From 2870f0425c14c6f5e6d20492f03958eab309a149 Mon Sep 17 00:00:00 2001
From: Luis Camero <lcamero@clearpathrobotics.com>
Date: Fri, 27 Sep 2024 17:07:05 -0400
Subject: [PATCH] Initial clearpath_motor_msgs

---
 clearpath_motor_msgs/CMakeLists.txt           | 28 ++++++++++++++++
 clearpath_motor_msgs/msg/PumaFeedback.msg     | 24 ++++++++++++++
 .../msg/PumaMultiFeedback.msg                 |  3 ++
 clearpath_motor_msgs/msg/PumaMultiStatus.msg  |  3 ++
 clearpath_motor_msgs/msg/PumaStatus.msg       | 33 +++++++++++++++++++
 clearpath_motor_msgs/package.xml              | 29 ++++++++++++++++
 6 files changed, 120 insertions(+)
 create mode 100644 clearpath_motor_msgs/CMakeLists.txt
 create mode 100644 clearpath_motor_msgs/msg/PumaFeedback.msg
 create mode 100644 clearpath_motor_msgs/msg/PumaMultiFeedback.msg
 create mode 100644 clearpath_motor_msgs/msg/PumaMultiStatus.msg
 create mode 100644 clearpath_motor_msgs/msg/PumaStatus.msg
 create mode 100644 clearpath_motor_msgs/package.xml

diff --git a/clearpath_motor_msgs/CMakeLists.txt b/clearpath_motor_msgs/CMakeLists.txt
new file mode 100644
index 0000000..87003a5
--- /dev/null
+++ b/clearpath_motor_msgs/CMakeLists.txt
@@ -0,0 +1,28 @@
+cmake_minimum_required(VERSION 3.5)
+project(clearpath_motor_msgs)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(action_msgs REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/PumaFeedback.msg
+  msg/PumaStatus.msg
+  msg/PumaMultiFeedback.msg
+  msg/PumaMultiStatus.msg
+  DEPENDENCIES action_msgs std_msgs builtin_interfaces
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()
diff --git a/clearpath_motor_msgs/msg/PumaFeedback.msg b/clearpath_motor_msgs/msg/PumaFeedback.msg
new file mode 100644
index 0000000..743a64b
--- /dev/null
+++ b/clearpath_motor_msgs/msg/PumaFeedback.msg
@@ -0,0 +1,24 @@
+# Number on the bus (CAN ID).
+uint8 device_number
+
+# Name of joint controlled, or other identifier.
+string device_name
+
+# Duty cycle of the h-bridge driver (-1..1).
+float32 duty_cycle
+
+# Current consumed (amps).
+float32 current
+
+# Travel as measured by the encoder (rad).
+float64 travel
+
+# Angular velocity as measured by the encoder (rad/s).
+float64 speed
+
+# The reported setpoint value of the on-board controller for the given mode.
+# In voltage control, duty cycle of the h-bridge driver (-1..1).
+# In speed control, angular velocity setpoint of the on-board controller (rad/s).
+# In position control, travel as measured by the encoder (rad).
+# In current control, the current consumed (amps).
+float64 setpoint
diff --git a/clearpath_motor_msgs/msg/PumaMultiFeedback.msg b/clearpath_motor_msgs/msg/PumaMultiFeedback.msg
new file mode 100644
index 0000000..6dfe874
--- /dev/null
+++ b/clearpath_motor_msgs/msg/PumaMultiFeedback.msg
@@ -0,0 +1,3 @@
+std_msgs/Header header
+
+clearpath_motor_msgs/PumaFeedback[] drivers_feedback
diff --git a/clearpath_motor_msgs/msg/PumaMultiStatus.msg b/clearpath_motor_msgs/msg/PumaMultiStatus.msg
new file mode 100644
index 0000000..45c6600
--- /dev/null
+++ b/clearpath_motor_msgs/msg/PumaMultiStatus.msg
@@ -0,0 +1,3 @@
+std_msgs/Header header
+
+clearpath_motor_msgs/PumaStatus[] drivers
diff --git a/clearpath_motor_msgs/msg/PumaStatus.msg b/clearpath_motor_msgs/msg/PumaStatus.msg
new file mode 100644
index 0000000..57ace40
--- /dev/null
+++ b/clearpath_motor_msgs/msg/PumaStatus.msg
@@ -0,0 +1,33 @@
+# Number on the bus (CAN ID).
+uint8 device_number
+
+# Name of joint controlled, or other identifier.
+string device_name
+
+# Input terminal voltage (volts).
+float32 bus_voltage
+
+# Internal driver temperature (degC).
+float32 temperature
+
+# Voltage as output to the motor (volts).
+float32 output_voltage
+
+# Value of the auxiliary ADC (volts).
+float32 analog_input
+
+# Available control modes, not all of which are broken out to
+# this ROS driver.
+uint8 MODE_VOLTAGE=0
+uint8 MODE_CURRENT=1
+uint8 MODE_SPEED=2
+uint8 MODE_POSITION=3
+uint8 MODE_VCOMP=4
+uint8 mode
+
+# Fault states which could cause the driver to be immobilized.
+uint8 FAULT_CURRENT=1
+uint8 FAULT_TEMPERATURE=2
+uint8 FAULT_BUS_VOLTAGE=4
+uint8 FAULT_BRIDGE_DRIVER=8
+uint8 fault
diff --git a/clearpath_motor_msgs/package.xml b/clearpath_motor_msgs/package.xml
new file mode 100644
index 0000000..6afbb8d
--- /dev/null
+++ b/clearpath_motor_msgs/package.xml
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>clearpath_motor_msgs</name>
+  <version>0.3.0</version>
+  <description>Messages for Clearpath Motor Drivers.</description>
+  <license>BSD</license>
+
+  <author email="mpurvis@clearpathrobotics.com">Mike Purvis</author>
+
+  <maintainer email="rkreinin@clearpathrobotics.com">Roni Kreinin</maintainer>
+  <maintainer email="tbaltovski@clearpathrobotics.com">Tony Baltovski</maintainer>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>action_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>builtin_interfaces</depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>