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Update msg, srv and action files #4

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merged 8 commits into from
Nov 29, 2024
Merged

Update msg, srv and action files #4

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f88b01e
Update msg, srv and action files
urfeex Nov 13, 2024
c815b2f
Unify small case for message group variables
urfeex Nov 14, 2024
4a37e16
Add action_msgs dependency in package.xml
urfeex Nov 14, 2024
065dd9c
Update IO message restructuring
urfeex Nov 27, 2024
bc258ee
Remove dashboard services for now
urfeex Nov 27, 2024
b41b370
Update SetXXXOutput services
urfeex Nov 27, 2024
7364cf8
Remove unused tool output mode
urfeex Nov 29, 2024
61b6218
Merge branch 'master' into sync_messages
urfeex Nov 29, 2024
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28 changes: 13 additions & 15 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -6,21 +6,30 @@ project(ur_interfaces)
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()

find_package(ament_cmake REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(action_msgs REQUIRED)

set(msg_files
"msg/ActiveTCP.msg"
"msg/Analog.msg"
"msg/AnalogStamped.msg"
"msg/AnalogIO.msg"
"msg/AnalogIOStateStamped.msg"
"msg/BoolStamped.msg"
"msg/ControlCycle.msg"
"msg/Current.msg"
"msg/DigitalPort.msg"
"msg/Digital.msg"
"msg/DigitalIO.msg"
"msg/DigitalIOStateStamped.msg"
"msg/DigitalStamped.msg"
"msg/DoubleMultiArrayStamped.msg"
"msg/Float32Stamped.msg"
"msg/Float64Stamped.msg"
Expand All @@ -41,28 +50,17 @@ set(srv_files
"srv/SetAnalogOutput.srv"
"srv/SetDigitalOutput.srv"
"srv/SetSpeedFraction.srv"
"srv/AddToLog.srv"
"srv/GetLoadedProgram.srv"
"srv/GetProgramState.srv"
"srv/GetRobotMode.srv"
"srv/SetPayload.srv"
"srv/GetSafetyMode.srv"
"srv/IsProgramRunning.srv"
"srv/IsProgramSaved.srv"
"srv/Load.srv"
"srv/Popup.srv"
"srv/RawRequest.srv"
)

set(action_files
"action/SetMode.action"
)

rosidl_generate_interfaces(${PROJECT_NAME}
${action_files}
${msg_files}
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${srv_files}
${action_files}
DEPENDENCIES builtin_interfaces std_msgs geometry_msgs sensor_msgs action_msgs
DEPENDENCIES builtin_interfaces std_msgs geometry_msgs sensor_msgs
ADD_LINTER_TESTS
)

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2 changes: 1 addition & 1 deletion action/SetMode.action
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Expand Up @@ -2,7 +2,7 @@
# non-critical state (e.g. NORMAL or REDUCED), for example after a safety incident happened.

# goal
int8 target_robot_mode
RobotMode target_robot_mode

# Stop program execution before restoring the target mode. Can be used together with 'play_program'.
bool stop_program
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3 changes: 3 additions & 0 deletions msg/ActiveTCP.msg
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@@ -0,0 +1,3 @@
std_msgs/Header header

string data
6 changes: 3 additions & 3 deletions msg/Analog.msg
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@@ -1,6 +1,6 @@
std_msgs/Header header
uint8 CURRENT = 0
uint8 VOLTAGE = 1

uint8 domain # can be VOLTAGE or CURRENT, must match SetAnalogOutput.srv
float32 data
uint8 pin
uint8 domain # can be VOLTAGE or CURRENT
float32 value
3 changes: 3 additions & 0 deletions msg/AnalogIO.msg
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@@ -0,0 +1,3 @@
# Note: The array indices do not necessarily match the pin number
Analog[] analog_inputs
Analog[] analog_outputs
3 changes: 3 additions & 0 deletions msg/AnalogIOStateStamped.msg
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@@ -0,0 +1,3 @@
std_msgs/Header header

AnalogIO io_state
2 changes: 1 addition & 1 deletion msg/DigitalPort.msg → msg/AnalogStamped.msg
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@@ -1,2 +1,2 @@
std_msgs/Header header
bool[] data
Analog data
2 changes: 2 additions & 0 deletions msg/Digital.msg
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@@ -0,0 +1,2 @@
uint8 pin
bool state
3 changes: 3 additions & 0 deletions msg/DigitalIO.msg
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@@ -0,0 +1,3 @@
# Note: The array indices do not necessarily match the pin number
Digital[] digital_inputs
Digital[] digital_outputs
4 changes: 4 additions & 0 deletions msg/DigitalIOStateStamped.msg
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@@ -0,0 +1,4 @@
std_msgs/Header header

DigitalIO configurable_io
DigitalIO standard_io
2 changes: 2 additions & 0 deletions msg/DigitalStamped.msg
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@@ -0,0 +1,2 @@
std_msgs/Header header
Digital data
2 changes: 1 addition & 1 deletion msg/ToolOutputMode.msg
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@@ -1,5 +1,5 @@
std_msgs/Header header
uint8 TOOL_OUPUT=0
uint8 TOOL_OUTPUT=0
uint8 TOOL_POWER=1
uint8 TOOL_SAFE=2
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TOOL_SAFE mode should not be exposed publicly now - it will be released with UR15.

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I just had a talk with embedded, and this mode was there for a while, but just now it starts to be used for safety input on UR15.
It should be removed for now until UR15 is released.


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6 changes: 3 additions & 3 deletions package.xml
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Expand Up @@ -3,7 +3,7 @@
<package format="3">
<name>ur_interfaces</name>
<version>0.0.2</version>
<description>A package containing ROS2 ur message definitions.</description>
<description>A package containing ROS2 UR message definitions.</description>
<maintainer email="[email protected]">Universal Robots A/S</maintainer>
<license>BSD-3-Clause</license>

Expand All @@ -17,14 +17,14 @@
<build_depend>std_msgs</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>action_msgs</build_depend>

<exec_depend>builtin_interfaces</exec_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>action_msgs</exec_depend>

<depend>action_msgs</depend>

<test_depend>ament_lint_common</test_depend>

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