feat: adding custom message for robot query

common/ros_packages/airstack_msgs/CMakeLists.txt

@@ -8,6 +8,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
 find_package(diagnostic_msgs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
@@ -22,10 +23,11 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/BeliefMapData.msg"
   "msg/SearchPrior.msg"
   "msg/TaskAssignment.msg"
+  "msg/query/TextQueryResponse.msg"
   "srv/RobotCommand.srv"
   "srv/TrajectoryMode.srv"
   "srv/TakeoffLandingCommand.srv"
-  DEPENDENCIES std_msgs geometry_msgs diagnostic_msgs
+  DEPENDENCIES std_msgs geometry_msgs sensor_msgs diagnostic_msgs
 )
 
 if(BUILD_TESTING)

common/ros_packages/airstack_msgs/msg/query/TextQueryResponse.msg

@@ -0,0 +1,5 @@
+# This message type is used for the response of a text query from a robot semantic query
+
+std_msgs/Header header      # Header for the message, usually contains timestamp and frame_id
+string tag_name             # The tag associated with the query or response
+sensor_msgs/NavSatFix[] geofence  # Array of GPS fixes (NavSatFix) representing the geofence

common/ros_packages/airstack_msgs/package.xml

@@ -12,11 +12,12 @@
   <depend>std_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>diagnostic_msgs</depend>
-
+  <depend>sensor_msgs</depend>
+
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
   <member_of_group>rosidl_interface_packages</member_of_group>
-  
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>