0.2.0

clearpath_platform_msgs/msg/Fans.msg

@@ -1,10 +1,12 @@
 # Location of fans.
-uint8 RIDGEBACK_EQUIPMENT_BAY_INTAKE=0
-uint8 RIDGEBACK_EQUIPMENT_BAY_EXHAUST=1
-uint8 RIDGEBACK_CHARGER_BAY_INTAKE=2
-uint8 RIDGEBACK_CHARGER_BAY_EXHAUST=3
-uint8 RIDGEBACK_USER_BAY_INTAKE=4
-uint8 RIDGEBACK_USER_BAY_EXHAUST=5
+
+# Ridgeback (R100)
+uint8 R100_EQUIPMENT_BAY_INTAKE=0
+uint8 R100_EQUIPMENT_BAY_EXHAUST=1
+uint8 R100_CHARGER_BAY_INTAKE=2
+uint8 R100_CHARGER_BAY_EXHAUST=3
+uint8 R100_USER_BAY_INTAKE=4
+uint8 R100_USER_BAY_EXHAUST=5
 
 # Possible fan states
 uint8 FAN_OFF=0

clearpath_platform_msgs/msg/Lights.msg

@@ -1,25 +1,31 @@
 # Represents a command for the pairs of RGB body lights on a CPR robot.
 
-# Dingo
-uint8 DINGO_LIGHTS_REAR_LEFT=0
-uint8 DINGO_LIGHTS_FRONT_LEFT=1
-uint8 DINGO_LIGHTS_FRONT_RIGHT=2
-uint8 DINGO_LIGHTS_REAR_RIGHT=3
+# Dingo 1.0 (D100)
+uint8 D100_LIGHTS_REAR_LEFT=0
+uint8 D100_LIGHTS_FRONT_LEFT=1
+uint8 D100_LIGHTS_FRONT_RIGHT=2
+uint8 D100_LIGHTS_REAR_RIGHT=3
 
-# Ridgeback
-uint8 RIDGEBACK_LIGHTS_FRONT_PORT_UPPER=0
-uint8 RIDGEBACK_LIGHTS_FRONT_PORT_LOWER=1
-uint8 RIDGEBACK_LIGHTS_FRONT_STARBOARD_UPPER=2
-uint8 RIDGEBACK_LIGHTS_FRONT_STARBOARD_LOWER=3
-uint8 RIDGEBACK_LIGHTS_REAR_PORT_UPPER=4
-uint8 RIDGEBACK_LIGHTS_REAR_PORT_LOWER=5
-uint8 RIDGEBACK_LIGHTS_REAR_STARBOARD_UPPER=6
-uint8 RIDGEBACK_LIGHTS_REAR_STARBOARD_LOWER=7
+# Dingo 1.5 (D150)
+uint8 D150_LIGHTS_REAR_LEFT=0
+uint8 D150_LIGHTS_FRONT_LEFT=1
+uint8 D150_LIGHTS_FRONT_RIGHT=2
+uint8 D150_LIGHTS_REAR_RIGHT=3
 
-# Warthog
-uint8 WARTHOG_LIGHTS_FRONT_LEFT=0
-uint8 WARTHOG_LIGHTS_FRONT_RIGHT=1
-uint8 WARTHOG_LIGHTS_REAR_LEFT=2
-uint8 WARTHOG_LIGHTS_REAR_RIGHT=3
+# Ridgeback (R100)
+uint8 R100_LIGHTS_FRONT_PORT_UPPER=0
+uint8 R100_LIGHTS_FRONT_PORT_LOWER=1
+uint8 R100_LIGHTS_FRONT_STARBOARD_UPPER=2
+uint8 R100_LIGHTS_FRONT_STARBOARD_LOWER=3
+uint8 R100_LIGHTS_REAR_PORT_UPPER=4
+uint8 R100_LIGHTS_REAR_PORT_LOWER=5
+uint8 R100_LIGHTS_REAR_STARBOARD_UPPER=6
+uint8 R100_LIGHTS_REAR_STARBOARD_LOWER=7
+
+# Warthog (W200)
+uint8 W200_LIGHTS_FRONT_LEFT=0
+uint8 W200_LIGHTS_FRONT_RIGHT=1
+uint8 W200_LIGHTS_REAR_LEFT=2
+uint8 W200_LIGHTS_REAR_RIGHT=3
 
 RGB[] lights

clearpath_platform_msgs/msg/Power.msg

@@ -8,35 +8,41 @@ int8 NOT_APPLICABLE=-1
 int8 shore_power_connected  # Indicates if AC power is connected.
 int8 battery_connected      # Indicates if battery is connected.
 int8 power_12v_user_nominal # Indicates if the 12V user power is good.
+int8 charger_connected      # Indicates if a charger is connected.
 int8 charging_complete      # Indicates if charging is complete.
 
 # Voltage rails, in volts
 # Averaged over the message period
 
-# Jackal
-uint8 JACKAL_MEASURED_BATTERY=0
-uint8 JACKAL_MEASURED_5V=1
-uint8 JACKAL_MEASURED_12V=2
-
-# Dingo
-uint8 DINGO_MEASURED_BATTERY=0
-uint8 DINGO_MEASURED_5V=1
-uint8 DINGO_MEASURED_12V=2
-
-# Warthog
-uint8 WARTHOG_MEASURED_BATTERY=0
-uint8 WARTHOG_MEASURED_12V=1
-uint8 WARTHOG_MEASURED_24V=2
-uint8 WARTHOG_MEASURED_48V=3
-
-# Ridgeback
-uint8 RIDGEBACK_MEASURED_BATTERY=0
-uint8 RIDGEBACK_MEASURED_5V=1
-uint8 RIDGEBACK_MEASURED_12V=2
-uint8 RIDGEBACK_MEASURED_INVERTER=3
-uint8 RIDGEBACK_MEASURED_FRONT_AXLE=4
-uint8 RIDGEBACK_MEASURED_REAR_AXLE=5
-uint8 RIDGEBACK_MEASURED_LIGHT=6
+# Jackal (J100)
+uint8 J100_MEASURED_BATTERY=0
+uint8 J100_MEASURED_5V=1
+uint8 J100_MEASURED_12V=2
+
+# Dingo 1.0 (D100)
+uint8 D100_MEASURED_BATTERY=0
+uint8 D100_MEASURED_5V=1
+uint8 D100_MEASURED_12V=2
+
+# Dingo 1.5 (D150)
+uint8 D150_MEASURED_BATTERY=0
+uint8 D150_MEASURED_5V=1
+uint8 D150_MEASURED_12V=2
+
+# Warthog (W200)
+uint8 W200_MEASURED_BATTERY=0
+uint8 W200_MEASURED_12V=1
+uint8 W200_MEASURED_24V=2
+uint8 W200_MEASURED_48V=3
+
+# Ridgeback (R100)
+uint8 R100_MEASURED_BATTERY=0
+uint8 R100_MEASURED_5V=1
+uint8 R100_MEASURED_12V=2
+uint8 R100_MEASURED_INVERTER=3
+uint8 R100_MEASURED_FRONT_AXLE=4
+uint8 R100_MEASURED_REAR_AXLE=5
+uint8 R100_MEASURED_LIGHT=6
 
 # Husky (A200)
 uint8 A200_BATTERY_VOLTAGE=0
@@ -49,25 +55,28 @@ float32[] measured_voltages
 # Current senses available on platform, in amps.
 # Averaged over the message period
 
-# Jackal
-uint8 JACKAL_TOTAL_CURRENT=0
-uint8 JACKAL_COMPUTER_CURRENT=1
-uint8 JACKAL_DRIVE_CURRENT=2
-uint8 JACKAL_USER_CURRENT=3
-
-# Dingo
-uint8 DINGO_TOTAL_CURRENT=0
-uint8 DINGO_COMPUTER_CURRENT=1
-
-# Warthog
-uint8 WARTHOG_TOTAL_CURRENT=0
-uint8 WARTHOG_COMPUTER_CURRENT=1
-uint8 WARTHOG_12V_CURRENT=2
-uint8 WARTHOG_24V_CURRENT=3
-uint8 WARTHOG_48V_CURRENT=4
-
-# Ridgeback
-uint8 RIDGEBACK_TOTAL_CURRENT=0
+# Jackal (J100)
+uint8 J100_TOTAL_CURRENT=0
+uint8 J100_COMPUTER_CURRENT=1
+uint8 J100_DRIVE_CURRENT=2
+uint8 J100_USER_CURRENT=3
+
+# Dingo 1.0 (D100)
+uint8 D100_TOTAL_CURRENT=0
+uint8 D100_COMPUTER_CURRENT=1
+
+# Dingo 1.5 (D150)
+uint8 D150_TOTAL_CURRENT=0
+uint8 D150_COMPUTER_CURRENT=1
+
+# Warthog (W200)
+uint8 W200_TOTAL_CURRENT=0
+uint8 W200_COMPUTER_CURRENT=1
+uint8 W200_12V_CURRENT=2
+uint8 W200_24V_CURRENT=3
+
+# Ridgeback (R100)
+uint8 R100_TOTAL_CURRENT=0
 
 # Husky (A200)
 uint8 A200_MCU_AND_USER_PORT_CURRENT=0

clearpath_platform_msgs/msg/Status.msg

@@ -6,8 +6,8 @@ std_msgs/Header header
 # Robot Hardware ID
 string hardware_id
 
-# Firmware commit hash
-string firmware_commit
+# Firmware version
+string firmware_version
 
 # Times since MCU power-on.
 builtin_interfaces/Duration mcu_uptime