Add support for VDA5050 v2.0

* Rename OrderInformation to OrderState * Add Factsheet, Error and SafetyState message definitions * Add enums for action scopes * Fix lowercase constants and several datatypes issue: ipa320#28 Co-authored-by: Alejandro Duarte <[email protected]> Co-authored-by: Florencia Grosso <[email protected]>
clearpathrobotics · Sep 28, 2022 · 644c0f5 · 644c0f5
1 parent 2024e06
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diff --git a/vda5050_msgs/CMakeLists.txt b/vda5050_msgs/CMakeLists.txt
@@ -16,37 +16,56 @@ find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
 
 set(msg_files
-    "msg/AGVPosition.msg"
     "msg/Action.msg"
     "msg/ActionParameter.msg"
+    "msg/ActionParameterDefinition.msg"
+    "msg/AGVAction.msg"
+    "msg/AGVGeometry.msg"
+    "msg/AGVPosition.msg"
     "msg/BatteryState.msg"
     "msg/BoundingBoxReference.msg"
     "msg/Connection.msg"
     "msg/ControlPoint.msg"
     "msg/CurrentAction.msg"
     "msg/Edge.msg"
     "msg/EdgeState.msg"
+    "msg/Envelope2D.msg"
+    "msg/Envelope3D.msg"
     "msg/Error.msg"
     "msg/ErrorReference.msg"
+    "msg/Factsheet.msg"
     "msg/Info.msg"
     "msg/InfoReference.msg"
     "msg/Header.msg"
     "msg/InstantActions.msg"
     "msg/Load.msg"
     "msg/LoadDimensions.msg"
+    "msg/LoadSet.msg"
+    "msg/LoadSpecification.msg"
+    "msg/MaxArrayLens.msg"
+    "msg/MaxStringLens.msg"
     "msg/Node.msg"
     "msg/NodePosition.msg"
     "msg/NodeState.msg"
+    "msg/OptionalParameter.msg"
     "msg/Order.msg"
-    "msg/OrderInformation.msg"
+    "msg/OrderState.msg"
+    "msg/PhysicalParameters.msg"
+    "msg/PolygonPoint.msg"
+    "msg/Position.msg"
+    "msg/ProtocolFeatures.msg"
+    "msg/ProtocolLimits.msg"
     "msg/SafetyState.msg"
+    "msg/Timing.msg"
     "msg/Trajectory.msg"
+    "msg/TypeSpecification.msg"
     "msg/Velocity.msg"
     "msg/Visualization.msg"
+    "msg/WheelDefinition.msg"
 )
 rosidl_generate_interfaces(${PROJECT_NAME}
   ${msg_files}
-  DEPENDENCIES 
+  DEPENDENCIES
     std_msgs
     builtin_interfaces
 )

diff --git a/vda5050_msgs/msg/AGVAction.msg b/vda5050_msgs/msg/AGVAction.msg
@@ -0,0 +1,10 @@
+string action_type                              # Unique actionType corresponding to action.actionType
+string action_description    
+string[] action_scopes                          # Allowed scopes for using this action-type
+ActionParameterDefinition[] action_parameters   # List of parameters defined for the action
+string result_description
+
+# Enums for action scopes
+string INSTANT = "INSTANT"
+string NODE = "NODE"
+string EDGE = "EDGE"
diff --git a/vda5050_msgs/msg/AGVGeometry.msg b/vda5050_msgs/msg/AGVGeometry.msg
@@ -0,0 +1,3 @@
+WheelDefinition[] wheel_definitions # List of wheels, containing wheel-arrangement and geometry
+Envelope2D[] envelopes2d
+Envelope3D[] envelopes3d            # List of AGV-envelope curves in 3D
diff --git a/vda5050_msgs/msg/AGVPosition.msg b/vda5050_msgs/msg/AGVPosition.msg
@@ -14,9 +14,9 @@ float64 y                     # [m] Y-position on the map in reference to the ma
 
 float64 theta                 # [rad] Range: [-Pi … Pi] Orientation of the AGV. 
 
-string map_id                  # Unique identification of the map in which the position is referenced. Each map has the 
+string map_id                 # Unique identification of the map in which the position is referenced. Each map has the 
                               # same origin of coordinates. When an AGV uses an elevator, e. g. leading from a departure
                               # floor to a target floor, it will disappear off the map of the departure floor and spawn
                               # in the related lift node on the map of the target floor.
 
-string map_description         # Additional information on the map.
+string map_description        # Additional information on the map.
diff --git a/vda5050_msgs/msg/ActionParameterDefinition.msg b/vda5050_msgs/msg/ActionParameterDefinition.msg
@@ -0,0 +1,13 @@
+string key
+string value_data_type
+string description
+bool is_optional
+
+# Enums for valueDataType
+string BOOL = "BOOL"
+string NUMBER = "NUMBER"
+string INTEGER = "INTEGER"
+string FLOAT = "FLOAT"
+string STRING = "STRING"
+string OBJECT = "OBJECT"
+string ARRAY = "ARRAY"
diff --git a/vda5050_msgs/msg/Connection.msg b/vda5050_msgs/msg/Connection.msg
@@ -1,5 +1,5 @@
 # HEADER
-int32 header_id         # header ID of the message. The headerId is defined per topic and incremented by 1 with each sent
+uint32 header_id         # header ID of the message. The headerId is defined per topic and incremented by 1 with each sent
                         # (but not necessarily received) message.
 
 string timestamp        # Timestamp after ISO8601 in the format YYYY-MM-DDTHH:mm:ss.ssZ (e.g.“2017-04-15T11:40:03.12Z”)

diff --git a/vda5050_msgs/msg/Edge.msg b/vda5050_msgs/msg/Edge.msg
@@ -2,7 +2,7 @@
 
 string edge_id                      # Unique edge identification
 
-int32 sequence_id                   # Id to track the sequence of nodes and edges in an order and to simplify order
+uint32 sequence_id                  # Id to track the sequence of nodes and edges in an order and to simplify order
                                     # updates. The variable sequence_id runs across all nodes and edges of the same order
                                     # and is reset when a new order_id is issued.
 

diff --git a/vda5050_msgs/msg/EdgeState.msg b/vda5050_msgs/msg/EdgeState.msg
@@ -1,6 +1,6 @@
 string edge_id                       # Unique edge identification
 
-int32 sequence_id                    # sequenceId to differentiate between multiple edges with
+uint32 sequence_id                   # sequenceId to differentiate between multiple edges with
 
 string edge_description              # Additional information on the edge
 

diff --git a/vda5050_msgs/msg/Envelope2D.msg b/vda5050_msgs/msg/Envelope2D.msg
@@ -0,0 +1,3 @@
+string set                      # Name of the envelope curve set
+PolygonPoint[] polygon_points   # Envelope curve as a x/y-polygon
+string description
diff --git a/vda5050_msgs/msg/Envelope3D.msg b/vda5050_msgs/msg/Envelope3D.msg
@@ -0,0 +1,5 @@
+string set          # Name of the envelope curve set
+string format
+string data
+string url          # Protocol and url-definition for downloading the 3D-envelope curve data
+string description
diff --git a/vda5050_msgs/msg/Error.msg b/vda5050_msgs/msg/Error.msg
@@ -8,5 +8,5 @@ string error_level                             # Enum {warning, fatal} warning:
                                               # intervention required (e.g. laser scanner is contaminated)
 
 # Enums for error_level
-string WARNING="warning"
-string FATAL="fatal"
+string WARNING="WARNING"
+string FATAL="FATAL"
diff --git a/vda5050_msgs/msg/Factsheet.msg b/vda5050_msgs/msg/Factsheet.msg
@@ -0,0 +1,26 @@
+# HEADER
+uint32 header_id                        # header ID of the message. The headerId is defined per topic and incremented by 1 with each sent
+                                        # (but not necessarily received) message.
+
+string timestamp                        # Timestamp after ISO8601 in the format YYYY-MM-DDTHH:mm:ss.ssZ (e.g.“2017-04-15T11:40:03.12Z”)
+
+string version                          # Version of the protocol [Major].[Minor].[Patch] (e.g. 1.3.2)
+
+string manufacturer                     # Manufacturer of the AGV
+
+string serial_number                    # Serial Number of the AGV
+
+# CONTENTS
+TypeSpecification type_specification    # Class and capabilities of the AGV
+
+PhysicalParameters physical_parameters  # Physical properties of the AGV
+
+ProtocolLimits protocol_limits          # Protocol limitations of the AGV
+
+ProtocolFeatures protocol_features      # Supported and/or required optional parameters
+
+AGVGeometry agv_geometry                # Detailed definition of AGV geometry
+
+LoadSpecification load_specification    # Load positions / load handling devices
+
+int32 localization_parameters           # Detailed specification of localization
diff --git a/vda5050_msgs/msg/InstantActions.msg b/vda5050_msgs/msg/InstantActions.msg
@@ -1,4 +1,4 @@
-int32 header_id      # header ID of the message. The headerId is defined per topic and incremented by 1 with each sent 
+uint32 header_id    # header ID of the message. The headerId is defined per topic and incremented by 1 with each sent 
                     # (but not necessarily received) message.
 
 string timestamp    # Timestamp after ISO8601 in the format YYYY-MM-DDTHH:mm:ss.ssZ (e.g.“2017-04-15T11:40:03.12Z”)
@@ -9,4 +9,4 @@ string manufacturer # Manufacturer of the AGV
 
 string serial_number # Serial Number of the AGV
 
-Action[] instant_actions # List of actions to execute
+Action[] actions    # List of actions to execute
diff --git a/vda5050_msgs/msg/Load.msg b/vda5050_msgs/msg/Load.msg
@@ -14,4 +14,4 @@ vda5050_msgs/BoundingBoxReference bounding_box_reference  # Point of reference f
 
 vda5050_msgs/LoadDimensions load_dimensions              # Dimensions of the load’s bounding box in meters.
 
-uint32 weight                                           # Absolute weight of the load measured in kg.
+float64 weight                                           # Absolute weight of the load measured in kg.
diff --git a/vda5050_msgs/msg/LoadSet.msg b/vda5050_msgs/msg/LoadSet.msg
@@ -0,0 +1,35 @@
+string set_name
+
+string load_type
+
+string[] load_positions                     # List of load positions / load handling devices
+
+BoundingBoxReference bounding_box_reference # Bounding box reference as defined in parameter loads[] in state-message
+
+LoadDimensions load_dimensions
+
+float64 max_weight                          # Maximum weight of load type [kg]
+
+float64 min_loadhandling_height             # Minimum allowed height for handling of this load-type and weight [m]
+
+float64 max_loadhandling_height             # Maximum allowed height for handling of this load-type and weight [m]
+
+float64 min_loadhandling_depth              # Minimum allowed depth for this load-type and weight [m]
+
+float64 max_loadhandling_depth              # Maximum allowed depth for this load-type and weight [m]
+
+float64 min_loadhandling_tilt               # Minimum allowed tilt for this load-type and weight [rad]
+
+float64 max_loadhandling_tilt               # Maximum allowed tilt for this load-type and weight [rad]
+
+float64 agv_speed_limit                     # Maximum allowed speed for this load-type and weight [m/s^2]
+
+float64 agv_acceleration_limit              # Maximum allowed acceleration for this load-type and weight [m/s^2]
+
+float64 agv_deceleration_limit              # Maximum allowed deceleration for this load-type and weight [m/s^2]
+
+float64 pick_time                           # Approx. time for picking up the load [s]
+
+float64 drop_time                           # Approx. time for dropping the load [s]
+
+string description                          # Free description of the load handling set
diff --git a/vda5050_msgs/msg/LoadSpecification.msg b/vda5050_msgs/msg/LoadSpecification.msg
@@ -0,0 +1,2 @@
+string[] load_positions   # List of load positions / load handling devices
+LoadSet[] load_sets       # List of load-sets that can be handled by the AGV
diff --git a/vda5050_msgs/msg/MaxArrayLens.msg b/vda5050_msgs/msg/MaxArrayLens.msg
@@ -0,0 +1,31 @@
+uint32 order_nodes                  # Maximum number of nodes per order processable by the AGV
+
+uint32 order_edges                  # Maximum number of edges per order processable by the AGV
+
+uint32 node_actions                 # Maximum number of action per node processable by the AGV
+
+uint32 edge_actions                 # Maximum number of action per edge processable by the AGV
+
+uint32 actions_parameters           # Maximum number of parameters per action processable by the AGV
+
+uint32 instant_actions              # Maximum number of instant actions per message processable by the AGV
+
+uint32 trajectory_knot_vector       # Maximum number of knots per trajectory processable by the AGV
+
+uint32 trajectory_control_points    # Maximum number of control points per trajectory processable by the AGV
+
+uint32 state_node_states            # Maximum number of nodeStates sent by the AGV, maximum number of nodes in base of AGV
+
+uint32 state_edge_states            # Maximum number of edgeStates sent by the AGV, maximum number of edges in base of AGV
+
+uint32 state_loads                  # Maximum number of load-objects sent by the AGV
+
+uint32 state_action_states          # Maximum number of actionStates sent by the AGV
+
+uint32 state_errors                 # Maximum number of errors sent by the AGV in one state-message
+
+uint32 state_information            # Maximum number of information objects sent by the AGV in one state-message
+
+uint32 error_references             # Maximum number of error references sent by the AGV for each error
+
+uint32 info_references              # Maximum number of info references sent by the AGV for each information
diff --git a/vda5050_msgs/msg/MaxStringLens.msg b/vda5050_msgs/msg/MaxStringLens.msg
@@ -0,0 +1,13 @@
+uint32 msg_len          # Maximum MQTT Message length
+
+uint32 topic_serial_len # Maximum length of serial-number part in MQTT-topics
+
+uint32 topic_elem_len   # Maximum length of all other parts in MQTT-topics (timestamp, versions, manufacturer)
+
+uint32 id_len           # Maximum length of ID-Strings
+
+bool id_numerical_only  # If true ID-strings need to contain numerical values only
+
+uint32 enum_len         # Maximum length of ENUM- and Key-Strings
+
+uint32 load_id_len      # Maximum length of loadId Strings
diff --git a/vda5050_msgs/msg/Node.msg b/vda5050_msgs/msg/Node.msg
@@ -2,17 +2,17 @@
 
 string node_id                                     # Unique node identification. 
 
-int32 sequence_id                                  # Id to track the sequence of nodes and edges in an order and to 
+uint32 sequence_id                                # Id to track the sequence of nodes and edges in an order and to 
                                                   # simplify order updates. The variable sequence_id runs across all
                                                   # nodes and edges of the same order and is reset when a new order_id is
                                                   # issued.
 
-string node_description                            # Additional information on the node
+string node_description                           # Additional information on the node
 
 bool released                                     # True indicates that the node is part of the base. False indicates
                                                   # that the node is part of the horizon.
 
-vda5050_msgs/NodePosition node_position                # Node position
+vda5050_msgs/NodePosition node_position           # Node position
 
 
 vda5050_msgs/Action[] actions                     # Array of actions to be executed in node. Empty array if no actions 

diff --git a/vda5050_msgs/msg/NodePosition.msg b/vda5050_msgs/msg/NodePosition.msg
@@ -5,12 +5,6 @@ float64 y                                         # [m] Y-position on the map in
 
 float64 theta                                     # [rad] The angular dimension
 
-string map_id                                     # Unique identification of the map in which the position is referenced. Each map has the same
-                                                  # origin of coordinates. When an AGV uses an elevator, e. g. leading from a departure floor to a
-                                                  # target floor, it will disappear off the map of the departure floor and spawn in the related
-                                                  # lift node on the map of the target floor.
-
-string map_description                            # Additional information on the map
 
 float32 allowed_deviation_x_y                     # Indicates how exact an AGV has to drive over a node in order for it
                                                   # to count as traversed.
@@ -26,3 +20,10 @@ float32 allowed_deviation_theta                   # Range: [0 ... Pi]
                                                   # Indicates how big the deviation of theta angle can be.
                                                   # The lowest acceptable angle  is theta -allowedDevaitionTheta and
                                                   # the  highest acceptable angle is theta + allowedDeviationTheta
+
+string map_id                                     # Unique identification of the map in which the position is referenced. Each map has the same
+                                                  # origin of coordinates. When an AGV uses an elevator, e. g. leading from a departure floor to a
+                                                  # target floor, it will disappear off the map of the departure floor and spawn in the related
+                                                  # lift node on the map of the target floor.
+
+string map_description                            # Additional information on the map
diff --git a/vda5050_msgs/msg/NodeState.msg b/vda5050_msgs/msg/NodeState.msg
@@ -1,7 +1,7 @@
 # Array of nodes to be traversed for fulfilling the order
 
 string node_id                                      # Unique node identification
-int32 sequence_id                                   # sequenceId to discern multiple nodes with same nodeId.
+uint32 sequence_id                                  # sequenceId to discern multiple nodes with same nodeId.
 string node_description                             # Additional information on the node
 vda5050_msgs/NodePosition position                  # Node position (see Topic: Order)
 bool released                                       # true indicates that the node is part of the base. 

diff --git a/vda5050_msgs/msg/OptionalParameter.msg b/vda5050_msgs/msg/OptionalParameter.msg
@@ -0,0 +1,7 @@
+string parameter    # Full name of optional parameter
+string support      # Type of support for the optional parameter
+string description  # Description of optional parameter
+
+# Enums for support
+string SUPPORTED = "SUPPORTED"
+string REQUIRED = "REQUIRED"
diff --git a/vda5050_msgs/msg/Order.msg b/vda5050_msgs/msg/Order.msg
@@ -1,5 +1,5 @@
 # HEADER
-int32 header_id                              # header ID of the message. The header_id is defined per topic and incremented by 1 with each sent
+uint32 header_id                             # header ID of the message. The header_id is defined per topic and incremented by 1 with each sent
                                              # (but not necessarily received) message.
 
 string timestamp                             # Timestamp after ISO8601 in the format YYYY-MM-DDTHH:mm:ss.ssZ (e.g.“2017-04-15T11:40:03.12Z”)
@@ -16,16 +16,12 @@ string order_id                              # Unique order identification
 
 uint32 order_update_id                       # order_update identification. Is unique per order_id. If an order update is
                                              # rejected, this field is to be passed in the rejection message
-
-bool replace                                 # Indicates that previously released base nodes should be replaced by the
-                                             # base of this updated order. If this is not possible, the AGV returns an
-                                             # error code (see errors in topic “state”). The new base has to start at the
-                                             # following node from the current position which has not been traversed yet.
+
+string zone_set_id                           # Unique identifier of the zone set that the AGV has to use for navigation or that was used by master controlfor planning
+                                             # Optional: Some master controlsystems do not use zones. Some AGVs do not understand zones. Do not add to message if no zones are used
 
 vda5050_msgs/Node[] nodes                    # Array of nodes to be traversed for fulfilling the order. The nodes come
                                              # in the sequence of the fulfilling.
 
 vda5050_msgs/Edge[] edges                    # Array of edges to be traversed for fulfilling the order
 
-string zone_set_id                           # Unique identifier of the zone set that the AGV has to use for navigation or that was used by master controlfor planning
-                                             # Optional: Some master controlsystems do not use zones. Some AGVs do not understand zones. Do not add to message if no zones are used
Original file line number	Diff line number	Diff line change
Expand Up		@@ -14,4 +14,4 @@ vda5050_msgs/BoundingBoxReference bounding_box_reference # Point of reference f

		vda5050_msgs/LoadDimensions load_dimensions # Dimensions of the load’s bounding box in meters.

		uint32 weight # Absolute weight of the load measured in kg.
		float64 weight # Absolute weight of the load measured in kg.
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		string[] load_positions # List of load positions / load handling devices
		LoadSet[] load_sets # List of load-sets that can be handled by the AGV