Merge branch 'jazzy-2.0RC' into onav-ros2

.github/workflows/ci.yml

@@ -8,13 +8,13 @@ on:
 
 jobs:
   build_and_test:
-    name: humble
+    name: jazzy
     strategy:
       matrix:
         env:
-          - {ROS_DISTRO: humble, ROS_REPO: main}
-          - {ROS_DISTRO: humble, ROS_REPO: testing}
-    runs-on: ubuntu-22.04
+          - {ROS_DISTRO: jazzy, ROS_REPO: main}
+          - {ROS_DISTRO: jazzy, ROS_REPO: testing}
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v3
       - uses: 'ros-industrial/industrial_ci@master'

clearpath_motor_msgs/CMakeLists.txt

@@ -0,0 +1,28 @@
+cmake_minimum_required(VERSION 3.5)
+project(clearpath_motor_msgs)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(action_msgs REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  msg/PumaFeedback.msg
+  msg/PumaStatus.msg
+  msg/PumaMultiFeedback.msg
+  msg/PumaMultiStatus.msg
+  DEPENDENCIES action_msgs std_msgs builtin_interfaces
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()

clearpath_motor_msgs/msg/PumaFeedback.msg

@@ -0,0 +1,24 @@
+# Number on the bus (CAN ID).
+uint8 device_number
+
+# Name of joint controlled, or other identifier.
+string device_name
+
+# Duty cycle of the h-bridge driver (-1..1).
+float32 duty_cycle
+
+# Current consumed (amps).
+float32 current
+
+# Travel as measured by the encoder (rad).
+float64 travel
+
+# Angular velocity as measured by the encoder (rad/s).
+float64 speed
+
+# The reported setpoint value of the on-board controller for the given mode.
+# In voltage control, duty cycle of the h-bridge driver (-1..1).
+# In speed control, angular velocity setpoint of the on-board controller (rad/s).
+# In position control, travel as measured by the encoder (rad).
+# In current control, the current consumed (amps).
+float64 setpoint

clearpath_motor_msgs/msg/PumaMultiFeedback.msg

@@ -0,0 +1,3 @@
+std_msgs/Header header
+
+clearpath_motor_msgs/PumaFeedback[] drivers_feedback

clearpath_motor_msgs/msg/PumaMultiStatus.msg

@@ -0,0 +1,3 @@
+std_msgs/Header header
+
+clearpath_motor_msgs/PumaStatus[] drivers

clearpath_motor_msgs/msg/PumaStatus.msg

@@ -0,0 +1,33 @@
+# Number on the bus (CAN ID).
+uint8 device_number
+
+# Name of joint controlled, or other identifier.
+string device_name
+
+# Input terminal voltage (volts).
+float32 bus_voltage
+
+# Internal driver temperature (degC).
+float32 temperature
+
+# Voltage as output to the motor (volts).
+float32 output_voltage
+
+# Value of the auxiliary ADC (volts).
+float32 analog_input
+
+# Available control modes, not all of which are broken out to
+# this ROS driver.
+uint8 MODE_VOLTAGE=0
+uint8 MODE_CURRENT=1
+uint8 MODE_SPEED=2
+uint8 MODE_POSITION=3
+uint8 MODE_VCOMP=4
+uint8 mode
+
+# Fault states which could cause the driver to be immobilized.
+uint8 FAULT_CURRENT=1
+uint8 FAULT_TEMPERATURE=2
+uint8 FAULT_BUS_VOLTAGE=4
+uint8 FAULT_BRIDGE_DRIVER=8
+uint8 fault

clearpath_motor_msgs/package.xml

@@ -0,0 +1,29 @@
+<?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>clearpath_motor_msgs</name>
+  <version>0.3.0</version>
+  <description>Messages for Clearpath Motor Drivers.</description>
+  <license>BSD</license>
+
+  <author email="[email protected]">Mike Purvis</author>
+
+  <maintainer email="[email protected]">Roni Kreinin</maintainer>
+  <maintainer email="[email protected]">Tony Baltovski</maintainer>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>action_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>builtin_interfaces</depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

clearpath_msgs/CHANGELOG.rst

@@ -2,43 +2,9 @@
 Changelog for package clearpath_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.9.9 (2024-03-14)
+0.3.0 (2024-09-19)
 ------------------
 
-0.9.8 (2024-03-11)
-------------------
-
-0.9.7 (2024-02-05)
-------------------
-
-0.9.6 (2023-12-21)
-------------------
-
-0.9.5 (2023-11-03)
-------------------
-* Merge remote-tracking branch 'origin/noetic-devel' into ONAV-1771/on_start_stop_tasks
-* Contributors: Stephen Phillips
-
-0.9.4 (2023-10-20)
-------------------
-* Remove dependencies on packages not released to OSRF
-* Contributors: Chris Iverach-Brereton
-
-0.9.3 (2023-10-19)
-------------------
-
-0.9.2 (2023-10-17)
-------------------
-* Fix over & underline length in changelogs
-* Contributors: Chris Iverach-Brereton
-
-0.9.1 (2023-08-22)
-------------------
-
-0.9.0 (2023-07-05)
-------------------
-* Initial release
-
 0.2.0 (2023-12-06)
 ------------------
 

clearpath_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>clearpath_msgs</name>
-  <version>0.9.9</version>
+  <version>0.3.0</version>
   <description>Metapackage for Clearapth messages.</description>
   <license>BSD</license>
 

clearpath_platform_msgs/CHANGELOG.rst

@@ -2,42 +2,10 @@
 Changelog for package clearpath_platform_msgs
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.9.9 (2024-03-14)
+0.3.0 (2024-09-19)
 ------------------
-
-0.9.8 (2024-03-11)
-------------------
-
-0.9.7 (2024-02-05)
-------------------
-
-0.9.6 (2023-12-21)
-------------------
-
-0.9.5 (2023-11-03)
-------------------
-* Merge remote-tracking branch 'origin/noetic-devel' into ONAV-1771/on_start_stop_tasks
-* Contributors: Stephen Phillips
-
-0.9.4 (2023-10-20)
-------------------
-
-0.9.3 (2023-10-19)
-------------------
-
-0.9.2 (2023-10-17)
-------------------
-* Fix over & underline length in changelogs
-* Contributors: Chris Iverach-Brereton
-
-0.9.1 (2023-08-22)
-------------------
-* Add the stack light messages to the platform messages
-* Contributors: Chris Iverach-Brereton, José Mastrangelo
-
-0.9.0 (2023-07-05)
-------------------
-* Initial release
+* Added needs_reset
+* Contributors: Roni Kreinin
 
 0.2.0 (2023-12-06)
 ------------------

clearpath_platform_msgs/msg/StopStatus.msg

@@ -3,4 +3,5 @@
 std_msgs/Header header
 
 bool stop_power_status  # True indicates the stop loop is operational (ie. it is powered).
-bool external_stop_present  # True indicates a external stop has been plugged in.
+bool external_stop_present  # True indicates a external stop has been plugged in.
+bool needs_reset # True indicates the stop loop needs to be reset

clearpath_platform_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>clearpath_platform_msgs</name>
-  <version>0.9.9</version>
+  <version>0.3.0</version>
   <description>Messages for Clearpath Platforms.</description>
   <license>BSD</license>