Merge branch 'main' into rmf_scheduler_msgs

rmf_fleet_msgs/CMakeLists.txt

@@ -32,6 +32,8 @@ set(msg_files
   "msg/LaneRequest.msg"
   "msg/ClosedLanes.msg"
   "msg/InterruptRequest.msg"
+  "msg/SpeedLimitedLane.msg"
+  "msg/LaneStates.msg"
 )
 
 set(srv_files

rmf_fleet_msgs/msg/LaneStates.msg

@@ -0,0 +1,8 @@
+# The name of the fleet with closed or speed limited lanes
+string fleet_name
+
+# The indices of the lanes that are currently closed
+uint64[] closed_lanes
+
+# Lanes that have speed limits
+SpeedLimitedLane[] speed_limits

rmf_fleet_msgs/msg/SpeedLimitedLane.msg

@@ -0,0 +1,5 @@
+# The index of the lane with a speed limit
+uint64 lane_index
+
+# The imposed speed limit for the lane
+float64 speed_limit

rmf_obstacle_msgs/CMakeLists.txt

@@ -0,0 +1,36 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(rmf_obstacle_msgs)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  # we dont use add_compile_options with pedantic in message packages
+  # because the Python C extensions dont comply with it
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(vision_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+set(msg_files
+  "msg/Obstacle.msg"
+  "msg/Obstacles.msg"
+)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  ${srv_files}
+  DEPENDENCIES builtin_interfaces geometry_msgs vision_msgs std_msgs
+  ADD_LINTER_TESTS
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()

rmf_obstacle_msgs/msg/Obstacle.msg

@@ -0,0 +1,35 @@
+# All measurements should be w.r.t. header.frame_id
+
+# Standard header
+std_msgs/Header header
+
+# An id for this specific message. This will be used for deletion.
+int32 id
+
+# Unique identifier of the publisher of this message.
+string source
+
+# The level on which this obstacle exists
+string level_name
+
+# A classification label for the detected obstacle. (human, chair, etc)
+string classification
+
+# Bounding box of the obstacle
+vision_msgs/BoundingBox3D bbox
+
+# 3D obstacle data that can be deserialized into an octree.
+# Resolution (in m) of the smallest octree node.
+float64 data_resolution
+
+# Binary serialization of the obstacle octree
+int8[] data
+
+# The expected lifetime of the obstacle
+builtin_interfaces/Duration lifetime
+
+# Whether to add or delete the obstacle of the id provided
+int32 action
+int32 ACTION_ADD=1 # or modify
+int32 ACTION_DELETE=2
+int32 ACTION_DELETEALL=3

rmf_obstacle_msgs/msg/Obstacles.msg

@@ -0,0 +1 @@
+Obstacle[] obstacles

rmf_obstacle_msgs/package.xml

@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rmf_obstacle_msgs</name>
+  <version>2.1.0</version>
+  <description>A package containing messages for describing obstacles in the environment</description>
+  <maintainer email="yadunund@openrobotics.org">Yadunund</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>builtin_interfaces</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>vision_msgs</build_depend>
+
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>vision_msgs</exec_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

rmf_traffic_msgs/srv/RequestChanges.srv

@@ -12,4 +12,6 @@ bool full_update false
 # Response to the request
 uint8 REQUEST_ACCEPTED=1
 uint8 UNKNOWN_QUERY_ID=2
+uint8 ERROR=3
 uint8 result
+string error