Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

[ONAV-2028] Add assisted teleop messages #31

Merged
merged 6 commits into from
Mar 5, 2024
Merged

[ONAV-2028] Add assisted teleop messages #31

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
f81d403
added assisted teleop messages
jmastrangelo-cpr Feb 6, 2024
5a4eab7
add newline
jmastrangelo-cpr Feb 7, 2024
d760aea
added bypass triger type to state message
jmastrangelo-cpr Feb 21, 2024
b49d97e
change bypass triger to uint8
jmastrangelo-cpr Feb 23, 2024
2858b2a
add new endline
jmastrangelo-cpr Feb 29, 2024
1eb1817
change stop field
jmastrangelo-cpr Mar 5, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 7 additions & 0 deletions clearpath_outdoornav_msgs/clearpath_safety_msgs/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -10,10 +10,17 @@ find_package(catkin REQUIRED

add_message_files(
FILES
AssistedTeleopState.msg
ObstacleMap.msg
Safety.msg
WatchdogStatus.msg
)

add_service_files(
FILES
BypassProtection.srv
)

generate_messages(
DEPENDENCIES
std_msgs
Expand Down
12 changes: 12 additions & 0 deletions clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/AssistedTeleopState.msg
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,12 @@
# Assisted teleoperation message indicating the current state of the protection

uint8 BYPASS_OFF = 0
uint8 BYPASS_SERVICE = 1
uint8 BYPASS_JOYSTICK_OVERRIDE = 2
uint8 BYPASS_SENSOR_TIMEOUT = 3

bool bypassed
uint8 bypass_trigger

bool collision_imminent
bool assisted_stop
3 changes: 3 additions & 0 deletions clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/ObstacleMap.msg
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,3 @@
# Assisted teleoperation message indicating the threat level of obstacles surrounidng the platform

float32[] threat_level
9 changes: 9 additions & 0 deletions clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/BypassProtection.srv
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,9 @@
# Should protection of all inputs be bypassed?
bool bypass

---

# True if we successfully bypassed the protection of the inputs.
# False if there was an error
bool success
string message
Loading