From 1aa71c6e9dea899d7893fb6b8a12e9c9b0aa5216 Mon Sep 17 00:00:00 2001 From: Roni Kreinin Date: Thu, 14 Dec 2023 15:33:51 -0500 Subject: [PATCH 1/5] Added needs_reset --- clearpath_platform_msgs/msg/StopStatus.msg | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/clearpath_platform_msgs/msg/StopStatus.msg b/clearpath_platform_msgs/msg/StopStatus.msg index f9d289e..b4ba7fc 100644 --- a/clearpath_platform_msgs/msg/StopStatus.msg +++ b/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. \ No newline at end of file +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 \ No newline at end of file From 22aef84354a0353ec9837f6ed4969960b9616f7d Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Thu, 19 Sep 2024 11:08:27 -0400 Subject: [PATCH 2/5] Changes. --- clearpath_msgs/CHANGELOG.rst | 3 +++ clearpath_platform_msgs/CHANGELOG.rst | 5 +++++ 2 files changed, 8 insertions(+) diff --git a/clearpath_msgs/CHANGELOG.rst b/clearpath_msgs/CHANGELOG.rst index 159dbcc..9834e5d 100644 --- a/clearpath_msgs/CHANGELOG.rst +++ b/clearpath_msgs/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.2.0 (2023-12-06) ------------------ diff --git a/clearpath_platform_msgs/CHANGELOG.rst b/clearpath_platform_msgs/CHANGELOG.rst index 04430d5..6199488 100644 --- a/clearpath_platform_msgs/CHANGELOG.rst +++ b/clearpath_platform_msgs/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package clearpath_platform_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Added needs_reset +* Contributors: Roni Kreinin + 0.2.0 (2023-12-06) ------------------ * Added charger connected status to Power message From b1300765c4a11e257ac427e9b7623da921f2d833 Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Thu, 19 Sep 2024 11:08:47 -0400 Subject: [PATCH 3/5] 0.3.0 --- clearpath_msgs/CHANGELOG.rst | 4 ++-- clearpath_msgs/package.xml | 2 +- clearpath_platform_msgs/CHANGELOG.rst | 4 ++-- clearpath_platform_msgs/package.xml | 2 +- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/clearpath_msgs/CHANGELOG.rst b/clearpath_msgs/CHANGELOG.rst index 9834e5d..5313aaa 100644 --- a/clearpath_msgs/CHANGELOG.rst +++ b/clearpath_msgs/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.3.0 (2024-09-19) +------------------ 0.2.0 (2023-12-06) ------------------ diff --git a/clearpath_msgs/package.xml b/clearpath_msgs/package.xml index 4924f2b..b0b6927 100644 --- a/clearpath_msgs/package.xml +++ b/clearpath_msgs/package.xml @@ -2,7 +2,7 @@ clearpath_msgs - 0.2.0 + 0.3.0 Metapackage for Clearapth messages. BSD diff --git a/clearpath_platform_msgs/CHANGELOG.rst b/clearpath_platform_msgs/CHANGELOG.rst index 6199488..76fcaa6 100644 --- a/clearpath_platform_msgs/CHANGELOG.rst +++ b/clearpath_platform_msgs/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_platform_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.3.0 (2024-09-19) +------------------ * Added needs_reset * Contributors: Roni Kreinin diff --git a/clearpath_platform_msgs/package.xml b/clearpath_platform_msgs/package.xml index fb33f87..f6ae13f 100644 --- a/clearpath_platform_msgs/package.xml +++ b/clearpath_platform_msgs/package.xml @@ -2,7 +2,7 @@ clearpath_platform_msgs - 0.2.0 + 0.3.0 Messages for Clearpath Platforms. BSD From aa83017236aa79ad061dacf50af384541f8e4c69 Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Thu, 3 Oct 2024 16:05:00 -0400 Subject: [PATCH 4/5] Switched CI to Ubuntu 24.04 and ROS 2 to Jazzy. --- .github/workflows/ci.yml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 0f082f6..80621ec 100644 --- a/.github/workflows/ci.yml +++ b/.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' From 9caba590acf000f4248f12c0fa8e715f1a14e7ec Mon Sep 17 00:00:00 2001 From: Luis Camero Date: Fri, 27 Sep 2024 17:07:05 -0400 Subject: [PATCH 5/5] Initial clearpath_motor_msgs --- clearpath_motor_msgs/CMakeLists.txt | 28 ++++++++++++++++ clearpath_motor_msgs/msg/PumaFeedback.msg | 24 ++++++++++++++ .../msg/PumaMultiFeedback.msg | 3 ++ clearpath_motor_msgs/msg/PumaMultiStatus.msg | 3 ++ clearpath_motor_msgs/msg/PumaStatus.msg | 33 +++++++++++++++++++ clearpath_motor_msgs/package.xml | 29 ++++++++++++++++ 6 files changed, 120 insertions(+) create mode 100644 clearpath_motor_msgs/CMakeLists.txt create mode 100644 clearpath_motor_msgs/msg/PumaFeedback.msg create mode 100644 clearpath_motor_msgs/msg/PumaMultiFeedback.msg create mode 100644 clearpath_motor_msgs/msg/PumaMultiStatus.msg create mode 100644 clearpath_motor_msgs/msg/PumaStatus.msg create mode 100644 clearpath_motor_msgs/package.xml diff --git a/clearpath_motor_msgs/CMakeLists.txt b/clearpath_motor_msgs/CMakeLists.txt new file mode 100644 index 0000000..87003a5 --- /dev/null +++ b/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() diff --git a/clearpath_motor_msgs/msg/PumaFeedback.msg b/clearpath_motor_msgs/msg/PumaFeedback.msg new file mode 100644 index 0000000..743a64b --- /dev/null +++ b/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 diff --git a/clearpath_motor_msgs/msg/PumaMultiFeedback.msg b/clearpath_motor_msgs/msg/PumaMultiFeedback.msg new file mode 100644 index 0000000..6dfe874 --- /dev/null +++ b/clearpath_motor_msgs/msg/PumaMultiFeedback.msg @@ -0,0 +1,3 @@ +std_msgs/Header header + +clearpath_motor_msgs/PumaFeedback[] drivers_feedback diff --git a/clearpath_motor_msgs/msg/PumaMultiStatus.msg b/clearpath_motor_msgs/msg/PumaMultiStatus.msg new file mode 100644 index 0000000..45c6600 --- /dev/null +++ b/clearpath_motor_msgs/msg/PumaMultiStatus.msg @@ -0,0 +1,3 @@ +std_msgs/Header header + +clearpath_motor_msgs/PumaStatus[] drivers diff --git a/clearpath_motor_msgs/msg/PumaStatus.msg b/clearpath_motor_msgs/msg/PumaStatus.msg new file mode 100644 index 0000000..57ace40 --- /dev/null +++ b/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 diff --git a/clearpath_motor_msgs/package.xml b/clearpath_motor_msgs/package.xml new file mode 100644 index 0000000..6afbb8d --- /dev/null +++ b/clearpath_motor_msgs/package.xml @@ -0,0 +1,29 @@ + + + + clearpath_motor_msgs + 0.3.0 + Messages for Clearpath Motor Drivers. + BSD + + Mike Purvis + + Roni Kreinin + Tony Baltovski + + ament_cmake + + action_msgs + std_msgs + builtin_interfaces + + rosidl_default_generators + + rosidl_default_runtime + + rosidl_interface_packages + + + ament_cmake + +