robotnik_interfaces

A set of packages which contain common interface files from the Robotnik stack (.msg, .srv and .action).

Table of Content

1. Purpose
2. Messages
   • robotnik_std_msgs
     • msg
   • robotnik_safety_msgs
     • msg
   • robotnik_navigation_msgs
     • action
   • robotnik_io_msgs
     • msg
     • srv
   • robotnik_controller_msgs
     • msg
     • srv
   • robotnik_battery_msgs
     • msg

Purpose

Isolating the messages to communicate between stacks in a shared dependency allows nodes in dependent stacks to communicate without requiring dependencies upon each other. This repository has been designed to contain the most common messages used between multiple packages to provide a shared dependency which will eliminate a problematic circular dependency.

Messages

robotnik_std_msgs

Extension of std_msgs

msg

msg	data
BoolArray.msg	bool[] data
Pose2DArray.msg	Pose2D[] data
Pose2DStamped.msg	Header header Pose2D data
StringArray.msg	string[] data
StringStamped.msg	Header header string data

robotnik_safety_msgs

Message for safety system

msg

msg	data
Register.msg	string key string value string type string description
RegisterArray.msg	Register[] registers

robotnik_navigation_msgs

Messages for the different actions of the robot

action

action	goal	result	feedback
Dock.action	string dock_frame string robot_dock_frame geometry_msgs/Pose2D dock_offset geometry_msgs/Twist maximum_velocity	bool success string description	geometry_msgs/Pose2D remaining geometry_msgs/Twist current_velocity
Move.action	geometry_msgs/Pose2D goal geometry_msgs/Twist maximum_velocity	bool success string description	geometry_msgs/Pose2D remaining geometry_msgs/Twist current_velocity

robotnik_io_msgs

Messages to read and write the IO Analgo/Digital of the Robot

msg

msg	data
AnalogIO.msg	int32 id string name float64 value
DigitalIO.msg	int32 id string name bool value
InputsOutputs.msg	DigitalIO[] digital_inputs DigitalIO[] digital_outputs AnalogIO[] analog_inputs AnalogIO[] analog_outputs
NamedInputOutput.msg	string name bool value
NamedInputsOutputs.msg	robotnik_io_msgs/NamedInputOutput[] digital_inputs robotnik_io_msgs/NamedInputOutput[] digital_outputs

srv

srv	input	output
SetAnalogOutput.srv	AnalogIO output	bool success string message
SetDigitalOutput.srv	DigitalIO output	bool success string message

robotnik_controller_msgs

Messages used for the controller state and the kinematics changes

msg

msg	data
ControllerState.msg	string state uint8 state_number

srv

srv	input	output
AvailableKinematics.srv		bool success string[] kinematics
ChangeKinematics.srv	string kinematics	bool success string message
SetOdometry.srv	float32 x float32 y float32 z float32 orientation	bool ret

robotnik_battery_msgs

Messages used by the battery, inverter and docking station

msg

msg	data
BatteryStatus.msg	float32 voltage float32 current float32 level uint32 time_remaining uint32 time_charging bool is_charging float32[] cell_voltages
BatteryStatusStamped.msg	std_msgs/Header header BatteryStatus status
DockingStatus.msg	string MODE_DISABLED=disabled string MODE_AUTO_HW=automatic_hw string MODE_AUTO_SW=automatic_sw string MODE_MANUAL_SW=manual_sw string operation_mode bool contact_relay_status bool charger_relay_status
DockingStatusStamped.msg	std_msgs/Header header DockingStatus status
InverterStatus.msg	float32 ac_voltage float32 dc_voltage float32 load float32 percentage float32 temperature bool on string serial_number
InverterStatusStamped.msg	std_msgs/Header header InverterStatus status