Added support for VDA5050 v2.0

* Renamed OrderInformation to OrderState * Added factsheet, error and SafetyState message definitions * Added enums for action scopes * Fix lowercase constants and several fields datatypes issue: ipa320#28 Co-authored-by: Alejandro Duarte <[email protected]> Co-authored-by: Florencia Grosso <[email protected]>
clearpathrobotics · Sep 28, 2022 · 90612f2 · 90612f2
1 parent 2024e06
commit 90612f2
Show file tree

Hide file tree

Showing 35 changed files with 307 additions and 66 deletions.
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