Merge in OutdoorNav messages into ROS2 Jazzy development branch

clearpath_msgs/package.xml

@@ -13,6 +13,27 @@
 
   <exec_depend>clearpath_platform_msgs</exec_depend>
 
+  <!-- OutdoorNav dependencies -->
+  <exec_depend>clearpath_configuration_msgs</exec_depend>
+  <exec_depend>clearpath_control_msgs</exec_depend>
+  <exec_depend>clearpath_dock_msgs</exec_depend>
+  <exec_depend>clearpath_localization_msgs</exec_depend>
+  <exec_depend>clearpath_mission_manager_msgs</exec_depend>
+  <exec_depend>clearpath_mission_scheduler_msgs</exec_depend>
+  <exec_depend>clearpath_navigation_msgs</exec_depend>
+  <exec_depend>clearpath_platform_msgs</exec_depend>
+  <exec_depend>clearpath_safety_msgs</exec_depend>
+
+  <!-- Autonomy task action dependencies -->
+  <!--
+    DISABLED
+    Eventually these packages will be bloomed to OSRF's build farm, but for now
+    they're not explicitly necessary
+  <exec_depend>audio_recorder_msgs</exec_depend>
+  <exec_depend>ptz_action_server_msgs</exec_depend>
+  <exec_depend>video_recorder_msgs</exec_depend>
+  -->
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

clearpath_outdoornav_msgs/README.md

@@ -0,0 +1,3 @@
+# CPR OutdoorNav Messages
+
+Clearpath OutdoorNav message definitions for ROS API

clearpath_outdoornav_msgs/clearpath_camera_msgs/CHANGELOG.rst

@@ -0,0 +1,49 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package clearpath_camera_msgs
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.10.0 (2024-07-04)
+-------------------
+* Changes
+* Merge pull request `#46 <https://github.com/clearpathrobotics/clearpath_msgs/issues/46>`_ from clearpathrobotics/0.13/features
+  0.13/features
+* fix endline
+* Merge remote-tracking branch 'refs/remotes/origin/poi' into 0.13/features
+* added zoom to inspect poi action
+* create new camera msg package with InspectPOI action
+* Contributors: Chris Iverach-Brereton, José Mastrangelo, Stephen Phillips, jmastrangelo-cpr
+
+* Initial release of clearpath_camera_msgs
+* Added zoom to inspect POI action
+* Create new camera msg package with InspectPOI action
+* Contributors: José Mastrangelo, Stephen Phillips
+
+0.9.9 (2024-03-14)
+------------------
+
+0.9.8 (2024-03-11)
+------------------
+
+0.9.7 (2024-02-05 15:27:37 -0500)
+---------------------------------
+
+0.9.6 (2023-12-21)
+------------------
+
+0.9.5 (2023-11-03)
+------------------
+
+0.9.4 (2023-10-20)
+------------------
+
+0.9.3 (2023-10-19)
+------------------
+
+0.9.2 (2023-10-17)
+------------------
+
+0.9.1 (2023-08-22)
+------------------
+
+0.9.0 (2023-07-12)
+------------------

clearpath_outdoornav_msgs/clearpath_camera_msgs/CMakeLists.txt

@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 3.8)
+project(clearpath_camera_msgs)
+
+## Find catkin macros and libraries
+find_package(rosidl_default_generators REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(std_msgs REQUIRED)
+set(CMAKE_CXX_STANDARD 17)
+
+rosidl_generate_interfaces(
+    ${PROJECT_NAME}
+        action/InspectPoi.action
+        srv/Q62AreaZoom.srv
+    DEPENDENCIES
+        std_msgs
+)
+
+ament_package()
+
+install(FILES
+  DESTINATION include/${PROJECT_NAME}
+)

clearpath_outdoornav_msgs/clearpath_camera_msgs/action/InspectPoi.action

@@ -0,0 +1,14 @@
+# Action definition for inspecting a Point of Interest (POI) with a PTZ mounted on the Clearpth UGV
+
+# goal
+string poi_uuid
+float32 zoom
+
+---
+# result
+bool success
+string message
+
+---
+# feedback
+string message

clearpath_outdoornav_msgs/clearpath_camera_msgs/package.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>clearpath_camera_msgs</name>
+  <version>0.10.0</version>
+  <description>ROS package containing the message definitions for camera related calls.</description>
+  <maintainer email="[email protected]">José Mastrangelo</maintainer>
+  <license>Proprietary</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>std_msgs</depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+</package>

clearpath_outdoornav_msgs/clearpath_camera_msgs/srv/Q62AreaZoom.srv

@@ -0,0 +1,9 @@
+# Service definition to re-position a pan-tilt-zoom camera to a specific location with a specified zoom
+# Used primarily for box-zoom like functionality
+
+float32 x # X location to move camera to, expressed as a fraction of image dimension (0 to 1, where 0.5 is current center)
+float32 y # Y location to move camera to, expressed as a fraction of image dimension (0 to 1, where 0.5 is current center)
+float32 zoom_factor
+---
+bool success
+string message

clearpath_outdoornav_msgs/clearpath_configuration_msgs/CHANGELOG.rst

@@ -0,0 +1,41 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package clearpath_configuration_msgs
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.9.9 (2024-03-14)
+------------------
+
+0.9.8 (2024-03-11)
+------------------
+
+0.9.7 (2024-02-05)
+------------------
+* Merge pull request `#30 <https://github.com/clearpathrobotics/clearpath_msgs/issues/30>`_ from clearpathrobotics/ONAV-166
+  updated autonomy config msg
+* Contributors: José Mastrangelo
+
+0.9.6 (2023-12-21)
+------------------
+
+0.9.5 (2023-11-03)
+------------------
+* Merge remote-tracking branch 'origin/noetic-devel' into ONAV-1771/on_start_stop_tasks
+* Contributors: Stephen Phillips
+
+0.9.4 (2023-10-20)
+------------------
+
+0.9.3 (2023-10-19)
+------------------
+
+0.9.2 (2023-10-17)
+------------------
+* Fix over & underline length in changelogs
+* Contributors: Chris Iverach-Brereton
+
+0.9.1 (2023-08-22)
+------------------
+
+0.9.0 (2023-07-05)
+------------------
+* Initial release

clearpath_outdoornav_msgs/clearpath_configuration_msgs/CMakeLists.txt

@@ -0,0 +1,20 @@
+cmake_minimum_required(VERSION 3.8)
+project(clearpath_configuration_msgs)
+
+## Find catkin macros and libraries
+
+find_package(rosidl_default_generators REQUIRED)
+find_package(ament_cmake REQUIRED)
+set(CMAKE_CXX_STANDARD 17)
+
+rosidl_generate_interfaces(
+    ${PROJECT_NAME}
+        msg/AutonomyConfig.msg
+        msg/PlatformConfig.msg
+)
+
+ament_package()
+
+install(FILES
+  DESTINATION include/${PROJECT_NAME}
+)

clearpath_outdoornav_msgs/clearpath_configuration_msgs/msg/AutonomyConfig.msg

@@ -0,0 +1,4 @@
+# Autonomy configuration message
+
+string version
+float64 uptime

clearpath_outdoornav_msgs/clearpath_configuration_msgs/msg/PlatformConfig.msg

@@ -0,0 +1 @@
+# Platform configuration message containing ...

clearpath_outdoornav_msgs/clearpath_configuration_msgs/package.xml

@@ -0,0 +1,21 @@
+<?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_configuration_msgs</name>
+  <version>0.9.9</version>
+  <description>ROS package containing the message definitions for the Clearpath Robotics OutdoorNav configuration module.</description>
+  <maintainer email="[email protected]">José Mastrangelo</maintainer>
+  <license>Proprietary</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+</package>

clearpath_outdoornav_msgs/clearpath_control_msgs/CHANGELOG.rst

@@ -0,0 +1,38 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package clearpath_control_msgs
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.9.9 (2024-03-14)
+------------------
+
+0.9.8 (2024-03-11)
+------------------
+
+0.9.7 (2024-02-05)
+------------------
+
+0.9.6 (2023-12-21)
+------------------
+
+0.9.5 (2023-11-03)
+------------------
+* Merge remote-tracking branch 'origin/noetic-devel' into ONAV-1771/on_start_stop_tasks
+* Contributors: Stephen Phillips
+
+0.9.4 (2023-10-20)
+------------------
+
+0.9.3 (2023-10-19)
+------------------
+
+0.9.2 (2023-10-17)
+------------------
+* Fix over & underline length in changelogs
+* Contributors: Chris Iverach-Brereton
+
+0.9.1 (2023-08-22)
+------------------
+
+0.9.0 (2023-07-05)
+------------------
+* Initial release

clearpath_outdoornav_msgs/clearpath_control_msgs/CMakeLists.txt

@@ -0,0 +1,23 @@
+cmake_minimum_required(VERSION 3.8)
+project(clearpath_control_msgs)
+
+## Find catkin macros and libraries
+
+find_package(rosidl_default_generators REQUIRED)
+find_package(ament_cmake REQUIRED)
+set(CMAKE_CXX_STANDARD 17)
+
+rosidl_generate_interfaces(
+    ${PROJECT_NAME}
+        msg/AutonomySync.msg
+        msg/ControlMode.msg
+        msg/ControlSelectionState.msg
+        msg/ControlState.msg
+        srv/SetControlMode.srv
+)
+
+ament_package()
+
+install(FILES
+  DESTINATION include/${PROJECT_NAME}
+)

clearpath_outdoornav_msgs/clearpath_control_msgs/msg/AutonomySync.msg

@@ -0,0 +1,16 @@
+uint8 EMPTY = 0
+uint8 PROCESSING = 1
+uint8 PENDING_PAUSE = 2
+uint8 PAUSED = 3
+
+uint8 IDLE = 4
+uint8 TEACH = 5
+uint8 REPEAT = 6
+
+uint8 MANNED = 7
+uint8 UNMANNED = 8
+
+
+# Is the server currently active
+uint8 status
+uint8[] mission_type

clearpath_outdoornav_msgs/clearpath_control_msgs/msg/ControlMode.msg

@@ -0,0 +1,7 @@
+# Control mode message
+
+int8 NEUTRAL=0
+int8 MANUAL=1
+int8 AUTONOMY=2
+
+int8 mode

clearpath_outdoornav_msgs/clearpath_control_msgs/msg/ControlSelectionState.msg

@@ -0,0 +1,4 @@
+# The complete state of the control selection module. This message includes the autonomy state as well as the navigation mode.
+
+ControlState autonomy
+ControlMode mode

clearpath_outdoornav_msgs/clearpath_control_msgs/msg/ControlState.msg

@@ -0,0 +1,4 @@
+# The autonomy state message, The autonomy can be either enabled/disabled and active/paused.
+
+bool enabled
+bool paused

clearpath_outdoornav_msgs/clearpath_control_msgs/package.xml

@@ -0,0 +1,21 @@
+<?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_control_msgs</name>
+  <version>0.9.9</version>
+  <description>ROS package containing the message definitions for the Clearpath Robotics OutdoorNav control selection module.</description>
+  <maintainer email="[email protected]">José Mastrangelo</maintainer>
+  <license>Proprietary</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+</package>

clearpath_outdoornav_msgs/clearpath_control_msgs/srv/SetControlMode.srv

@@ -0,0 +1,4 @@
+# Service definition to set the control mode
+
+clearpath_control_msgs/ControlMode mode
+---