From 6a6ccedff2d1910a4109a18ef944fd4d7f652fca Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jos=C3=A9=20Mastrangelo?=
 <jmastrangelo@clearpathrobotics.com>
Date: Tue, 17 Oct 2023 13:14:47 -0400
Subject: [PATCH] added trigger_type field and include in message generation

---
 .../clearpath_safety_msgs/CMakeLists.txt                 | 1 +
 .../clearpath_safety_msgs/msg/Safety.msg                 | 9 +++++++++
 2 files changed, 10 insertions(+)
 create mode 100644 clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/Safety.msg

diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/CMakeLists.txt b/clearpath_outdoornav_msgs/clearpath_safety_msgs/CMakeLists.txt
index 2a1aacd..7e05ad0 100644
--- a/clearpath_outdoornav_msgs/clearpath_safety_msgs/CMakeLists.txt
+++ b/clearpath_outdoornav_msgs/clearpath_safety_msgs/CMakeLists.txt
@@ -10,6 +10,7 @@ find_package(catkin REQUIRED
 
 add_message_files(
   FILES
+    Safety.msg
     WatchdogStatus.msg
 )
 
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/Safety.msg b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/Safety.msg
new file mode 100644
index 0000000..e47ba25
--- /dev/null
+++ b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/Safety.msg
@@ -0,0 +1,9 @@
+# Safety monitor message telling us if the safety monitor has been triggered and a message
+# indicating what caused the trigger
+
+uint8 SAFETY_ESTOP = 0
+uint8 SAFETY_SENSOR_TIMEOUT = 1
+
+bool safety_monitor_triggered
+uint8 trigger_type
+string message