update qrb ros msgs packages

inventory_scan_msgs/CMakeLists.txt

@@ -0,0 +1,38 @@
+cmake_minimum_required(VERSION 3.8)
+project(inventory_scan_msgs)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -std=c++17)
+endif()
+
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+# find dependencies
+find_package(ament_cmake_auto REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+ament_auto_find_build_dependencies()
+
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/ScanPath.srv"
+  "srv/ScanControl.srv"
+  "msg/ScanResult.msg"
+  DEPENDENCIES std_msgs
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

inventory_scan_msgs/msg/ScanResult.msg

@@ -0,0 +1,14 @@
+# Copyright (c) 2024 Qualcomm Innovation Center, Inc. All rights reserved.
+# SPDX-License-Identifier: BSD-3-Clause-Clear
+
+uint32 SCANNING        = 0
+uint32 SCAN_ERROR      = 1
+
+uint32 NAVIGATING       = 100
+uint32 NAVI_ERROR       = 101
+uint32 NAVI_IDLE        = 102
+
+uint32 scan_result
+uint32 navi_result
+string[] goods_info
+string[] warnings

inventory_scan_msgs/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>inventory_scan_msgs</name>
+  <version>1.0.0</version>
+  <description>interface for inventory scan</description>
+  <maintainer email="[email protected]">Weizhang Luo</maintainer>
+  <license>BSD-3-Clause-Clear</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>std_msgs</depend>
+  <depend>nav_msgs</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

inventory_scan_msgs/srv/ScanControl.srv

@@ -0,0 +1,14 @@
+# Copyright (c) 2024 Qualcomm Innovation Center, Inc. All rights reserved.
+# SPDX-License-Identifier: BSD-3-Clause-Clear
+
+uint32 START_SCAN      = 0
+uint32 STOP_SCAN       = 1
+
+uint32 cmd_id
+---
+uint32 SCANNING      = 0
+uint32 NAVI_NOT_READY  = 1
+uint32 NAVI_ERROR      = 2
+uint32 SCAN_STOPPED    = 3
+
+uint32 result

inventory_scan_msgs/srv/ScanPath.srv

@@ -0,0 +1,20 @@
+# Copyright (c) 2024 Qualcomm Innovation Center, Inc. All rights reserved.
+# SPDX-License-Identifier: BSD-3-Clause-Clear
+
+uint32 ADD_STATION        = 0
+uint32 DELETE_STATION     = 1
+uint32 ADD_PATH           = 2
+uint32 DELETE_PATH        = 3
+uint32 QUERY_POSE         = 4
+uint32 ADD_FULL_PATH      = 5
+
+uint32 cmd_id
+uint32[] stations
+float32 x
+float32 y
+float32 angle
+---
+bool result
+float32 x
+float32 y
+float32 angle

qrb_ros_amr_msgs/CMakeLists.txt

@@ -0,0 +1,43 @@
+cmake_minimum_required(VERSION 3.5)
+project(qrb_ros_amr_msgs)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "action/Cmd.action"
+  "action/AE.action"
+  "msg/AMRStatus.msg"
+  "msg/WheelStatus.msg"
+  "msg/Exception.msg"
+  "msg/BatteryInfo.msg"
+  "srv/API.srv"
+  "srv/SubCmd.srv"
+  "srv/AMRMode.srv"
+  "srv/NarrowArea.srv"
+  DEPENDENCIES nav_msgs geometry_msgs std_msgs)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

qrb_ros_amr_msgs/action/AE.action

@@ -0,0 +1,8 @@
+# Copyright (c) 2024 Qualcomm Innovation Center, Inc. All rights reserved.
+# SPDX-License-Identifier: BSD-3-Clause-Clear
+
+std_msgs/Empty goal
+---
+std_msgs/Empty result
+---
+geometry_msgs/PoseStamped current_pose

qrb_ros_amr_msgs/action/Cmd.action

@@ -0,0 +1,10 @@
+# Copyright (c) 2024 Qualcomm Innovation Center, Inc. All rights reserved.
+# SPDX-License-Identifier: BSD-3-Clause-Clear
+
+uint8 command
+geometry_msgs/PoseStamped goal
+nav_msgs/Path path
+---
+bool result
+---
+geometry_msgs/PoseStamped current_pose

qrb_ros_amr_msgs/msg/AMRStatus.msg

@@ -0,0 +1,16 @@
+# Copyright (c) 2024 Qualcomm Innovation Center, Inc. All rights reserved.
+# SPDX-License-Identifier: BSD-3-Clause-Clear
+
+uint8 status_change_id
+bool amr_exception
+uint8 error_code
+geometry_msgs/PoseStamped current_pose
+nav_msgs/OccupancyGrid map
+uint8 current_state
+uint8 battery_level
+geometry_msgs/Vector3 linear_vel
+geometry_msgs/Vector3 linear_acc
+geometry_msgs/Vector3 angular_vel
+geometry_msgs/Vector3 angular_acc
+float64 mileage
+std_msgs/Header header

qrb_ros_amr_msgs/msg/BatteryInfo.msg

@@ -0,0 +1,6 @@
+# Copyright (c) 2024 Qualcomm Innovation Center, Inc. All rights reserved.
+# SPDX-License-Identifier: BSD-3-Clause-Clear
+
+std_msgs/Header header
+bool receive_infrared_signal
+uint8 battery_level

qrb_ros_amr_msgs/msg/Exception.msg

@@ -0,0 +1,6 @@
+# Copyright (c) 2024 Qualcomm Innovation Center, Inc. All rights reserved.
+# SPDX-License-Identifier: BSD-3-Clause-Clear
+
+std_msgs/Header header
+bool amr_exception
+uint8 error_code

qrb_ros_amr_msgs/msg/WheelStatus.msg

@@ -0,0 +1,6 @@
+# Copyright (c) 2024 Qualcomm Innovation Center, Inc. All rights reserved.
+# SPDX-License-Identifier: BSD-3-Clause-Clear
+
+std_msgs/Header header
+float32 wheel_speed
+float64 mileage

qrb_ros_amr_msgs/package.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>qrb_ros_amr_msgs</name>
+  <version>1.0.0</version>
+  <description>QRB AMR ROS msg</description>
+
+  <license>BSD-3-Clause-Clear</license>
+
+  <author email="[email protected]">zhanlin</author>
+  <maintainer email="[email protected]">xiaowz</maintainer>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>nav_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>std_msgs</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

qrb_ros_amr_msgs/srv/AMRMode.srv

@@ -0,0 +1,8 @@
+# Copyright (c) 2024 Qualcomm Innovation Center, Inc. All rights reserved.
+# SPDX-License-Identifier: BSD-3-Clause-Clear
+
+std_msgs/Header header
+uint8 change_mode
+float64 odometer
+---
+bool result

qrb_ros_amr_msgs/srv/API.srv

@@ -0,0 +1,7 @@
+# Copyright (c) 2024 Qualcomm Innovation Center, Inc. All rights reserved.
+# SPDX-License-Identifier: BSD-3-Clause-Clear
+
+uint8 api_id
+bool developer_mode
+---
+bool result

qrb_ros_amr_msgs/srv/Mapping.srv

@@ -0,0 +1,3 @@
+bool start_mapping
+---
+bool result

qrb_ros_amr_msgs/srv/NarrowArea.srv

@@ -0,0 +1,12 @@
+# Copyright (c) 2024 Qualcomm Innovation Center, Inc. All rights reserved.
+# SPDX-License-Identifier: BSD-3-Clause-Clear
+
+uint8 api_id
+uint32 narrow_area_id
+float64[8] narrow_area
+geometry_msgs/Vector3 point
+---
+float64[] narrow_area
+geometry_msgs/Vector3 point1
+geometry_msgs/Vector3 point2
+int8 result

qrb_ros_amr_msgs/srv/SubCmd.srv

@@ -0,0 +1,6 @@
+# Copyright (c) 2024 Qualcomm Innovation Center, Inc. All rights reserved.
+# SPDX-License-Identifier: BSD-3-Clause-Clear
+
+uint8 subcommand
+---
+bool result

qrb_ros_audio_common_msgs/CMakeLists.txt

@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 3.5)
+project(qrb_ros_audio_common_msgs)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/AudioInfo.msg"
+  "msg/AudioData.msg"
+  "action/AudioCommon.action"
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

qrb_ros_audio_common_msgs/action/AudioCommon.action

@@ -0,0 +1,25 @@
+AudioInfo audio_info
+# Stream operations (e.g. open, start, stop, close, mute)
+string command
+uint32 stream_handle
+uint32 audio_service_stream_handle
+bool need_timestamp
+# Playback volume [1~100]
+uint8 volume
+bool mute
+# Repeat play count. -1: unlimited, 0: once
+int32 repeat
+# Whether publish pcm data on topic when recording. (true:yes, false:no)
+# Default topic name is qrb_audiodata,
+# client can specify topic name by topic_name.
+bool pub_pcm
+string topic_name
+# Playback or Record path
+string file_path
+---
+uint32 stream_handle
+uint32 audio_service_stream_handle
+string command
+---
+float32 timestamp
+uint32 stream_handle

qrb_ros_audio_common_msgs/msg/AudioData.msg

@@ -0,0 +1,2 @@
+uint32 stream_handle
+uint8[] data

qrb_ros_audio_common_msgs/msg/AudioInfo.msg

@@ -0,0 +1,12 @@
+# This message contains the audio meta data
+
+# Number of channels
+uint8 channels
+# Sampling rate [Hz]
+uint32 sample_rate
+# Audio format [bit] (e.g. 8/16/23/32)
+uint8 sample_format
+# Amount of audio data per second [bits/s]
+uint32 bitrate
+# Audio coding format (e.g. wav)
+string coding_format

qrb_ros_audio_common_msgs/package.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>qrb_ros_audio_common_msgs</name>
+  <version>1.0.0</version>
+  <description>QRB ROS audio common msgs</description>
+  <maintainer email="[email protected]">Ronghui Zhu</maintainer>
+  <license>BSD-3-Clause-Clear</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+  <depend>action_msgs</depend>
+  <depend>rclcpp_actiion</depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>