From fc9f4645a540f277b9209649dbd53a4d3284f553 Mon Sep 17 00:00:00 2001 From: Tristan McGinnis Date: Tue, 18 Feb 2025 11:57:12 -0600 Subject: [PATCH] Fixing submodule --- .gitmodules | 3 -- src/ros2_interfaces_pkg/.gitignore | 3 -- src/ros2_interfaces_pkg/CMakeLists.txt | 43 ------------------ src/ros2_interfaces_pkg/README.md | 3 -- .../action/AutoCommand.action | 13 ------ src/ros2_interfaces_pkg/msg/control/ArmIK.msg | 33 -------------- .../msg/control/ArmManual.msg | 44 ------------------- .../msg/control/ControllerState.msg | 37 ---------------- .../msg/control/CoreControl.msg | 12 ----- .../msg/feedback/AutoFeedback.msg | 20 --------- .../msg/feedback/CoreFeedback.msg | 24 ---------- .../msg/feedback/DigitFeedback.msg | 13 ------ .../msg/feedback/FaerieFeedback.msg | 20 --------- .../msg/feedback/SocketFeedback.msg | 31 ------------- src/ros2_interfaces_pkg/package.xml | 25 ----------- 15 files changed, 324 deletions(-) delete mode 100644 .gitmodules delete mode 100644 src/ros2_interfaces_pkg/.gitignore delete mode 100644 src/ros2_interfaces_pkg/CMakeLists.txt delete mode 100644 src/ros2_interfaces_pkg/README.md delete mode 100644 src/ros2_interfaces_pkg/action/AutoCommand.action delete mode 100644 src/ros2_interfaces_pkg/msg/control/ArmIK.msg delete mode 100644 src/ros2_interfaces_pkg/msg/control/ArmManual.msg delete mode 100644 src/ros2_interfaces_pkg/msg/control/ControllerState.msg delete mode 100644 src/ros2_interfaces_pkg/msg/control/CoreControl.msg delete mode 100644 src/ros2_interfaces_pkg/msg/feedback/AutoFeedback.msg delete mode 100644 src/ros2_interfaces_pkg/msg/feedback/CoreFeedback.msg delete mode 100644 src/ros2_interfaces_pkg/msg/feedback/DigitFeedback.msg delete mode 100644 src/ros2_interfaces_pkg/msg/feedback/FaerieFeedback.msg delete mode 100644 src/ros2_interfaces_pkg/msg/feedback/SocketFeedback.msg delete mode 100644 src/ros2_interfaces_pkg/package.xml diff --git a/.gitmodules b/.gitmodules deleted file mode 100644 index ccd1110..0000000 --- a/.gitmodules +++ /dev/null @@ -1,3 +0,0 @@ -[submodule "src/ros2_interfaces_pkg"] - path = src/ros2_interfaces_pkg - url = git@github.com:SHC-ASTRA/ros2_interfaces_pkg.git diff --git a/src/ros2_interfaces_pkg/.gitignore b/src/ros2_interfaces_pkg/.gitignore deleted file mode 100644 index e8b072e..0000000 --- a/src/ros2_interfaces_pkg/.gitignore +++ /dev/null @@ -1,3 +0,0 @@ -build -install -log \ No newline at end of file diff --git a/src/ros2_interfaces_pkg/CMakeLists.txt b/src/ros2_interfaces_pkg/CMakeLists.txt deleted file mode 100644 index 3017f2c..0000000 --- a/src/ros2_interfaces_pkg/CMakeLists.txt +++ /dev/null @@ -1,43 +0,0 @@ -cmake_minimum_required(VERSION 3.8) -project(ros2_interfaces_pkg) - -if(POLICY CMP0148) - cmake_policy(SET CMP0148 OLD) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies -find_package(ament_cmake REQUIRED) -find_package(geometry_msgs REQUIRED) -find_package(rosidl_default_generators REQUIRED) - -rosidl_generate_interfaces(${PROJECT_NAME} - "action/AutoCommand.action" - "msg/control/ArmIK.msg" - "msg/control/ArmManual.msg" - "msg/control/ControllerState.msg" - "msg/control/CoreControl.msg" - "msg/feedback/AutoFeedback.msg" - "msg/feedback/SocketFeedback.msg" - "msg/feedback/DigitFeedback.msg" - "msg/feedback/FaerieFeedback.msg" - "msg/feedback/CoreFeedback.msg" - DEPENDENCIES std_msgs geometry_msgs -) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # comment the line when a copyright and license is added to all source files - set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # comment the line when this package is in a git repo and when - # a copyright and license is added to all source files - set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() -endif() - -ament_package() diff --git a/src/ros2_interfaces_pkg/README.md b/src/ros2_interfaces_pkg/README.md deleted file mode 100644 index e4c4083..0000000 --- a/src/ros2_interfaces_pkg/README.md +++ /dev/null @@ -1,3 +0,0 @@ -# rover-Interfaces -Standard repo for all ROS2 Interface files. -Inteded to be a git submodule within the other ros2-related repos. diff --git a/src/ros2_interfaces_pkg/action/AutoCommand.action b/src/ros2_interfaces_pkg/action/AutoCommand.action deleted file mode 100644 index 1397e3b..0000000 --- a/src/ros2_interfaces_pkg/action/AutoCommand.action +++ /dev/null @@ -1,13 +0,0 @@ -# Goal -int64 mission_type -float64 gps_lat_target -float64 gps_long_target -float64 target_radius -float64 period ---- -# Result -int64 final_result ---- -# Feeedback -int64 current_status -float64 distance_remaining \ No newline at end of file diff --git a/src/ros2_interfaces_pkg/msg/control/ArmIK.msg b/src/ros2_interfaces_pkg/msg/control/ArmIK.msg deleted file mode 100644 index 56f02ff..0000000 --- a/src/ros2_interfaces_pkg/msg/control/ArmIK.msg +++ /dev/null @@ -1,33 +0,0 @@ -# Topic: /arm/control/ik - -# User's input on x, y, z axis described as a vector -geometry_msgs/Vector3 movement_vector # [x, y, z] values for the arm's movement in 3D space - -# Gripper control -# -1: Closing -# 0: Stopped -# +1: Opening -int32 gripper - -# Linear Actuator movement direction -# -1: Retracting -# 0: Stopped -# +1: Extending -int32 linear_actuator - -# Laser state -# 0: Off -# 1: On -int32 laser - -# Effector Roll movement direction -# -1: Counterclockwise -# 0: No movement -# +1: Clockwise -int32 effector_roll - -# Effector Yaw movement direction -# -1: Counterclockwise -# 0: No movement -# +1: Clockwise -int32 effector_yaw \ No newline at end of file diff --git a/src/ros2_interfaces_pkg/msg/control/ArmManual.msg b/src/ros2_interfaces_pkg/msg/control/ArmManual.msg deleted file mode 100644 index 94d4552..0000000 --- a/src/ros2_interfaces_pkg/msg/control/ArmManual.msg +++ /dev/null @@ -1,44 +0,0 @@ -# Topic: /arm/control/manual - -# Axis control for rotation and speed multiplier -# Direction of rotation: -# -1: Counterclockwise -# 0: No movement -# +1: Clockwise -# Speed multiplier: -# -2: 2x speed CCW -# 0: No movement -# +2: 2x speed CW -int32 axis0 # Axis 0 control -int32 axis1 # Axis 1 control -int32 axis2 # Axis 2 control -int32 axis3 # Axis 3 control - -# Effector Roll movement direction -# -1: Counterclockwise -# 0: No movement -# +1: Clockwise -int32 effector_roll - -# Effector Yaw movement direction -# -1: Counterclockwise -# 0: No movement -# +1: Clockwise -int32 effector_yaw - -# Gripper control -# -1: Closing -# 0: Stopped -# +1: Opening -int32 gripper - -# Linear Actuator movement direction -# -1: Retracting -# 0: Stopped -# +1: Extending -int32 linear_actuator - -# Laser state -# 0: Off -# 1: On -int32 laser \ No newline at end of file diff --git a/src/ros2_interfaces_pkg/msg/control/ControllerState.msg b/src/ros2_interfaces_pkg/msg/control/ControllerState.msg deleted file mode 100644 index b3a4f9d..0000000 --- a/src/ros2_interfaces_pkg/msg/control/ControllerState.msg +++ /dev/null @@ -1,37 +0,0 @@ -# Controller state message to transmit the entire state of the controller -# This is depricated and currently no longer in use. It remains as a backup in case it's needed. - -#Triggers -float64 lt -float64 rt - -#Bumbers -bool lb -bool rb - -#Menu/Pause buttons (plus/minus on the Gulikit) -bool plus -bool minus - -#Left stick values -float64 ls_x -float64 ls_y - -#Right stick values -float64 rs_x -float64 rs_y - -#Buttons -bool a -bool b -bool x -bool y - -#D-pad -bool d_up -bool d_down -bool d_left -bool d_right - -#Home button -bool home diff --git a/src/ros2_interfaces_pkg/msg/control/CoreControl.msg b/src/ros2_interfaces_pkg/msg/control/CoreControl.msg deleted file mode 100644 index cf38c0c..0000000 --- a/src/ros2_interfaces_pkg/msg/control/CoreControl.msg +++ /dev/null @@ -1,12 +0,0 @@ -# Topic: /core/control - -# Left and right stick control -# Percentage of max speed for each stick (range: 0.0 to 1.0) -float32 left_stick # Left stick percentage of max speed -float32 right_stick # Right stick percentage of max speed - -# Maximum speed setting -int32 max_speed # Maximum duty cycle (range: 0 to 100) - -# Brake mode -bool brake # Is brake mode enabled? \ No newline at end of file diff --git a/src/ros2_interfaces_pkg/msg/feedback/AutoFeedback.msg b/src/ros2_interfaces_pkg/msg/feedback/AutoFeedback.msg deleted file mode 100644 index 70dd46c..0000000 --- a/src/ros2_interfaces_pkg/msg/feedback/AutoFeedback.msg +++ /dev/null @@ -1,20 +0,0 @@ -# Current mission type -int32 mission_type - -# Target Latitude -float64 target_lat - -# Target Longitude -float64 target_long - -# Estimated Distance remaining -float32 distance - -# Update -string update - -# Current job -string current - -# Warning -string warn \ No newline at end of file diff --git a/src/ros2_interfaces_pkg/msg/feedback/CoreFeedback.msg b/src/ros2_interfaces_pkg/msg/feedback/CoreFeedback.msg deleted file mode 100644 index ca9339a..0000000 --- a/src/ros2_interfaces_pkg/msg/feedback/CoreFeedback.msg +++ /dev/null @@ -1,24 +0,0 @@ -# Topic: /core/feedback - -# GPS Data -float64 gps_lat # GPS latitude -float64 gps_long # GPS longitude -int32 gps_sats # Number of active GPS satellites - -# BNO055 Sensor Data -geometry_msgs/Vector3 bno_gyro # x, y, z gyroscope readings from BNO055 -geometry_msgs/Vector3 bno_accel # x, y, z acceleration readings from BNO055 - -# Rover Orientation -float64 orientation # Orientation of the rover relative to North (0 - 359 degrees) - -# BMP Sensor Data -float64 bmp_temp # Temperature reading in Celsius -float64 bmp_alt # Altitude reading in meters -float64 bmp_pres # Pressure reading in millibars (might be hPa) - -# Voltage Readings -float64 bat_voltage # Current voltage of the battery -float64 voltage_12 # Current voltage of the 12V rail -float64 voltage_5 # Current voltage of the 5V rail -float64 voltage_3 # Current voltage of the 3.3V rail \ No newline at end of file diff --git a/src/ros2_interfaces_pkg/msg/feedback/DigitFeedback.msg b/src/ros2_interfaces_pkg/msg/feedback/DigitFeedback.msg deleted file mode 100644 index 0815bd1..0000000 --- a/src/ros2_interfaces_pkg/msg/feedback/DigitFeedback.msg +++ /dev/null @@ -1,13 +0,0 @@ -# Topic: /arm/feedback/digit - -# Current wrist yaw angle -float32 wrist_angle - -# Current voltage of the battery -float32 bat_voltage - -# Current voltage of the 12V rail -float32 voltage_12 - -# Current voltage of the 5V rail -float32 voltage_5 \ No newline at end of file diff --git a/src/ros2_interfaces_pkg/msg/feedback/FaerieFeedback.msg b/src/ros2_interfaces_pkg/msg/feedback/FaerieFeedback.msg deleted file mode 100644 index 4639ece..0000000 --- a/src/ros2_interfaces_pkg/msg/feedback/FaerieFeedback.msg +++ /dev/null @@ -1,20 +0,0 @@ -# Topic: /arm/feedback/faerie - -# Voltage readings -float32 bat_voltage # Current voltage of the battery -float32 voltage_12 # Current voltage of the 12V rail -float32 voltage_5 # Current voltage of the 5V rail - -# SHT sensor data -float32 sht_temp # Temperature in Celsius from the SHT sensor on FAERIE -float32 sht_humidity # Humidity in percentage from the SHT sensor on FAERIE - -# Lux sensor readings -# (placeholders, these will eventually each associate with a specific color) -float32 lux_1 # Lux reading 1 -float32 lux_2 # Lux reading 2 -float32 lux_3 # Lux reading 3 -float32 lux_4 # Lux reading 4 -float32 lux_5 # Lux reading 5 -float32 lux_6 # Lux reading 6 -float32 lux_7 # Lux reading 7 \ No newline at end of file diff --git a/src/ros2_interfaces_pkg/msg/feedback/SocketFeedback.msg b/src/ros2_interfaces_pkg/msg/feedback/SocketFeedback.msg deleted file mode 100644 index a4a6968..0000000 --- a/src/ros2_interfaces_pkg/msg/feedback/SocketFeedback.msg +++ /dev/null @@ -1,31 +0,0 @@ -# Topic: /arm/feedback/socket - -# Axis 0 feedback -float32 axis0_angle # Current joint angle in degrees -float32 axis0_temp # Current motor temperature in Celsius -float32 axis0_voltage # Current motor voltage in volts -float32 axis0_current # Current motor amperage in milliamps - -# Axis 1 feedback -float32 axis1_angle # Current joint angle in degrees -float32 axis1_temp # Current motor temperature in Celsius -float32 axis1_voltage # Current motor voltage in volts -float32 axis1_current # Current motor amperage in milliamps - -# Axis 2 feedback -float32 axis2_angle # Current joint angle in degrees -float32 axis2_temp # Current motor temperature in Celsius -float32 axis2_voltage # Current motor voltage in volts -float32 axis2_current # Current motor amperage in milliamps - -# Axis 3 feedback -float32 axis3_angle # Current joint angle in degrees -float32 axis3_temp # Current motor temperature in Celsius -float32 axis3_voltage # Current motor voltage in volts -float32 axis3_current # Current motor amperage in milliamps - -# Voltage feedback -float32 bat_voltage # Current voltage of the battery -float32 voltage_12 # Current voltage of the 12V rail -float32 voltage_5 # Current voltage of the 5V rail -float32 voltage_3 # Current voltage of the 3.3V rail \ No newline at end of file diff --git a/src/ros2_interfaces_pkg/package.xml b/src/ros2_interfaces_pkg/package.xml deleted file mode 100644 index 0f558e4..0000000 --- a/src/ros2_interfaces_pkg/package.xml +++ /dev/null @@ -1,25 +0,0 @@ - - - - ros2_interfaces_pkg - 0.0.0 - TODO: Package description - tristan - TODO: License declaration - - ament_cmake - - gemoetry_msgs - - rosidl_default_generators - rosidl_default_runtime - rosidl_interface_packages - - - ament_lint_auto - ament_lint_common - - - ament_cmake - -