Merge branch 'base_hw_universal_drives' of https://github.com/Robotni…

…kAutomation/robotnik_msgs into base_hw_universal_drives
RobotnikAutomation · Feb 21, 2022 · f657d76 · f657d76
2 parents f5ef62b + 70b9f5c
commit f657d76
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Showing 4 changed files with 13 additions and 6 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -105,6 +105,7 @@ add_service_files(
     GetMotorsHeadingOffset.srv
     GetPOI.srv
     SetString.srv
+    SetInt16.srv
     GetPTZ.srv
     SetByte.srv
     SetCurrent.srv

diff --git a/msg/SafetyModuleStatus.msg b/msg/SafetyModuleStatus.msg
@@ -1,17 +1,20 @@
 # robot safety mode
 string SAFE=safe
-string OVERRIDABLE=overridable
-string EMERGENCY=emergency
+#string OVERRIDABLE=overridable
+#string EMERGENCY=emergency
 string LASER_MUTE=laser_mute
 
+string OM_AUTO=auto
+string OM_MANUAL=manual
+string OM_MAINTENANCE=maintenance
+
+
+string operation_mode
 string safety_mode
-bool charging
 bool emergency_stop        # if e-stop is pressed
 bool safety_stop           # if system is stopped due to safety system
-bool safety_overrided      # if safety system is overrided
 bool lasers_on_standby     # if lasers don't have power
 float64 current_speed       # current speed measured by safety system
-float64 speed_at_safety_stop  # speed measured at last safety stop by safety system
 
 robotnik_msgs/LaserMode lasers_mode
 robotnik_msgs/LaserStatus[] lasers_status
diff --git a/package.xml b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>robotnik_msgs</name>
-  <version>1.2.0</version>
+  <version>2.1.0</version>
   <description>The robotnik_msgs package. Common messages and services used by some Robotnik's packages.</description>
 
   <maintainer email="jgomez@robotnik.es">Jose Gómez</maintainer>

diff --git a/srv/SetInt16.srv b/srv/SetInt16.srv
@@ -0,0 +1,3 @@
+std_msgs/Int16 data
+---
+robotnik_msgs/ReturnMessage ret