Merge pull request #5 from bdaiinstitute/amessing/frametreesnapshot

[SW-213] Stopped ignoring FrameTreeSnapshot proto
bdaiinstitute · Jun 16, 2023 · 68ccf12 · 68ccf12
2 parents 3a8687b + a2a4464
commit 68ccf12
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Showing 10 changed files with 52 additions and 51 deletions.
diff --git a/msg/Dock.msg b/msg/Dock.msg
@@ -1,44 +1,36 @@
 # AUTOMATICALLY GENERATED BY PROTO CONVERSION
 
-# Name of the service to use.
-string service_name
-# Host machine of the directory server that the docking service is registered with.
-string host
-
-# ID of docking station to dock at.
-uint32 docking_station_id
-
-# Optional child node. Children will have access to the status variables gathered by this node.
-# If specified, child node will determine success/failure of this node.
-#
-# DEPRECATED!  Use docking_command_response_blackboard_key and
-# docking_command_feedback_response_blackboard_key instead.
-
-# Name of the command status variable in the blackboard.  This is the status of the docking
-# command request made to the robot.  Please refer to
-# bosdyn.api.docking.DockingCommandResponse.Status for more details.  Children can use this
-# name to look up docking command status in the blackboard. If no name is provided, status will
-# not be available.
-#
-# DEPRECATED!  Use docking_command_response_blackboard_key and
-# docking_command_feedback_response_blackboard_key instead.
-
-# Name of the feedback status variable in the blackboard.  This is the feedback provided while
-# docking is in progress.  Please refer to
-# bosdyn.api.docking.DockingCommandFeedbackResponse.Status for a list of possible status
-# values.  Children can use this name to look up docking status in the blackboard. If no name
-# is provided, status will not be available.
-#
-# DEPRECATED!  Use docking_command_response_blackboard_key and
-# docking_command_feedback_response_blackboard_key instead.
-
-# Defines how we use the "pre-docking" behavior.
-bosdyn_msgs/PrepPoseBehavior prep_pose_behavior
-
-# If provided, this will write the last DockingCommandFeedbackResponse message
-# to a blackboard variable with this name.
-string docking_command_feedback_response_blackboard_key
-
-# If provided, this will write the last DockingCommandResponse message to
-# a blackboard variable with this name.
-string docking_command_response_blackboard_key
+# The dock itself and the target associated with it
+
+# The docking station ID of the dock corresponds to the number printed on the
+# fiducial, below the part of the fiducial that looks like a QR code.
+# Only fiducial IDs greater than or equal to 500 should be
+# used here because they are reserved for docks.
+uint32 dock_id
+
+# To maximize reliability, at record time, the client should dock the robot
+# while graph_nav is still recording.  When the robot is finished docking,
+# the client should create a waypoint on top of the dock, while the robot is
+# docked, and then stop recording. The waypoint created while the
+# robot is sitting on the dock should be specified here.
+string docked_waypoint_id
+
+# When it is time for the robot to dock, it will approach this target
+# before issuing docking commands. If the user is using graph_nav, the
+# final waypoint in the NavigateRoute OR the waypoint ID in the
+# NavigateTo MUST be at the docking prep pose. To do this, send a docking
+# command to move the robot to the docking prep pose. Then, create a
+# waypoint at the docking prep pose location. Graph_nav is responsible for
+# navigating the robot to the docking prep pose. Once the robot is in the
+# docking prep pose, the docking service does the rest.
+bosdyn_msgs/Target target_prep_pose
+bool target_prep_pose_is_set
+
+# At mission playback, if the robot is unable to reach the dock OR successfully
+# dock, the mission will let the operator know with a user question.  If the operator
+# does not answer, the robot will safely power off.  This parameter controls
+# how long the operator has to answer.
+# This parameter also controls how long robot will wait to retry to undock on
+# a failed undock.
+builtin_interfaces/Duration prompt_duration
+bool prompt_duration_is_set
diff --git a/msg/ImageCapture.msg b/msg/ImageCapture.msg
@@ -9,7 +9,8 @@ bool acquisition_time_is_set
 # A tree-based collection of transformations, which will include the transformations to each image's
 # sensor in addition to transformations to the common frames ("vision", "body", "odom").
 # All transforms within the snapshot are at the acquistion time of the image.
-#     FrameTreeSnapshot transforms_snapshot = 31;
+bosdyn_msgs/FrameTreeSnapshot transforms_snapshot
+bool transforms_snapshot_is_set
 
 # The frame name for the image's sensor source. This will be included in the transform snapshot.
 string frame_name_image_sensor

diff --git a/msg/KinematicState.msg b/msg/KinematicState.msg
@@ -14,7 +14,8 @@ bool acquisition_timestamp_is_set
 # robot body ("body") in addition to transformations to the common frames ("world", "dr") and
 # ground plane estimate "gpe".
 # All transforms within the snapshot are at the acquisition time of kinematic state.
-#     FrameTreeSnapshot transforms_snapshot = 31;
+bosdyn_msgs/FrameTreeSnapshot transforms_snapshot
+bool transforms_snapshot_is_set
 
 # Velocity of the body frame with respect to vision frame and expressed in vision frame.
 # The linear velocity is applied at the origin of the body frame.

diff --git a/msg/LocalGrid.msg b/msg/LocalGrid.msg
@@ -13,7 +13,8 @@ bool acquisition_time_is_set
 # A tree-based collection of transformations, which will include the transformations to each of
 # the returned local grids in addition to transformations to the common frames ("vision", "body", "odom").
 # All transforms within the snapshot are at the acquistion time of the local grid.
-#     FrameTreeSnapshot transforms_snapshot = 31;
+bosdyn_msgs/FrameTreeSnapshot transforms_snapshot
+bool transforms_snapshot_is_set
 
 # The frame name for the local grid data. This frame refers to the corner of cell (0, 0), such that
 # the map data is in the +x, +y quadrant.

diff --git a/msg/ManipulationApiFeedbackResponse.msg b/msg/ManipulationApiFeedbackResponse.msg
@@ -20,4 +20,5 @@ bosdyn_msgs/ManipulationFeedbackState current_state
 # "gripper_nearest_object": 
 #      If the range camera in the hand senses an object, this frame will have the position of
 #      the nearest object.  This is useful for getting a ballpark range measurement.
-#     FrameTreeSnapshot transforms_snapshot_manipulation_data = 3;
+bosdyn_msgs/FrameTreeSnapshot transforms_snapshot_manipulation_data
+bool transforms_snapshot_manipulation_data_is_set
diff --git a/msg/PickObjectInImage.msg b/msg/PickObjectInImage.msg
@@ -7,7 +7,8 @@ bool pixel_xy_is_set
 # A tree-based collection of transformations, which will include the transformations to each image's
 # sensor in addition to transformations to the common frames ("vision", "body", "odom").
 # All transforms within the snapshot are at the acquistion time of the image.
-#     FrameTreeSnapshot transforms_snapshot_for_camera = 2;
+bosdyn_msgs/FrameTreeSnapshot transforms_snapshot_for_camera
+bool transforms_snapshot_for_camera_is_set
 
 # The frame name for the image's sensor source. This must be included in the transform snapshot.
 string frame_name_image_sensor

diff --git a/msg/PointCloudSource.msg b/msg/PointCloudSource.msg
@@ -16,5 +16,6 @@ bool acquisition_time_is_set
 
 # A tree-based collection of transformations, which will include the transformations
 # to the point cloud data frame and the point cloud sensor frame.
-#     FrameTreeSnapshot transforms_snapshot = 31;
+bosdyn_msgs/FrameTreeSnapshot transforms_snapshot
+bool transforms_snapshot_is_set
 
diff --git a/msg/RaycastResponse.msg b/msg/RaycastResponse.msg
@@ -24,4 +24,5 @@ bosdyn_msgs/RayIntersection[] hits
 #
 # Note that each object's frame names are defined within the properties
 # submessage e.g. "frame_name".
-#     FrameTreeSnapshot transforms_snapshot = 4;
+bosdyn_msgs/FrameTreeSnapshot transforms_snapshot
+bool transforms_snapshot_is_set
diff --git a/msg/WalkToObjectInImage.msg b/msg/WalkToObjectInImage.msg
@@ -7,7 +7,8 @@ bool pixel_xy_is_set
 # A tree-based collection of transformations, which will include the transformations to each image's
 # sensor in addition to transformations to the common frames ("vision", "body", "odom").
 # All transforms within the snapshot are at the acquistion time of the image.
-#     FrameTreeSnapshot transforms_snapshot_for_camera = 2;
+bosdyn_msgs/FrameTreeSnapshot transforms_snapshot_for_camera
+bool transforms_snapshot_for_camera_is_set
 
 # The frame name for the image's sensor source. This will be included in the transform snapshot.
 string frame_name_image_sensor

diff --git a/msg/WorldObject.msg b/msg/WorldObject.msg
@@ -23,7 +23,8 @@ bool acquisition_time_is_set
 # "body", "odom"). All transforms within the snapshot are at the acquisition time of the world object.
 # Note that each object's frame names are defined within the properties submessage. For example,
 # the apriltag frame name is defined in the AprilTagProperties message as "frame_name_fiducial"
-#     FrameTreeSnapshot transforms_snapshot = 31;
+bosdyn_msgs/FrameTreeSnapshot transforms_snapshot
+bool transforms_snapshot_is_set
 
 # The drawable properties describe geometric shapes associated with an object.
 bosdyn_msgs/DrawableProperties[] drawable_properties