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Merged
merged 2 commits into from
Oct 17, 2025
Merged

2.1.1 outdoornav msg update #481

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d451a00
added messages for the 2.1.1 release (will released as documentation …
jmastrangelo-cpr Oct 16, 2025
85963f7
added task executor action/service
jmastrangelo-cpr Oct 17, 2025
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2 changes: 2 additions & 0 deletions docs_outdoornav_user_manual/api/api_endpoints/autonomy_api.mdx
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Expand Up @@ -74,6 +74,7 @@ will be `a300_00001`. This can be overwritten in the [robot.yaml](../../../../do
| docking/dock_localizer/add_dock_current_pose| [clearpath_dock_msgs/srv/AddDockCurrentPose](pathname:///api/html/clearpath_dock_msgs/srv/AddDockCurrentPose.html) | Add a dock with the current pose |
| docking/dock_localizer/get_dock_poses| [clearpath_dock_msgs/srv/GetDockPoses](pathname:///api/html/clearpath_dock_msgs/srv/GetDockPoses.html) | Return the dock and predock poses of a specific dock |
| docking/dock_localizer/survey_dock| [clearpath_dock_msgs/srv/SurveyDock](pathname:///api/html/clearpath_dock_msgs/srv/SurveyDock.html) | Survey the docks position |
| execute_task | [clearpath_task_msgs/srv/ExecuteTask](pathname:///api/html/clearpath_task_msgs/srv/ExecuteTask.html) | Run a task as a service |
| localization/lat_lon_to_xy | [clearpath_localization_msgs/srv/ConvertLatLonToCartesian](pathname:///api/html/clearpath_localization_msgs/srv/ConvertLatLonToCartesian.html) | Convert lat/lon condinate to map XY coordinate |
| localization/lat_lon_to_xy_array | [clearpath_localization_msgs/srv/ConvertLatLonToCartesianArray](pathname:///api/html/clearpath_localization_msgs/srv/ConvertLatLonToCartesianArray.html) | Convert a set of lat/lon coordinates to map XY coordinates |
| localization/set_datum | [clearpath_localization_msgs/srv/SetDatum](pathname:///api/html/clearpath_localization_msgs/srv/SetDatum.html) | Set the datum |
Expand Down Expand Up @@ -116,3 +117,4 @@ will be `a300_00001`. This can be overwritten in the [robot.yaml](../../../../do
| autonomy/local_dock | [clearpath_dock_msgs/action/Dock](pathname:///api/html/clearpath_dock_msgs/action/Dock.html) | Dock the platform (charge target must be visible by platform 2D lidar sensor) |
| autonomy/local_undock | [clearpath_dock_msgs/action/Undock](pathname:///api/html/clearpath_dock_msgs/action/Undock.html) | Undock the platform (charge target must be visible by the 2D lidar sensor) |
| autonomy/network_dock | [clearpath_dock_msgs/action/NetworkDock](pathname:///api/html/clearpath_dock_msgs/action/NetworkDock.html) | Send robot to charger (charger must be in the driveable space of the map) |
| execute_task_action | [clearpath_task_msgs/action/ExecuteTask](pathname:///api/html/clearpath_task_msgs/action/ExecuteTask.html) | Run a task as an action |
2 changes: 1 addition & 1 deletion static/api/html/builtin_interfaces/index-msg.html
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Expand Up @@ -12,7 +12,7 @@ <h1>builtin_interfaces Message Documentation</h1>
<li><a href="../builtin_interfaces/msg/Time.html">msg/Time</a></li>
<li><a href="../builtin_interfaces/msg/Duration.html">msg/Duration</a></li>
</ul>
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9 changes: 6 additions & 3 deletions static/api/html/builtin_interfaces/msg/Duration.html
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Expand Up @@ -16,10 +16,13 @@ <h2>Raw Message Definition</h2>
<div class="comment-text"># Messages of this datatype are of ROS Time following this design:</div><br>
<div class="comment-text"># https://design.ros2.org/articles/clock_and_time.html</div><br>
<br>
<div class="comment-text"># Seconds component, range is valid over any possible int32 value.</div><br>
<div class="comment-text"># The seconds component, valid over all int32 values.</div><br>
int32 sec<br>
<br>
<div class="comment-text"># Nanoseconds component in the range of [0, 1e9).</div><br>
<div class="comment-text"># The nanoseconds component, valid in the range [0, 1e9), to be added to the seconds component. </div><br>
<div class="comment-text"># e.g.</div><br>
<div class="comment-text"># The duration -1.7 seconds is represented as {sec: -2, nanosec: 3e8}</div><br>
<div class="comment-text"># The duration 1.7 seconds is represented as {sec: 1, nanosec: 7e8}</div><br>
uint32 nanosec<br>
</div>
<h2>Compact Message Definition</h2>
Expand All @@ -28,7 +31,7 @@ <h2>Compact Message Definition</h2>
uint32 nanosec<br>
</div>
</div>
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7 changes: 5 additions & 2 deletions static/api/html/builtin_interfaces/msg/Time.html
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Expand Up @@ -18,7 +18,10 @@ <h2>Raw Message Definition</h2>
<div class="comment-text"># The seconds component, valid over all int32 values.</div><br>
int32 sec<br>
<br>
<div class="comment-text"># The nanoseconds component, valid in the range [0, 1e9).</div><br>
<div class="comment-text"># The nanoseconds component, valid in the range [0, 1e9), to be added to the seconds component. </div><br>
<div class="comment-text"># e.g.</div><br>
<div class="comment-text"># The time -1.7 seconds is represented as {sec: -2, nanosec: 3e8}</div><br>
<div class="comment-text"># The time 1.7 seconds is represented as {sec: 1, nanosec: 7e8}</div><br>
uint32 nanosec<br>
</div>
<h2>Compact Message Definition</h2>
Expand All @@ -27,7 +30,7 @@ <h2>Compact Message Definition</h2>
uint32 nanosec<br>
</div>
</div>
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4 changes: 2 additions & 2 deletions static/api/html/clearpath_control_msgs/index-msg.html
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<div id="container">
<h1>clearpath_control_msgs Message Documentation</h1>
<ul>
<li><a href="../clearpath_control_msgs/msg/ControlState.html">msg/ControlState</a></li>
<li><a href="../clearpath_control_msgs/msg/ControlSelectionState.html">msg/ControlSelectionState</a></li>
<li><a href="../clearpath_control_msgs/msg/ControlMode.html">msg/ControlMode</a></li>
<li><a href="../clearpath_control_msgs/msg/ControlState.html">msg/ControlState</a></li>
</ul>
<h1>clearpath_control_msgs Service Documentation</h1>
<ul>
<li><a href="../clearpath_control_msgs/srv/SetControlMode.html">srv/SetControlMode</a></li>
</ul>
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2 changes: 1 addition & 1 deletion static/api/html/clearpath_control_msgs/msg/ControlMode.html
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Expand Up @@ -28,7 +28,7 @@ <h2>Compact Message Definition</h2>
int8 mode<br>
</div>
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2 changes: 1 addition & 1 deletion static/api/html/clearpath_control_msgs/msg/ControlSelectionState.html
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Expand Up @@ -23,7 +23,7 @@ <h2>Compact Message Definition</h2>
<a href="../../clearpath_control_msgs/msg/ControlMode.html"> clearpath_control_msgs/msg/ControlMode</a> mode<br>
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2 changes: 1 addition & 1 deletion static/api/html/clearpath_control_msgs/msg/ControlState.html
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Expand Up @@ -23,7 +23,7 @@ <h2>Compact Message Definition</h2>
boolean paused<br>
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2 changes: 1 addition & 1 deletion static/api/html/clearpath_control_msgs/srv/SetControlMode.html
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Expand Up @@ -23,7 +23,7 @@ <h2>Compact Message Definition</h2>
<a href="../../clearpath_control_msgs/msg/ControlMode.html"> clearpath_control_msgs/msg/ControlMode</a> mode<br>
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2 changes: 1 addition & 1 deletion static/api/html/clearpath_dock_msgs/action/Dock.html
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Expand Up @@ -40,7 +40,7 @@ <h2>Compact Message Definition</h2>
string message<br>
</div>
</div>
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2 changes: 1 addition & 1 deletion static/api/html/clearpath_dock_msgs/action/NetworkDock.html
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Expand Up @@ -47,7 +47,7 @@ <h2>Compact Message Definition</h2>
string error_msg<br>
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2 changes: 1 addition & 1 deletion static/api/html/clearpath_dock_msgs/action/Undock.html
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string message<br>
</div>
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22 changes: 11 additions & 11 deletions static/api/html/clearpath_dock_msgs/index-msg.html
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<div id="container">
<h1>clearpath_dock_msgs Message Documentation</h1>
<ul>
<li><a href="../clearpath_dock_msgs/msg/DockState.html">msg/DockState</a></li>
<li><a href="../clearpath_dock_msgs/msg/DockDatabase.html">msg/DockDatabase</a></li>
<li><a href="../clearpath_dock_msgs/msg/DockInfo.html">msg/DockInfo</a></li>
<li><a href="../clearpath_dock_msgs/msg/DockTemplate.html">msg/DockTemplate</a></li>
<li><a href="../clearpath_dock_msgs/msg/TargetTrackerState.html">msg/TargetTrackerState</a></li>
<li><a href="../clearpath_dock_msgs/msg/DockInfoArray.html">msg/DockInfoArray</a></li>
<li><a href="../clearpath_dock_msgs/msg/DockState.html">msg/DockState</a></li>
<li><a href="../clearpath_dock_msgs/msg/DockDatabase.html">msg/DockDatabase</a></li>
</ul>
<h1>clearpath_dock_msgs Service Documentation</h1>
<ul>
<li><a href="../clearpath_dock_msgs/srv/ImportData.html">srv/ImportData</a></li>
<li><a href="../clearpath_dock_msgs/srv/GetDock.html">srv/GetDock</a></li>
<li><a href="../clearpath_dock_msgs/srv/AddDockCurrentPose.html">srv/AddDockCurrentPose</a></li>
<li><a href="../clearpath_dock_msgs/srv/UpdateDock.html">srv/UpdateDock</a></li>
<li><a href="../clearpath_dock_msgs/srv/AddDock.html">srv/AddDock</a></li>
<li><a href="../clearpath_dock_msgs/srv/ExportData.html">srv/ExportData</a></li>
<li><a href="../clearpath_dock_msgs/srv/GetDockDatabase.html">srv/GetDockDatabase</a></li>
<li><a href="../clearpath_dock_msgs/srv/GetDockPoses.html">srv/GetDockPoses</a></li>
<li><a href="../clearpath_dock_msgs/srv/RemoveDock.html">srv/RemoveDock</a></li>
<li><a href="../clearpath_dock_msgs/srv/RunUndocking.html">srv/RunUndocking</a></li>
<li><a href="../clearpath_dock_msgs/srv/AddDockCurrentPose.html">srv/AddDockCurrentPose</a></li>
<li><a href="../clearpath_dock_msgs/srv/ExportData.html">srv/ExportData</a></li>
<li><a href="../clearpath_dock_msgs/srv/RunDocking.html">srv/RunDocking</a></li>
<li><a href="../clearpath_dock_msgs/srv/ImportData.html">srv/ImportData</a></li>
<li><a href="../clearpath_dock_msgs/srv/GetDockPoses.html">srv/GetDockPoses</a></li>
<li><a href="../clearpath_dock_msgs/srv/UpdateDock.html">srv/UpdateDock</a></li>
<li><a href="../clearpath_dock_msgs/srv/GetDockDatabase.html">srv/GetDockDatabase</a></li>
<li><a href="../clearpath_dock_msgs/srv/GetDock.html">srv/GetDock</a></li>
<li><a href="../clearpath_dock_msgs/srv/SurveyDock.html">srv/SurveyDock</a></li>
</ul>
<h1>clearpath_dock_msgs Action Documentation</h1>
<ul>
<li><a href="../clearpath_dock_msgs/action/NetworkDock.html">action/NetworkDock</a></li>
<li><a href="../clearpath_dock_msgs/action/Dock.html">action/Dock</a></li>
<li><a href="../clearpath_dock_msgs/action/NetworkDock.html">action/NetworkDock</a></li>
<li><a href="../clearpath_dock_msgs/action/Undock.html">action/Undock</a></li>
</ul>
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2 changes: 1 addition & 1 deletion static/api/html/clearpath_dock_msgs/msg/DockDatabase.html
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Expand Up @@ -25,7 +25,7 @@ <h2>Compact Message Definition</h2>
<a href="../../clearpath_dock_msgs/msg/DockTemplate.html"> clearpath_dock_msgs/msg/DockTemplate[]</a> templates<br>
</div>
</div>
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Expand Up @@ -53,7 +53,7 @@ <h2>Compact Message Definition</h2>
<a href="../../geometry_msgs/msg/Quaternion.html"> geometry_msgs/msg/Quaternion</a> orientation<br>
</div>
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2 changes: 1 addition & 1 deletion static/api/html/clearpath_dock_msgs/msg/DockInfoArray.html
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<a href="../../clearpath_dock_msgs/msg/DockInfo.html"> clearpath_dock_msgs/msg/DockInfo[]</a> docks<br>
</div>
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uint8 state<br>
</div>
</div>
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<a href="../../geometry_msgs/msg/Pose2D.html"> geometry_msgs/msg/Pose2D</a> t_dock_undock<br>
</div>
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double distance_to_target<br>
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2 changes: 1 addition & 1 deletion static/api/html/clearpath_dock_msgs/srv/AddDock.html
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<a href="../../clearpath_dock_msgs/msg/DockInfo.html"> clearpath_dock_msgs/msg/DockInfo</a> dock<br>
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string dock_template<br>
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<hr/>
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string name<br>
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<hr/>
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string name<br>
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string data<br>
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string name<br>
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string name<br>
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string name<br>
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float timeout<br>
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Expand Up @@ -29,7 +29,7 @@ <h2>Compact Message Definition</h2>
<a href="../../clearpath_dock_msgs/msg/DockInfo.html"> clearpath_dock_msgs/msg/DockInfo</a> dock<br>
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<p class="footer">autogenerated on Jun 19 2025 15:17:06</p>
<p class="footer">autogenerated on Oct 16 2025 21:02:59</p>
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40 changes: 0 additions & 40 deletions static/api/html/clearpath_localization_msgs/action/SurveyBaseStation.html
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