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desktop_robotti
drobotti-processing-and-control
Commits
26721946
Commit
26721946
authored
Nov 03, 2021
by
levi
Browse files
added submap settings msg
parent
4601424c
Changes
5
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src/mm_controller/src/mm_utils.cpp
View file @
26721946
...
...
@@ -59,7 +59,7 @@ namespace mm
{
for
(
size_t
i
=
0
;
i
<
distances
.
size
();
i
++
)
{
RCLCPP_INFO
(
logger
,
"AddrRx: %d AddrTx: %d Distance: %d
mm
"
,
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
)
...
...
src/mm_controller_interfaces/CMakeLists.txt
View file @
26721946
...
...
@@ -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
)
...
...
src/mm_controller_interfaces/msg/DeviceStatus.msg
View file @
26721946
...
...
@@ -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
...
...
src/mm_controller_interfaces/msg/MMControllerStatus.msg
View file @
26721946
...
...
@@ -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
src/mm_controller_interfaces/msg/SubmapSettings.msg
0 → 100644
View file @
26721946
#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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