yocs_msgs

Summary

yocs_msgs
Version:

0.6.3
Description:

Yujin’s Open Control System messages, services and actions
Maintainers:
  • Jihoon Lee <jihoonl AT yujinrobot DOT com>
Licenses:
  • BSD
Urls:
Authors:
  • Jorge Santos
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:

Types

Message types

yocs_msgs/Table
Field:

Semantic annotation for a table; by now a clone of column but with different semantics In the future we must support also rectangular tables

  • Orientation is ignored
  • Z provides the lower border of the column (normally 0)
# Semantic annotation for a table; by now a clone of column but with different semantics
# In the future we must support also rectangular tables
#  - Orientation is ignored
#  - Z provides the lower border of the column (normally 0)

string  name
float32 radius
float32 height
geometry_msgs/PoseWithCovarianceStamped pose
yocs_msgs/Trajectory
Field:

A named list of way points

# A named list of way points
Header header
string name
Waypoint[] waypoints
yocs_msgs/WallList
Field:

Virtual wall obstacles

# Virtual wall obstacles

Wall[] obstacles
yocs_msgs/TableList
Field:

A list of tables

# A list of tables

Table[] tables
yocs_msgs/ARPair
Field:
  • left_id (int16) –
  • right_id (int16) –
  • baseline (float32) –
  • target_offset (float32) –
  • target_frame (string) – 
int16  left_id
int16  right_id
float32 baseline
float32 target_offset
string  target_frame
yocs_msgs/ARPairList
Field: 
ARPair[] pairs
yocs_msgs/Column
Field:
Virtual column obstacle; a cylinder vertically aligned
  • Orientation is ignored
  • Z provides the lower border of the column (normally 0)
# Virtual column obstacle; a cylinder vertically aligned
#  - Orientation is ignored
#  - Z provides the lower border of the column (normally 0)

string  name
float32 radius
float32 height
geometry_msgs/PoseWithCovarianceStamped pose
yocs_msgs/Wall
Field:
Virtual wall obstacle;
  • Assumed to be a plan, so width is ignored by now
  • The yaw provides the orientation of x-axis
  • Assumed vertically aligned (roll and pitch must be 0)
  • Z provides the lower border of the wall (normally 0)
# Virtual wall obstacle;
#  - Assumed to be a plan, so width is ignored by now
#  - The yaw provides the orientation of x-axis
#  - Assumed vertically aligned (roll and pitch must be 0)
#  - Z provides the lower border of the wall (normally 0)

string  name
float32 length
float32 width
float32 height
geometry_msgs/PoseWithCovarianceStamped pose
yocs_msgs/TrajectoryList
Field:

A list of trajectories

# A list of trajectories
Trajectory[] trajectories
yocs_msgs/WaypointList
Field:

Way points

# Way points

Waypoint[] waypoints
yocs_msgs/NavigationControlStatus
Field:
  • status (int8) –
  • status_desc (string) –
Constant:
  • ERROR (int8):-1 –
  • IDLING (int8):0 –
  • RUNNING (int8):1 –
  • PAUSED (int8):2 –
  • COMPLETED (int8):3 –
  • CANCELLED (int8):4 –

Control the way point/trajectory navigation

# Control the way point/trajectory navigation
int8 status

int8 ERROR     = -1
int8 IDLING    = 0
int8 RUNNING   = 1
int8 PAUSED    = 2
int8 COMPLETED = 3
int8 CANCELLED = 4

# Human-readable status description
string status_desc
yocs_msgs/ColumnList
Field:

Virtual column obstacles

# Virtual column obstacles

Column[] obstacles
yocs_msgs/NavigationControl
Field:
  • control (int8) –
  • goal_name (string) –
Constant:
  • STOP (int8):0 –
  • START (int8):1 –
  • PAUSE (int8):2 –

control the way point/trajectory navigation

# control the way point/trajectory navigation
int8 control

int8 STOP  = 0
int8 START = 1
int8 PAUSE = 2

# name of the way point(s) / trajectory to be execute
# leave empty, when stopping or pausing
string goal_name
yocs_msgs/Waypoint
Field: 
Header header
string name
geometry_msgs/Pose pose

Service types

yocs_msgs/WaypointListService
Field (Response):
  
---
bool success
WaypointList waypoints

Action types

yocs_msgs/DockingInteractor
Field (Goal):
  • command (int8) –
  • distance (float32) –
Constant (Goal):
 
  • WAKE_UP (int8):10 –
  • REGISTER_DOCK_IN_GLOBAL_FRAME (int8):20 –
  • RETURN_TO_DOCK (int8):30 –
  • GOTO_DOCK_FRONT (int8):40 –
  • CALL_AUTODOCK (int8):50 –
Field (Result):
  • success (bool) –
  • message (string) –
Field (Feedback):
 
  • level (int8) –
  • message (string) –
Constant (Feedback):
 
  • DEBUG (int8):1 –
  • INFO (int8):2 –
  • WARN (int8):4 –
  • ERROR (int8):8 –

Request

# Request
int8 command
float32 distance

int8 WAKE_UP= 10
int8 REGISTER_DOCK_IN_GLOBAL_FRAME = 20
int8 RETURN_TO_DOCK = 30
int8 GOTO_DOCK_FRONT = 40
int8 CALL_AUTODOCK = 50
---
# Response
bool success
string message
---
# Feedback
int8 level

int8 DEBUG=1
int8 INFO=2
int8 WARN=4
int8 ERROR=8

string message
yocs_msgs/NavigateTo
Field (Goal):
  • location (string) –
  • approach_type (int8) –
  • num_retry (int8) –
  • timeout (float32) –
  • distance (float32) –
Constant (Goal):
 
  • APPROACH_NEAR (int8):11 –
  • APPROACH_ON (int8):12 –
Field (Result):
  • success (bool) –
  • distance (float32) –
  • message (string) –
Field (Feedback):
 
  • message (string) –
  • distance (float32) –
  • remain_time (float32) –
  • status (int8) –
Constant (Feedback):
 
  • STATUS_RETRY (int8):21 –
  • STATUS_INPROGRESS (int8):22 –
  • STATUS_ERROR (int8):23 –

Goal

# Goal
string location
int8   approach_type
int8   num_retry
float32 timeout

# This variable used when approach near is requested
float32 distance

int8 APPROACH_NEAR = 11
int8 APPROACH_ON   = 12
---
# Result
bool    success
float32 distance
string  message
---
# Feedback
string  message
float32 distance
float32 remain_time
int8    status

int8 STATUS_RETRY       = 21
int8 STATUS_INPROGRESS  = 22
int8 STATUS_ERROR       = 23
yocs_msgs/Localize
Field (Goal):
  • command (int8) –
  • distortion (float32) –
Constant (Goal):
 
  • STAND_AND_LOCALIZE (int8):10 –
  • SPIN_AND_LOCALIZE (int8):20 –
Field (Result):
  • success (bool) –
  • message (string) –
Field (Feedback):
 
  • message (string) – 
int8 command
float32 distortion

int8 STAND_AND_LOCALIZE=10
int8 SPIN_AND_LOCALIZE =20
---
bool success
string message
---
string message