moved msgs package

robotino_msgs/.gitignore

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+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+# Precompiled Headers
+*.gch
+*.pch
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+# Fortran module files
+*.mod
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+# Executables
+*.exe
+*.out
+*.app
+# CMAKE
+CMakeCache.txt
+CMakeFiles
+Makefile
+cmake_install.cmake
+install_manifest.txt
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+# Ignore generated docs
+*.dox
+*.wikidoc
+# eclipse stuff
+.project
+.cproject
+# qcreator stuff
+CMakeLists.txt.user
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+/planning/cfg
+/planning/docs
+/planning/src
+*~
+# Emacs
+.#*
+# Catkin custom files
+CATKIN_IGNORE
+#SVN
+.svn/

robotino_msgs/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(robotino_msgs)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  roscpp
+  std_msgs
+  message_generation
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+# Generate messages in the 'msg' folder
+ add_message_files(
+   FILES
+   AnalogReadings.msg
+   EncoderReadings.msg
+   MotorReadings.msg
+   SetBHAPressures.msg
+   BHAReadings.msg
+   GrapplerReadings.msg
+   NorthStarReadings.msg
+   SetGrapplerAxes.msg
+   DigitalReadings.msg
+   GripperState.msg
+   PowerReadings.msg
+   SetGrapplerAxis.msg
+ )
+
+# Generate services in the 'srv' folder
+ add_service_files(
+   FILES
+   ResetOdometry.srv
+   SetEncoderPosition.srv
+   SetGripperState.srv 
+)
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+ generate_messages(
+   DEPENDENCIES
+   geometry_msgs
+   std_msgs
+ )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES robotino_msgs
+  CATKIN_DEPENDS geometry_msgs roscpp std_msgs message_runtime
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(robotino_msgs
+#   src/${PROJECT_NAME}/robotino_msgs.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(robotino_msgs_node src/robotino_msgs_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(robotino_msgs_node robotino_msgs_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(robotino_msgs_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS robotino_msgs robotino_msgs_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_robotino_msgs.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

robotino_msgs/msg/AnalogReadings.msg

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+time stamp
+float32[] values

robotino_msgs/msg/BHAReadings.msg

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+time stamp
+float32[] pressures	# in bar
+float32[] cablepull

robotino_msgs/msg/DigitalReadings.msg

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+time stamp
+bool[] values

robotino_msgs/msg/EncoderReadings.msg

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+time stamp
+uint32 velocity		# actual velocity in ticks/s
+uint32 position		# actual position in ticks
+uint32 current		# in A

robotino_msgs/msg/GrapplerReadings.msg

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+time stamp
+uint32 seq
+uint32 numServos
+bool torqueEnabled
+float32[] angles		# in degrees
+float32[] velocities	# in rpm
+uint32[] errors
+uint32[] channels
+uint32[] ids
+float32[] cwAxesLimits 	# in degrees
+float32[] ccwAxesLimits	# in degrees

robotino_msgs/msg/GripperState.msg

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+time stamp
+bool state	# true if open else false if closed

robotino_msgs/msg/MotorReadings.msg

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+time stamp
+float32[] velocities 	# in rpm
+int32[] positions
+float32[] currents		# in A

robotino_msgs/msg/NorthStarReadings.msg

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+time stamp
+uint32 seq
+uint32 roomId
+uint32 numSpotsVisible
+geometry_msgs/Pose pose
+uint32 magSpot0
+uint32 magSpot1

robotino_msgs/msg/PowerReadings.msg

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+time stamp	# time-stamp
+float32 current	# current in A
+float32 voltage	# voltage in V

robotino_msgs/msg/SetBHAPressures.msg

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+float32[] pressures	# must be of size 8

robotino_msgs/msg/SetGrapplerAxes.msg

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+time stamp
+float32[] angles		# in degrees
+float32[] velocities	# in rpm

robotino_msgs/msg/SetGrapplerAxis.msg

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+time stamp
+uint32 axis			# axis number (axes start from 0)
+float32 angle		# in degrees
+float32 velocity	# in rpm

robotino_msgs/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>robotino_msgs</name>
+  <version>0.0.0</version>
+  <description>Message defintions for the Festo Robotion robot</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">team02</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/robotino_msgs</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>message_runtime</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!-- <metapackage/> -->
+
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

robotino_msgs/srv/ResetOdometry.srv

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+float32 x # in meters
+float32 y # in meters
+float32 phi # in rad
+---

robotino_msgs/srv/SetEncoderPosition.srv

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+uint32 position		# in encoder ticks
+uint32 velocity		# in ticks/s
+---

robotino_msgs/srv/SetGripperState.srv

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+bool state 	# set true to open else false to close
+---