multi_robot_datatype.py

from pycdr2 import IdlStruct
from dataclasses import dataclass
from pycdr2.types import int8, int32, uint32, uint8, float64, float32, sequence, array
from typing import List

@dataclass
class Time(IdlStruct, typename="Time"):
    sec: uint32
    nsec: uint32

@dataclass
class Header(IdlStruct, typename="Header"):
    stamp: Time
    frame_id: str

@dataclass
class JointStates(IdlStruct, typename="JointStates"):
    stamp_sec: uint32
    stamp_nsec: uint32
    frame_id: str
    name: List[str]
    position: List[float64]
    velocity: List[float64]
    effort: List[float64]

@dataclass
class BatteryState(IdlStruct, typename="BatteryState"):
    stamp_sec: uint32
    stamp_nsec: uint32
    frame_id: str
    voltage: float32
    temperature: float32
    current: float32
    charge: float32
    capacity: float32
    design_capacity: float32
    percentage: float32
    power_supply_status: uint8
    power_supply_health: uint8
    power_supply_technology: uint8
    present: bool
    # cell_voltage: List[float32]
    # cell_temperature: List[float32]
    # location: str
    # serial_number: str

@dataclass
class OverViewState(IdlStruct, typename="OverViewState"):
    battery_voltage: List[float32]
    battery_capacity: List[float32]
    battery_percentage: List[float32]
    joint_name: List[List[str]]
    joint_velocity: List[List[float64]]

@dataclass
class UWBState(IdlStruct, typename="UWBState"):
    position_x: float64
    position_y: float64
    tag_id: int32

@dataclass
class PoseStamped(IdlStruct, typename="PoseStemped"):
    stamp_sec: uint32
    stamp_nsec: uint32
    frame_id: str
    point_x: float64
    point_y: float64
    point_z: float64
    quat_x: float64
    quat_y: float64
    quat_z: float64
    quat_w: float64

@dataclass
class Vector3(IdlStruct, typename="Vector3"):
    x: float64
    y: float64
    z: float64


@dataclass
class Twist(IdlStruct, typename="Twist"):
    linear: Vector3
    angular: Vector3

@dataclass
class Joy(IdlStruct, typename="Joy"):
    stamp_sec: uint32
    stamp_nsec: uint32
    frame_id: str
    axes: List[float32]
    buttons: List[int32]

@dataclass
class LaserScan(IdlStruct, typename="LaserScan"):
    stamp_sec: uint32
    stamp_nsec: uint32
    frame_id: str
    angle_min: float32
    angle_max: float32
    angle_increment: float32
    time_increment: float32
    scan_time: float32
    range_min: float32
    range_max: float32
    ranges: List[float32]
    intensities: List[float32]

@dataclass
class DriveStatus(IdlStruct, typename="DriveStatus"):
    drive_status : int8 
    message : str