
• Merge branch 'master' into new_protocol
• Merge remote-tracking branch 'origin/master'
• Merge branch 'rm-controls:master' into master
• Merge pull request #122 from L-SY/multi_dof_controller Add MultiDofCommandSender for multi_dof_controller.
• Change function name.
• Merge pull request #133 from LJT666666/master Added parameters describing the type of armor plate.
• Change Twist to Vector3.
• Added parameters describing the type of armor plate.
• Merge branch 'master' into one_click_turn_cmd_sender
• Merge pull request #130 from chenhuiYu00/dev/serial_update Update server protocl
• Update serial protocol.
• Merge branch 'master' into switch_camera_command_sender
• Update official serial protocol.
• Merge branch 'master' into dev/circle_add
• Merge pull request #123 from ljq-lv/modify Modified the msg of engineer to 'EngineerUi'
• Merge branch 'master' into multi_dof_controller # Conflicts: # rm_common/include/rm_common/decision/command_sender.h # rm_msgs/CMakeLists.txt
• Merge branch 'master' into one_click_turn_cmd_sender
• Modified the msg of engineer to 'EngineerUi'
• Merge branch 'master' into switch_camera_command_sender # Conflicts: # rm_referee/include/rm_referee/ui/trigger_change_ui.h # rm_referee/src/ui/trigger_change_ui.cpp
• Add multi_dof_commandsender.
• Merge pull request #120 from ye-luo-xi-tui/master 0.1.18
• Add function which could fix diff motion.
• Delete some useless value.
• Add MultiDofCmd.msg.
• Contributors: 1moule, LJT666666, LSY, ljq-lv, ye-luo-xi-tui, yezi, yuchen

0.1.18 (2023-03-25)

• Merge pull request #109 from ljq-lv/Delete Delete the chassis mode "GYRO"
• Merge pull request #116 from ye-luo-xi-tui/master Display shooter block state
• Display shooter block state.
• Merge branch 'master' into dev/polygon_ui
• Merge pull request #111 from Aung-xiao/master add tag_detection msg
• run pre-commit
• add tag_detection msg
• Delete the chassis mode "GYRO"
• Merge pull request #108 from ye-luo-xi-tui/acceleration Remove acceleration computing
• Merge branch 'master' into acceleration # Conflicts: # rm_common/include/rm_common/decision/command_sender.h
• Add accel to TrackData.msg and Add a filter.
• Merge pull request #104 from ye-luo-xi-tui/master 0.1.17
• Contributors: Aung-xiao, ljq-lv, ye-luo-xi-tui, yezi, yuchen

0.1.17 (2023-02-21)

• Merge pull request #100 from ljq-lv/modified_msgs_name Modified msgs name
• Modified the msg "EngineerCmd" name
• Merge pull request #94 from ye-luo-xi-tui/balance_state Update balance_state
• Add BalanceState.msg for new balance standard.
• Merge branch 'rm-controls:master' into master
• Merge pull request #84 from ye-luo-xi-tui/master 0.1.16
• Merge branch 'rm-controls:master' into master
• Contributors: ljq-lv, ye-luo-xi-tui, yezi, 吕骏骐

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, 吕骏骐

0.1.15 (2022-09-02)

0.1.14 (2022-06-16)

• Merge branch 'master' into param # Conflicts: # rm_common/include/rm_common/decision/command_sender.h
• Merge pull request #64 from Edwinlinks/referee-msgs Add msgs of rm_referee
• Delete the unnecessary msgs from CMakeLists.txt
• Delete the unnecessary msg
• Modify the code style error of referee msg
• Add msgs of rm_referee
• Contributors: Edwinlinks, QiayuanLiao, yezi

0.1.13 (2022-06-12)

• Merge pull request #58 from Edwinlinks/tf-radar-interface Update tof radar interface and Add tof radar msg to rm_msgs
• Delete tof sensor interface, TofSensor.msg.
• Change tf_radar_interface to tof_radar_interface and change TfRadarData.msg to TofRadarData.msg
• Add TfRadarData.msg to add_message_files
• Update tf radar interface and Add tf radar msg to rm_msgs
• Contributors: Edwinlinks, ye-luo-xi-tui

0.1.12 (2022-06-11)

• Merge pull request #59 from ye-luo-xi-tui/master 0.1.11
• Contributors: QiayuanLiao

0.1.11 (2022-06-10)

• Merge pull request #55 from jceleven/master Add the use_id_classification flag.
• Add the use_id_classification flag.
• Merge pull request #53 from ye-luo-xi-tui/master Delete target_velocity in GimbalCmd.msg
• Merge pull request #54 from ye-luo-xi-tui/command_source_frame Add command_source_frame to ChassisCmd.msg
• Add command_source_frame to ChassisCmd.msg.
• Delete target_velocity in GimbalCmd.msg.
• Gpio interface 2 (#51)
  • Write a gpio_manager, it can initialize with pin ID and direction, and write output or read Input.
  • Modifier readInput().
  • Write gpio_state_interface.h(read only)
  • write gpio_state_interface.h(read only)
  • Modifier gpio manager. Write a new writeOutput() function.
  • Add gpio_state_interface in robotHW
  • Solve a error
  • Modifier names of variables.
  • Set GpioReadHandle and GpioWriteHandle. Register GpioReadInterface and GpioWriteInterface. Improve the code about gpio and delete unnecessary things.
  • Add GpioRead.msg GpioWrite.msg.
  • Add Gpio controller.
  • Update Gpio controller.
  • Update Gpio controller.
  • Update gpio controller.
  • Update gpio_controller.
  • Update gpio_controller to version 2.0.

  * Update gpio_interface to version2.0. Co-authored-by: yezi <<1536117624@qq.com>> Co-authored-by: ye-luo-xi-tui <<74857762+ye-luo-xi-tui@users.noreply.github.com>> Co-authored-by: QiayuanLiao <<liaoqiayuan@gmail.com>>

• Merge pull request #49 from ChenZheng29/master Delete cost function and modify the track topic
• Modify the track topic name and message, and unify the track interface
• Merge remote-tracking branch 'origin/master'
• Add testing option to shooter for testing the trigger without friction wheel
• Contributors: Jiachen Shen, QiayuanLiao, Yuexin Mu, YuuinIH, chenzheng, qiayuan, yezi

0.1.10 (2022-05-22)

• Merge pull request #43 from ye-luo-xi-tui/track_msg Add TrackCmd.msg
• Modifier TrackCmd.msg format.
• Add TrackCmd.msg.
• Merge pull request #42 from ye-luo-xi-tui/service Add enable_imu_trigger service
• Rename ImuTriggerSwitch.srv to EnableImuTrigger.srv and add something.
• Add ImuTriggerSwitch.srv.
• Contributors: QiayuanLiao, yezi

0.1.9 (2022-3-28)

• Update rm_msgs cmake minimum required. (#36)
• Merge pull request #27 from Zhouzhenjie/master Add the service for the conversation between a camera and a imu.
• Merge pull request #29 from Edwinlinks/tof_sensor_interface Completed tof_sensor_interface
• Modified the reference order of header files and packet parsing of tof sensor, data type of dis_status
• Add tof sensor interface in rm_common, add parsing can frame in can_bus.cpp, and add TofSensor.msg in rm_msgs.
• Merge remote-tracking branch 'origin/master'
• Add the service for the conversation between a camera and a imu.
• Contributors: Edwinlinks, Jie j, QiayuanLiao, YuuinIH

0.1.8 (2021-12-7)

• Merge branch 'master' into gimbal/opti_or_simplify
• Update CHANGELOG
• Remove cover of ShooterCmd
• Contributors: qiayuan

0.1.7 (2021-09-26)

• 0.1.6
• Update CHANGELOG
• Merge branch 'gimbal/opti_or_simplify'
• Modified GimbalCmd.msg, and delete moving_average_filter
• Contributors: qiayuan

0.1.6 (2021-09-26)

• Merge branch 'gimbal/opti_or_simplify'
• Modified GimbalCmd.msg, and delete moving_average_filter
• Contributors: qiayuan

0.1.5 (2021-09-02)

0.1.4 (2021-09-02)

0.1.3 (2021-09-01)

• Merge branch 'master' into master
• Rename rm_base to rm_hw
• Contributors: QiayuanLiao, qiayuan
• Merge branch 'master' into master
• Rename rm_base to rm_hw
• Contributors: QiayuanLiao, qiayuan

0.1.2 (2021-08-14)

• Run pre-commit
• Add missing CATKIN_DEPENDS in catkin_package()
• Contributors: qiayuan

0.1.1 (2021-08-12)

• Reset all version to 0.1.0
• Contributors: qiayuan