Merge pull request #1 from RI-SE/iso_msgs

Initial commit with trajectory and OSEM

iso_msgs/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(iso_msgs)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+find_package(geographic_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+
+set(msg_files
+  "msg/CoordinateSystem.msg"
+  "msg/ObjectSettings.msg"
+  "msg/CartesianTrajectory.msg"
+  "msg/CartesianTrajectoryPoint.msg"
+  "msg/OSEMIds.msg"
+  "msg/OSEMDeviations.msg"
+  "msg/OSEMMonrRate.msg"
+  "msg/TestMode.msg"
+  "msg/OSEMTimeServer.msg"
+  "msg/TrajectoryHeader.msg"
+  "msg/TrajectoryInfo.msg"
+)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  DEPENDENCIES geographic_msgs builtin_interfaces
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()

iso_msgs/README.md

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+# ISO messages
+
+This ROS package contains custom ROS messages for ISO22133 used by ros2_isoobject in order to initialize the coordinate_transform node with OSEM from ATOS. It does not have any dependencies but both of the previously mentioned packages depend on this and should include it in their docker environments.

iso_msgs/msg/CartesianTrajectory.msg

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+# This Source Code Form is subject to the terms of the Mozilla Public
+# License, v. 2.0. If a copy of the MPL was not distributed with this
+# file, You can obtain one at https://mozilla.org/MPL/2.0/.
+
+# header.frame_id is the frame in which all data from CartesianTrajectoryPoint[] is given
+std_msgs/Header header
+CartesianTrajectoryPoint[] points
+string controlled_frame
+string name

iso_msgs/msg/CartesianTrajectoryPoint.msg

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+# This Source Code Form is subject to the terms of the Mozilla Public
+# License, v. 2.0. If a copy of the MPL was not distributed with this
+# file, You can obtain one at https://mozilla.org/MPL/2.0/.
+
+builtin_interfaces/Duration time_from_start
+geometry_msgs/Pose pose
+geometry_msgs/Twist twist
+geometry_msgs/Accel acceleration
+float64 curvature

iso_msgs/msg/CoordinateSystem.msg

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+# This Source Code Form is subject to the terms of the Mozilla Public
+# License, v. 2.0. If a copy of the MPL was not distributed with this
+# file, You can obtain one at https://mozilla.org/MPL/2.0/.
+
+uint32 COORDINATE_SYSTEM_ETRS89 = 0
+uint32 COORDINATE_SYSTEM_NAD83 = 1
+uint32 COORDINATE_SYSTEM_ITRF2000 = 2
+uint32 COORDINATE_SYSTEM_WGS84 = 3
+uint32 COORDINATE_SYSTEM_LOCAL = 4
+uint64 COORDINATE_SYSTEM_UNAVAILABLE = 255
+
+uint32 type

iso_msgs/msg/DesiredId.msg

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+uint32 transmitter
+uint32 sub_transmitter
+uint32 control_centre

iso_msgs/msg/MaxDeviation.msg

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+float64 position_m
+float64 lateral_m
+float64 yaw_rad

iso_msgs/msg/OSEMDeviations.msg

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+# This Source Code Form is subject to the terms of the Mozilla Public
+# License, v. 2.0. If a copy of the MPL was not distributed with this
+# file, You can obtain one at https://mozilla.org/MPL/2.0/.
+
+float64 position_m
+float64 lateral_m
+float64 yaw_rad

iso_msgs/msg/OSEMIds.msg

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+# This Source Code Form is subject to the terms of the Mozilla Public
+# License, v. 2.0. If a copy of the MPL was not distributed with this
+# file, You can obtain one at https://mozilla.org/MPL/2.0/.
+
+uint32 transmitter
+uint32 sub_transmitter
+uint32 control_centre

iso_msgs/msg/OSEMMonrRate.msg

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+# This Source Code Form is subject to the terms of the Mozilla Public
+# License, v. 2.0. If a copy of the MPL was not distributed with this
+# file, You can obtain one at https://mozilla.org/MPL/2.0/.
+
+float64 monr
+float64 monr2
+float64 heab

iso_msgs/msg/OSEMTimeServer.msg

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+# This Source Code Form is subject to the terms of the Mozilla Public
+# License, v. 2.0. If a copy of the MPL was not distributed with this
+# file, You can obtain one at https://mozilla.org/MPL/2.0/.
+
+uint32 ip
+uint16 port

iso_msgs/msg/ObjectSettings.msg

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+# This Source Code Form is subject to the terms of the Mozilla Public
+# License, v. 2.0. If a copy of the MPL was not distributed with this
+# file, You can obtain one at https://mozilla.org/MPL/2.0/.
+
+iso_msgs/OSEMIds desired_id
+geographic_msgs/GeoPoint coordinate_system_origin
+float64 coordinate_system_rotation_rad
+iso_msgs/CoordinateSystem coordinate_system_type
+builtin_interfaces/Duration current_time
+iso_msgs/OSEMDeviations max_deviation
+float64 min_required_positioning_accuracy_m
+iso_msgs/TestMode test_mode
+builtin_interfaces/Duration heab_timeout
+iso_msgs/OSEMMonrRate rate
+iso_msgs/OSEMTimeServer time_server

iso_msgs/msg/Rate.msg

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+float64 monr
+float64 monr2
+float64 heab

iso_msgs/msg/TestMode.msg

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+# This Source Code Form is subject to the terms of the Mozilla Public
+# License, v. 2.0. If a copy of the MPL was not distributed with this
+# file, You can obtain one at https://mozilla.org/MPL/2.0/.
+
+uint32 TEST_MODE_PREPLANNED = 0
+uint32 TEST_MODE_ONLINE = 1
+uint32 TEST_MODE_SCENARIO = 2
+uint32 TEST_MODE_UNAVAILABLE = 255
+
+uint32 type 

iso_msgs/msg/TimeServer.msg

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+uint32 ip
+uint16 port

iso_msgs/msg/TrajectoryHeader.msg

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+# This Source Code Form is subject to the terms of the Mozilla Public
+# License, v. 2.0. If a copy of the MPL was not distributed with this
+# file, You can obtain one at https://mozilla.org/MPL/2.0/.
+
+uint16 trajectory_id
+string trajectory_name
+iso_msgs/TrajectoryInfo trajectory_info
+uint32 trajectory_length
+uint32 n_waypoints

iso_msgs/msg/TrajectoryInfo.msg

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+# This Source Code Form is subject to the terms of the Mozilla Public
+# License, v. 2.0. If a copy of the MPL was not distributed with this
+# file, You can obtain one at https://mozilla.org/MPL/2.0/.
+
+uint32 TRAJECTORY_INFO_RELATIVE_TO_OBJECT = 1
+uint32 TRAJECTORY_INFO_RELATIVE_TO_ORIGIN = 2
+uint32 TRAJECTORY_INFO_DELETE_TRAJECTORY = 3
+
+uint32 type

iso_msgs/package.xml

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+<?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>iso_msgs</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">bosdator1</maintainer>
+  <license>MPL 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>geographic_msgs</depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <depend>builtin_interfaces</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>