added logger msgs in ROS2 Jazzy

clearpath_outdoornav_msgs/clearpath_logger_msgs/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package clearpath_logger_msgs
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.10.0 (2024-07-04)
+-------------------
+* Merge pull request `#46 <https://github.com/clearpathrobotics/clearpath_msgs/issues/46>`_ from clearpathrobotics/0.13/features
+  0.13/features
+* Merge remote-tracking branch 'refs/remotes/origin/mission-logger' into 0.13/features
+* Docs
+* mission_uuid -> name in StartRecording
+* EventLog mission_uuid -> name
+* Add MIME types to media events
+* Remove quotation marks around string constants; they are not required
+* Add error event logging, add a custom json field to the master event log
+* Add the custom json data to the stop_recording service
+* Change the heading units
+* Add the EventLogs message
+* Add an additional flag to expunge the master record if desired
+* Add the service to delete logs
+* Add a flag to indicate if media files are missing from recording archives
+* Add the auto_telemetry tag
+* Remove an unnecessary dependency
+* Fix the all-logs service to return an array
+* Fix constants
+* Add additional services, add fields to event-recorder services
+* Add the download-log service
+* TAG_POSITION -> TAG_LOCATION, add frame_id to custom events
+* Add additional services
+* Add the custom event service
+* Add initial event-recording services
+* Add first-draft Event, EventLog messages
+* Fill in the skeleton for the new messages package
+* Contributors: Chris Iverach-Brereton, Stephen Phillips, jmastrangelo-cpr
+
+0.9.9 (2024-03-14)
+------------------

clearpath_outdoornav_msgs/clearpath_logger_msgs/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(clearpath_logger_msgs)
+
+## Find catkin macros and libraries
+find_package(rosidl_default_generators REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+set(CMAKE_CXX_STANDARD 17)
+
+rosidl_generate_interfaces(
+    ${PROJECT_NAME}
+        msg/Event.msg
+        msg/EventLog.msg
+        msg/EventLogs.msg
+        srv/DeleteLog.srv
+        srv/GetAllLogs.srv
+        srv/DownloadLog.srv
+        srv/RecordEvent.srv
+        srv/RecordCustomEvent.srv
+        srv/RecordErrorEvent.srv
+        srv/RecordLocationEvent.srv
+        srv/RecordMediaEvent.srv
+        srv/RecordPowerEvent.srv
+        srv/StartRecording.srv
+        srv/StopRecording.srv
+    DEPENDENCIES
+        geometry_msgs
+        nav_msgs
+        sensor_msgs
+        std_msgs
+)
+
+ament_package()
+
+install(FILES
+  DESTINATION include/${PROJECT_NAME}
+)

clearpath_outdoornav_msgs/clearpath_logger_msgs/msg/Event.msg

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+################################################################################
+## Universal log event. Represents a single even recorded to the log
+################################################################################
+
+# Tag for events that include a media_path
+string TAG_MEDIA = media
+
+# Tag indicating that the event's charger status & battery level have been set
+string TAG_POWER = power
+
+# Tag indicating that the event's GPS position has been set
+string TAG_LOCATION = location
+
+# Tag indicating that the event's odometry data has been set
+string TAG_ODOMETRY = odom
+
+# Tag indicating that the event's velocity data has been set
+string TAG_VELOCITY = vel
+
+# Tag indicating that the event's error/debugging data has been set
+string TAG_ERROR = error
+
+# Tag indicating that this event was automatically recorded telemetry
+string TAG_AUTO_TELEMETRY = auto_telemetry
+
+################################################################################
+## Header & general meta-data about the event
+################################################################################
+
+# Header
+# - seq: the order of this event within its parent ExecutionLog
+# - frame_id: the sensor/manipulator frame referenced by the frame_pose field
+# - stamp: the time that this event occurred
+std_msgs/Header header
+
+################################################################################
+## Media & sensor data
+################################################################################
+
+# If this even has media, this is its path on-disk
+string media_path
+
+# If this event has media, this is its MIME type
+# May be left blank
+string media_mime_type
+
+# The pose of the sensor/manipulator frame given by header.frame_id relative to
+# base_link
+geometry_msgs/Pose frame_pose
+
+################################################################################
+## Robot location, orientation, velocity
+################################################################################
+
+# The robot's latitude, longitude, and heading as recorded by the GPS
+# - lat: decimal degrees
+# - lon: decimal degrees
+# - heading: ENU orientation in radians
+geometry_msgs/Point lat_lon_heading
+
+# The robot's location relative to the odometry frame
+nav_msgs/Odometry odometry
+
+# The robot's linear & angular velocity
+geometry_msgs/Twist velocity
+
+################################################################################
+## Power & battery
+################################################################################
+
+# The 0-1 charge level of the battery
+float32 battery_percent
+
+# True of the robot's battery is charging, otherwise False
+bool charging
+
+# True if power-saving/low-power mode is enabled, otherwise False
+bool power_saver
+
+################################################################################
+## Error and debugging events
+################################################################################
+
+# An error code indicating the type of error
+int32 error_code
+
+# A diagnostic error message, or non-integer error code
+string error_msg
+
+# The name of the module/process/pipeline/etc... that signalled the error
+string error_component
+
+################################################################################
+## Custom fields for expansion
+################################################################################
+
+# Arbitrary free-form tags usable to annotate custom data
+string[] tags
+
+# Arbitrary JSON-formatted data that can contain user-defined fields
+string custom_fields_json

clearpath_outdoornav_msgs/clearpath_logger_msgs/msg/EventLog.msg

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+################################################################################
+## A log representing a single mission execution
+################################################################################
+
+# The log is currently active and being modified
+int32 STATE_ACTIVE = 0
+
+# The log is old and closed
+int32 STATE_CLOSED = 1
+
+# The master record of the log exists, but its data has been deleted from the disk
+int32 STATE_DELETED = 2
+
+# The state of the log on disk
+int32 state
+
+# The time the log started recording
+builtin_interfaces/Time start_time
+
+# The time the log stopped recording
+builtin_interfaces/Time end_time
+
+# This execution's unique ID
+string uuid
+
+# A descriptive name for the log to be displayed in the GUI. Does not need to be unique
+string name
+
+# The total percentage of the battery used during the execution
+# This measures only negative changes, not positive ones
+# e.g. if the robot uses 75% of the battery, returns to dock to recharge to full
+# and then finishes the mission using another 75% of the battery, this value
+# will read 1.5
+float32 battery_percent_used
+
+# The total distance driven by the robot (approximate) during the execution (meters)
+# The exact path used to calculate the distance may be simplified and subject to
+# sensor noise/error
+float32 distance_driven
+
+# A custom JSON field for adding additional custom metrics, meta-data, etc... as needed
+string custom_fields_json
+
+# The list of events recorded in this execution
+clearpath_logger_msgs/Event[] events

clearpath_outdoornav_msgs/clearpath_logger_msgs/msg/EventLogs.msg

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+clearpath_logger_msgs/EventLog[] logs

clearpath_outdoornav_msgs/clearpath_logger_msgs/package.xml

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+<?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_logger_msgs</name>
+  <version>0.10.0</version>
+  <description>ROS package containing the message definitions for the Clearpath Robotics OutdoorNav logging module.</description>
+  <maintainer email="[email protected]">Chris Iverach-Brereton</maintainer>
+  <license>Proprietary</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+</package>

clearpath_outdoornav_msgs/clearpath_logger_msgs/srv/DeleteLog.srv

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+string uuid
+bool delete_media
+bool purge_record
+---
+bool success

clearpath_outdoornav_msgs/clearpath_logger_msgs/srv/DownloadLog.srv

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+# The UUID of the recording to download
+string log_uuid
+---
+# The on-disk path the the generated archive
+string path
+
+# If True at least one media file from the recording has been moved/deleted
+bool media_missing

clearpath_outdoornav_msgs/clearpath_logger_msgs/srv/GetAllLogs.srv

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+---
+clearpath_logger_msgs/EventLog[] logs

clearpath_outdoornav_msgs/clearpath_logger_msgs/srv/RecordCustomEvent.srv

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+# A valid JSON string containing the custom data to be recorded
+string custom_fields_json
+
+# Tags to add to the event
+string[] tags
+
+# Optional frame ID relevant to the event
+string frame_id
+---
+clearpath_logger_msgs/Event event

clearpath_outdoornav_msgs/clearpath_logger_msgs/srv/RecordErrorEvent.srv

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+# An error code indicating the type of error
+int32 error_code
+
+# A diagnostic error message, or non-integer error code
+string error_msg
+
+# The name of the module/process/pipeline/etc... that signalled the error
+string error_component
+---
+clearpath_logger_msgs/Event event

clearpath_outdoornav_msgs/clearpath_logger_msgs/srv/RecordEvent.srv

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+# The event to be recorded
+# If the header's stamp is not zero the header will be modified to be the current time
+# Otherwise the provided time will be used without verification
+clearpath_logger_msgs/Event event
+---
+# The event as it was recorded, after any modifications made for serialization
+clearpath_logger_msgs/Event event

clearpath_outdoornav_msgs/clearpath_logger_msgs/srv/RecordLocationEvent.srv

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+# The robot's current latitude (decimal degrees)
+float64 latitude
+
+# The robot's current longitude (decimal degrees)
+float64 longitude
+
+# The robot's current heading (cardinal direction in decimal degrees)
+float64 heading
+
+# The robot's current linear & angular velocity
+geometry_msgs/Twist velocity
+
+# The robot's current odometry location
+nav_msgs/Odometry odometry
+
+# Tags for the event
+# Should contain one or more of Event.TAG_LOCATION, TAG_ODOMETRY, or TAG_VELOCITY
+string[] tags
+---
+clearpath_logger_msgs/Event event

clearpath_outdoornav_msgs/clearpath_logger_msgs/srv/RecordMediaEvent.srv

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+# The path to the media file on-disk
+string media_path
+
+# A MIME type string indicating the media type
+# May be left blank if desired
+string mime_type
+
+# The frame ID for the sensor that recorded the media
+# Leave blank if the sensor has no frame/TF data associated with it
+string frame_id
+---
+# The logged event
+clearpath_logger_msgs/Event event

clearpath_outdoornav_msgs/clearpath_logger_msgs/srv/RecordPowerEvent.srv

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+# The battery's current level
+# 0.0 to 1.0
+float32 battery_percent
+
+# Is the battery currently charging?
+bool charging
+---
+clearpath_logger_msgs/Event event

clearpath_outdoornav_msgs/clearpath_logger_msgs/srv/StartRecording.srv

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+# A human-readable name for the log
+string name
+---
+clearpath_logger_msgs/EventLog log

clearpath_outdoornav_msgs/clearpath_logger_msgs/srv/StopRecording.srv

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+# Additional custom end-of-mission metrics to record as part of the log
+string custom_fields_json
+---
+clearpath_logger_msgs/EventLog log