lift messages

rmf_lift_msgs/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+
+project(rmf_lift_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 "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+set(msg_files
+  "msg/LiftState.msg"
+  "msg/LiftRequest.msg"
+)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  DEPENDENCIES builtin_interfaces
+  ADD_LINTER_TESTS
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()

rmf_lift_msgs/msg/LiftRequest.msg

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+string lift_name
+
+# session_id should be unique at least between different requesters.
+# For example, session_id could be the requester's node name.
+string session_id
+
+# AGV mode means that the doors are always open when the lift is stopped
+# Human mode means that LiftDoorRequest messages must be used to open/close
+# the doors explicitly, since they may "time out" and close automatically.
+uint8 request_type
+uint8 REQUEST_END_SESSION=0
+uint8 REQUEST_AGV_MODE=1
+uint8 REQUEST_HUMAN_MODE=2
+
+# The destination_floor must be one of the values returned in a LiftState.
+string destination_floor
+
+# Explicit door requests are necessary in "human" mode to open/close doors.
+# Door requests are not necessary in "AGV" mode, when the doors are always
+# held open when the lift cabin is stopped.
+uint8 door_state
+uint8 DOOR_CLOSED=0
+uint8 DOOR_OPEN=2

rmf_lift_msgs/msg/LiftState.msg

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+# lift_time records when the information in this message was generated
+builtin_interfaces/Time lift_time
+
+string lift_name
+
+string[] available_floors
+string current_floor
+string destination_floor
+
+uint8 door_state
+uint8 DOOR_CLOSED=0
+uint8 DOOR_MOVING=1
+uint8 DOOR_OPEN=2
+
+uint8 motion_state
+uint8 MOTION_STOPPED=0
+uint8 MOTION_UP=1
+uint8 MOTION_DOWN=2
+uint8 MOTION_UNKNOWN=3
+
+# We can only set human or agv mode, but we can read other modes: fire, etc.
+uint8[] available_modes
+uint8 current_mode
+uint8 MODE_UNKNOWN=0
+uint8 MODE_HUMAN=1
+uint8 MODE_AGV=2
+uint8 MODE_FIRE=3
+uint8 MODE_OFFLINE=4
+uint8 MODE_EMERGENCY=5
+# we can add more "read-only" modes as we come across more of them.
+
+# this field records the session_id that has been granted control of the lift
+# until it sends a request with a request_type of REQUEST_END_SESSION
+string session_id

rmf_lift_msgs/package.xml

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+<?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_lift_msgs</name>
+  <version>0.0.0</version>
+  <description>Messages used to interface to lifts.</description>
+  <maintainer email="mquigley@openrobotics.org">Morgan Quigley</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <build_depend>builtin_interfaces</build_depend>
+
+  <exec_depend>builtin_interfaces</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>
+