Commit 26721946 authored by levi's avatar levi
Browse files

added submap settings msg

parent 4601424c
......@@ -59,7 +59,7 @@ namespace mm
{
for (size_t i = 0; i < distances.size(); i++)
{
RCLCPP_INFO(logger, "AddrRx: %d AddrTx: %d Distance: %dmm", distances[i].dev_adr_rx, distances[i].dev_adr_tx, distances[i].distance_mm);
RCLCPP_INFO(logger, "AddrRx: %d AddrTx: %d Distance: %d", distances[i].dev_adr_rx, distances[i].dev_adr_tx, distances[i].distance_mm);
}
}
void PrintDeviceLocation(const rclcpp::Logger logger, const std::vector<mm_controller_interfaces::msg::DeviceStatus> devices)
......
......@@ -20,6 +20,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
"msg/DeviceStatus.msg"
"srv/NodeExecution.srv"
"msg/DeviceDistance.msg"
"msg/SubmapSettings.msg"
)
ament_export_dependencies(rosidl_default_runtime)
......
......@@ -5,10 +5,14 @@ bool dev_is_sleeping
string dev_firmware
string dev_device_type
int8 dev_fw_options
int32 tel_uptime
#Beacon telemetry
uint32 tel_uptime
int8 tel_dbm_rssi
int8 tel_temperature
int16 tel_voltage_mv
uint16 tel_voltage_mv
int8 loc_head_index
int32 loc_x_pos_mm
int32 loc_y_pos_mm
......
......@@ -7,4 +7,7 @@ string description
# Devices connection status and information
DeviceStatus[] devices
# Device distances
DeviceDistance[] distances
\ No newline at end of file
DeviceDistance[] distances
# Submap
SubmapSettings[] submaps
\ No newline at end of file
#beacon starting set
uint8 starting_beacon_dev_adr
uint8 starting_set_1_dev_adr
uint8 starting_set_2_dev_adr
uint8 starting_set_3_dev_adr
uint8 starting_set_4_dev_adr
#3d navigation enabled
bool enabled_3d
#submap only used for z coordinate
bool only_for_z
#manual / auto
bool limitation_distance_is_manual
#manual limitation in meters
uint8 maximum_distance
#submap shift in cm
int16 submap_shift_x
int16 submap_shift_y
int16 submap_shift_z
uint16 submap_rotation_cdeg #centidegrees
#Plane rotation quaternion (QW,QX,QY,QZ) normalized to 10000
int16 plane_q_w
int16 plane_q_x
int16 plane_q_y
int16 plane_q_z
int16 size_zone_thickness_cm
#height in 2D mode
int16 hedges_height_for_2d_cm
#submap status
bool frozen
bool locked
#TODO the rest
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