git commit -m "first commit"

mir_robot/mir_msgs/CHANGELOG.rst

@@ -0,0 +1,101 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package mir_msgs
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.1.7 (2023-01-20)
+------------------
+* Build new msgs (`#117 <https://github.com/DFKI-NI/mir_robot/issues/117>`_)
+  Need to build new msg files. The files were added in a previous commit, but not added here for build and installation.
+* Update MirMoveBase action to 2.10.3.1
+* Update BMSData.msg to MiR software 2.13.2
+  This is an "unsafe" change (it breaks compatibility with MiR versions <=
+  2.13.2), but since BMSData is not published by the mir_driver currently,
+  it should be ok.
+* Add new messages added in MiR software 2.13.4.1
+  This does not break compatibility with earlier versions (like 2.8.3.1),
+  because these messages did not exist before.
+  Actually, these messages were added in 2.10.3.1 (all other messages) and
+  2.13.0.4 (ServiceResponseHeader.msg).
+* Update Brake, Gripper + Height State msg to 2.13.4.1
+  These are "unsafe" message changes (fields have been removed), but it
+  should be ok because these are only used in HookExtendedStatus, and that
+  message isn't forwarded by the mir_driver.
+* Partially update messages to MiR software 2.13.4.1
+  This only contains the "safe" changes, where fields were added. Also, it
+  doesn't include the move of some messages to mir_hook_shared_interface,
+  but keeps them here.
+* Don't set cmake_policy CMP0048
+* Contributors: Martin Günther, moooeeeep
+
+1.1.6 (2022-06-02)
+------------------
+* Rename mir_100 -> mir
+  This is in preparation of mir_250 support.
+* Contributors: Martin Günther
+
+1.1.5 (2022-02-11)
+------------------
+
+1.1.4 (2021-12-10)
+------------------
+* mir_msgs: Build all messages (`#98 <https://github.com/DFKI-NI/mir_robot/issues/98>`_)
+* Contributors: Martin Günther
+
+1.1.3 (2021-06-11)
+------------------
+* Merge branch 'melodic-2.8' into noetic
+* Update BMSData msg to MiR software 2.8.3.1
+* Remove MirStatus
+  This message was removed in MiR software 2.0 (Renamed to RobotStatus).
+* Update mir_msgs to 2.8.2.2
+* Contributors: Felix, Martin Günther
+
+1.1.2 (2021-05-12)
+------------------
+
+1.1.1 (2021-02-11)
+------------------
+* Contributors: Martin Günther
+
+1.1.0 (2020-06-30)
+------------------
+* Initial release into noetic
+* Contributors: Martin Günther
+
+1.0.6 (2020-06-30)
+------------------
+* Fix some catkin_lint warnings
+* Set cmake_policy CMP0048 to fix warning
+* Contributors: Martin Günther
+
+1.0.5 (2020-05-01)
+------------------
+
+1.0.4 (2019-05-06)
+------------------
+* Update mir_msgs and mir_actions to MiR 2.3.1
+  The following changes were made to the actual mir_msgs:
+  * rename mirMsgs -> mir_msgs
+  * rename proximity -> Proximity
+  * rename serial -> Serial
+  * keep MirStatus msg (was replaced by RobotStatus in MiR software 2.0)
+* Contributors: Martin Günther
+
+1.0.3 (2019-03-04)
+------------------
+* mir_msgs: Compile new msgs + rename mirMsgs -> mir_msgs
+* mir_msgs: Add geometry_msgs dependency
+  Now that we have an actual msg package dependency, we don't need the std_msgs placeholder any more.
+* mir_msgs: Add new messages on kinetic
+* Contributors: Martin Günther
+
+1.0.2 (2018-07-30)
+------------------
+
+1.0.1 (2018-07-17)
+------------------
+
+1.0.0 (2018-07-12)
+------------------
+* Initial release
+* Contributors: Martin Günther

mir_robot/mir_msgs/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5.1)
+project(mir_msgs)
+
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  message_generation
+)
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+# Generate messages in the 'msg' folder
+add_message_files(
+  FILES
+    AngleMeasurment.msg
+    BMSData.msg
+    BatteryCurrents.msg
+    BrakeState.msg
+    ChargingState.msg
+    Device.msg
+    Devices.msg
+    EncoderTestEntry.msg
+    Encoders.msg
+    Error.msg
+    Event.msg
+    Events.msg
+    ExternalRobot.msg
+    ExternalRobots.msg
+    Gpio.msg
+    GripperState.msg
+    HeightState.msg
+    HookData.msg
+    HookExtendedStatus.msg
+    HookStatus.msg
+    IOs.msg
+    JoystickVel.msg
+    LocalMapStat.msg
+    MirExtra.msg
+    MirLocalPlannerPathTypes.msg
+    MissionCtrlCommand.msg
+    MissionCtrlState.msg
+    MovingState.msg
+    PalletLifterStatus.msg
+    Path.msg
+    Pendant.msg
+    PlanSegment.msg
+    PlanSegments.msg
+    Pose2D.msg
+    PowerBoardMotorStatus.msg
+    PrecisionDockingStatus.msg
+    Proximity.msg
+    ResourceState.msg
+    ResourcesAcquisition.msg
+    ResourcesState.msg
+    RobotMode.msg
+    RobotState.msg
+    RobotStatus.msg
+    SafetyStatus.msg
+    Serial.msg
+    ServiceResponseHeader.msg
+    SkidDetectionDiff.msg
+    SkidDetectionStampedFloat.msg
+    SoundEvent.msg
+    StampedEncoders.msg
+    TimeDebug.msg
+    Trolley.msg
+    Twist2D.msg
+    UserPrompt.msg
+    WebPath.msg
+    WorldMap.msg
+    WorldModel.msg
+)
+
+# Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+    geometry_msgs
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+catkin_package(
+  CATKIN_DEPENDS
+    geometry_msgs
+    message_runtime
+)

mir_robot/mir_msgs/msg/AngleMeasurment.msg

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+float64 angle #radians
+time timestamp

mir_robot/mir_msgs/msg/BMSData.msg

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+float64 pack_voltage
+float64 charge_current
+float64 discharge_current
+float64 state_of_charge
+float64 remaining_time_to_full_charge
+int32 remaining_capacity
+int32 state_of_health
+int32 DISCHARGING=1 #bit 0
+int32 CHARGING=2    #bit 1
+int32 OV=4         #bit 2 Over voltage
+int32 UV=8          #bit 3 Under voltage
+int32 COC=16         #bit 4 Charge over current
+int32 DOC=32         #bit 5 Discharge over current
+int32 DOT=64         #bit 6 Discharge over temperature
+int32 DUT=128         #bit 7 Discharge under temperature
+int32  SC=512         #bit 9
+int32 COT=1024         #bit 10 Charge over temperature
+int32 CUT=2048         #bit 11 Charge under temperature
+int32 FW_STATUS_MSK=2031616 # to get Battery_Firmware_Status  do the following:
+int32 FW_STATUS_SHIFT=16    # batt_fw_stat=(status_flags & FW_STATUS_MSK)>>FW_STATUS_SHIFT
+int32 FW_UPD_OK=0                  #Battery firmware update finished OK.
+int32 FW_UPD_RUNNING=1             #Battery firmware update running.
+int32 FW_UPD_FAILED_BOOT=2         #Battery firmware update failed in Bootloader (Robot must not drive)
+int32 FW_UPD_FAILED_APP=3          #Battery firmware update failed updating the application (Robot can drive with old FW)
+int32 FW_UPD_FAILED_PARAM=4        #Battery firmware update failed uploading parameters (Robot can drive with old fw and parameters.)
+int32 FW_STATUS_LOW_BATT=5         #Battery firmware update skipped battery too low or high (Robot can drive with old parameters.)
+int32 FW_STATUS_FILE_CORRUPTED=6   #Battery firmware file corrupted (Robot can drive with old parameters.)
+int32 FW_STATUS_CURRENT_TO_HIGH=7  #Battery firmware file corrupted (Robot can drive with old parameters.)
+int32 FW_STATUS_NO_CAN=8           #Battery firmware update skipped no CAN communication (Robot can drive with old fw and parameters.)
+int32 FW_BATTERY_IMBALANCE_HIGH=9  #Battery firmware update is enforced and the battery will be shut off by the new firmware
+int32 status_flags
+int32 temperature
+uint32[] cell_voltage # In Mk2 robots and above the BMS provides data for 8 battery cells. 2Gen robots have BMS for 13 battery cells
+uint32 cell_voltage_diff
+
+string WST_serial
+
+# Exteded diagnosticts for BMZ battery
+uint32 bmz_flag # Flag for enabling extended diagnosticts
+uint32 battery_type
+uint32 BATT_TYPE_UNKNOWN=0      #type is unknown / no communucation
+uint32 BATT_TYPE_BMZ=1          #BMZ battery
+uint32 BATT_TYPE_WST=2          #WST battery
+uint32 BATT_TYPE_SBS=3          #SBS battery
+uint32 BATT_TYPE_SBS_SLIDE=4    #SBS SLIDE battery
+uint32 BATT_TYPE_NO_BMS=255       #WST No BMS battery
+float64 full_voltage
+int32 full_capacity
+int32 temperature2
+int32 temperature_pcb
+int32 cycle_count
+int32 dsg_overcurrent_counter
+int32 chg_overcurrent_counter
+int32 hw_major
+int32 hw_minor
+int32 fw_major
+int32 fw_minor
+int32 fw_patch
+int32 fw_parameters_ok
+int32 rec_fw_major
+int32 rec_fw_minor
+int32 rec_fw_patch
+int32 bl_major
+int32 bl_minor
+uint32 status_enabled
+uint32 status_current_limitation
+uint32 status_switch_off_warn1
+uint32 status_switch_off_warn2
+uint32 status_fully_discharged
+uint32 status_nearly_discharged
+uint32 status_chargefet_on
+uint32 status_dischargefet_on
+uint32 status_discharging
+uint32 status_fully_charged
+uint32 status_charging
+uint32 status_temp_charging_err
+uint32 status_cell_over_voltage
+uint32 status_cell_under_voltage
+uint32 status_charge_over_current
+uint32 status_shortcircuit
+uint32 status_discharge_over_current
+float64 status_chargefet_voltage
+float64 status_dischargefet_voltage
+uint32 status_temp_discharging_err
+uint32 status_charger_detected
+uint32 mnfct_bms_revision
+uint32 mnfct_asn_revision
+uint32 mnfct_year
+uint32 mnfct_week
+uint32 mnfct_model
+uint32 mnfct_serial
+uint32 afe_i2c_error_count
+uint32 app_error_count
+uint32 fet_disable_state
+
+float64 last_battery_msg_time
+
+# SBS battery states
+uint32 SBS_battery_status
+uint32 SBS_battery_status_raw
+uint32 SBS_InitState1=1
+uint32 SBS_InitState2=2
+uint32 SBS_InitState3=3
+uint32 SBS_InitState4=4
+uint32 SBS_Idle=5
+uint32 SBS_Discharge=6
+uint32 SBS_Charge=7
+uint32 SBS_Fault=10
+uint32 SBS_CriticalError=11
+uint32 SBS_PrepareDeepsleep=99
+uint32 SBS_Deepsleep=100
+
+string SBS_serial_1
+string SBS_serial_2
+
+uint32 SBS_arti_nr_1
+uint32 SBS_arti_nr_2
+uint32 SBS_arti_nr_3
+
+uint32 SBS_curr_flow_passive_state
+
+# Overcurrent counters
+uint8 CHG_OC1_Count
+uint8 CHG_OC2_Count
+uint8 DSG_OC1_Count
+uint8 DSG_OC2_Count
+uint8 DSG_OC3_Count
+uint8 AFE_OC1_Count
+uint8 AFE_OC2_Count
+uint8 CHG_LatchClear_Count
+uint8 DSG_LatchClear_Count
+
+uint8 chg_oc_warning
+uint8 dsg_oc_warning

mir_robot/mir_msgs/msg/BatteryCurrents.msg

@@ -0,0 +1,2 @@
+float64 battery1_current
+float64 battery2_current

mir_robot/mir_msgs/msg/BrakeState.msg

@@ -0,0 +1,10 @@
+uint8 UNKNOWN = 0
+uint8 INITIALIZING = 1
+uint8 HOMING = 2
+uint8 ACTIVE = 3
+uint8 INACTIVE = 4
+uint8 ACTIVATING = 5
+uint8 DEACTIVATING = 6
+uint8 ERROR = 7
+
+uint8 state

mir_robot/mir_msgs/msg/ChargingState.msg

@@ -0,0 +1,9 @@
+bool charging_relay
+float64 charging_current
+uint32 charging_current_raw
+float64 last_time_current
+
+float64 charging_voltage
+uint32 charging_voltage_raw
+bool is_voltage_low
+float64 last_time_voltage

mir_robot/mir_msgs/msg/Device.msg

@@ -0,0 +1,2 @@
+string name
+string serial

mir_robot/mir_msgs/msg/Devices.msg

@@ -0,0 +1 @@
+mir_msgs/Device[] devices

mir_robot/mir_msgs/msg/EncoderTestEntry.msg

@@ -0,0 +1,6 @@
+float64 command_velocity
+float64 command_distance
+float64 left_dist
+float64 right_dist
+string suggested_direction
+string user_direction

mir_robot/mir_msgs/msg/Encoders.msg

@@ -0,0 +1,3 @@
+float32 time_delta # Time since last encoder update.
+int32 left_wheel  # Encoder counts (absolute or relative)
+int32 right_wheel # Encoder counts (absolute or relative)

mir_robot/mir_msgs/msg/Error.msg

@@ -0,0 +1,34 @@
+# Definition of offsets indicating what type an error is
+int32 HARDWARE_ERROR = 0
+int32 CPU_LOAD_ERROR = 100
+int32 MEMORY_ERROR = 200
+int32 ETHERNET_ERROR = 300
+int32 HDD_ERROR = 400
+int32 BATTERY_ERROR = 500
+int32 IMU_ERROR = 600
+int32 MOTOR_ERROR = 700
+int32 LASER_ERROR = 800
+int32 CAMERA_ERROR = 900
+int32 SAFETY_SYSTEM_ERROR = 1000
+int32 POWERBOARD_ERROR = 2000
+int32 POWERSUPPLY_ERROR = 2100
+int32 CANBUS_ERROR = 2200
+int32 HOOK_ERROR = 5000
+int32 HOOK_CAMERA_ERROR = 5100
+int32 HOOK_ACTUATOR_ERROR = 5200
+int32 HOOK_BRAKE_ERROR = 5300
+int32 HOOK_ENCODER_ERROR = 5400
+int32 MISSING_ERROR = 9000
+int32 SOFTWARE_ERROR = 10000
+int32 MISSION_ERROR = 10100
+int32 LOCALIZATION_ERROR = 10200
+int32 MAPPING_ERROR = 10300
+int32 ODOM_FUSION_ERROR = 10400
+int32 EVACUATION_ERROR = 12000
+
+
+time timestamp		# Timestamp for when the error occurred
+int32 code 			# Error code
+string description 	# Error description
+string module		# Module in which the error occurred
+bool nolog          # Do not trigger an error log if set to true

mir_robot/mir_msgs/msg/Event.msg

@@ -0,0 +1,13 @@
+uint32 EV_SPEED=1
+uint32 EV_BLINK=2
+uint32 EV_SOUND=3
+uint32 EV_DOOR=4
+uint32 EV_AMCLOFF=5
+uint32 EV_FWDDIST=6
+uint32 EV_IO=7
+uint32 EV_FLEETLCK=8	# Fleet
+uint32 EV_EMERGENCY=9	# Fleet
+uint32 eventType	# The area event type
+string area_guid	# The area unique identifier
+string area_name	# The name of the area
+geometry_msgs/Point[] polygon # An array of corner points that define the edges of the area

mir_robot/mir_msgs/msg/Events.msg

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+Header header
+Event[] events

mir_robot/mir_msgs/msg/ExternalRobot.msg

@@ -0,0 +1,15 @@
+Header header
+uint32 id
+uint32 MIR100=1
+uint32 MIR500=3
+uint32 type_id
+string name
+float64 robot_length
+float64 robot_width
+string footprint
+string ip
+uint32 map_id
+int32 priority
+geometry_msgs/Pose pose
+geometry_msgs/Pose extrapolated_pose
+geometry_msgs/Twist twist

mir_robot/mir_msgs/msg/ExternalRobots.msg

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+Header header
+mir_msgs/ExternalRobot[] robots

mir_robot/mir_msgs/msg/Gpio.msg

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+uint8 POWERBOARD_GPIO = 0
+uint8 POWERBOARD_RESET_SWITCH_LED = 1
+uint8 PENDANT_INPUT = 5
+uint8 AUTO_MODE_SWITCH = 10
+uint8 MANUAL_MODE_SWITCH = 11
+uint8 STOP_BUTTON = 12
+
+uint8 ioport
+uint8 dat

mir_robot/mir_msgs/msg/GripperState.msg

@@ -0,0 +1,9 @@
+uint8 LOCK_UNKNOWN = 0
+uint8 LOCK_HOMING = 1
+uint8 LOCK_OPEN = 2
+uint8 LOCK_OPENING = 3
+uint8 LOCK_CLOSED = 4
+uint8 LOCK_CLOSING = 6
+uint8 LOCK_ERROR = 9
+
+uint8 state

mir_robot/mir_msgs/msg/HeightState.msg

@@ -0,0 +1,7 @@
+uint8 HEIGHT_UNKNOWN = 0
+uint8 HEIGHT_HOMING = 1
+uint8 HEIGHT_IDLE = 2
+uint8 HEIGHT_CHANGING = 3
+uint8 HEIGHT_ERROR = 4
+
+uint8 state

mir_robot/mir_msgs/msg/HookData.msg

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+AngleMeasurment angle
+float64 height
+float64 length
+uint8 brake_state
+uint8 gripper_state
+uint8 height_state

mir_robot/mir_msgs/msg/HookExtendedStatus.msg

@@ -0,0 +1,11 @@
+bool available
+
+BrakeState brake
+
+GripperState gripper
+
+HeightState height
+
+float32 angle
+
+string qr_marker_name

mir_robot/mir_msgs/msg/HookStatus.msg

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+bool available
+float32 length
+float32 height
+float32 angle
+bool braked
+
+bool trolley_attached
+Trolley trolley

mir_robot/mir_msgs/msg/IOs.msg

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+string module_guid
+bool connected
+uint8 DONE=0
+uint8 STARTED=1
+uint8 ERROR=3
+uint8 status
+int8 num_inputs
+bool[] input_state
+int8 num_outputs
+bool[] output_state
+string ip
+string error

mir_robot/mir_msgs/msg/JoystickVel.msg

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+string joystick_token
+geometry_msgs/Twist speed_command

mir_robot/mir_msgs/msg/LocalMapStat.msg

@@ -0,0 +1,3 @@
+int32  idx
+int32  x
+int32  y

mir_robot/mir_msgs/msg/MirExtra.msg

@@ -0,0 +1,7 @@
+# MirExtra - to publish data on a topic
+Header header
+float32 time_delta # Time since last encoder update.
+float32 r_rpm  # rmp speed from right encoder
+float32 l_rpm  # rmp speed from left encoder
+float32 vel # calc velocity
+float32 ang # calculated angle speed

mir_robot/mir_msgs/msg/MirLocalPlannerPathTypes.msg

@@ -0,0 +1,6 @@
+uint8 REVERSE_TROLLEY_STANDARD=1
+uint8 REVERSE_TROLLEY_FAST=2
+uint8 REVERSE_TROLLEY_COMPACT=3
+
+
+uint8 path_type

mir_robot/mir_msgs/msg/MissionCtrlCommand.msg

@@ -0,0 +1,9 @@
+uint8 CMD_GET_STATUS = 0
+uint8 CMD_WAIT_POS_LOCK = 1
+uint8 CMD_WAIT_AREA_LOCK = 2
+uint8 CMD_CONTINUE = 3
+uint8 CMD_LOAD_MISSION = 4
+
+string description
+int32 cmd
+int32 mission_id

mir_robot/mir_msgs/msg/MissionCtrlState.msg

@@ -0,0 +1,11 @@
+uint8 STATE_IDLE = 0
+uint8 STATE_WAIT_POS_LOCK = 1
+uint8 STATE_WAIT_AREA_LOCK = 2
+uint8 STATE_WAIT_MAP_TRANSITION = 10
+uint8 STATE_WAIT_LIFT_START_FLOOR = 11
+uint8 STATE_WAIT_LIFT_END_FLOOR = 12
+uint8 STATE_WAIT_LIFT_END_FLOOR_CONTINUE = 13
+
+
+int32 state
+int32 pos_id

mir_robot/mir_msgs/msg/MovingState.msg

@@ -0,0 +1,6 @@
+uint8 UNKNOWN=0
+uint8 MOVING=1
+uint8 STOPPED=2
+uint8 STANDING_STILL=3
+
+uint8 moving_state	# Current robot moving state

mir_robot/mir_msgs/msg/PalletLifterStatus.msg

@@ -0,0 +1,7 @@
+uint8 PALLET_LIFT_STATE_DISABLED = 0
+uint8 PALLET_LIFT_STATE_MOVING = 1
+uint8 PALLET_LIFT_STATE_DOWN = 2
+uint8 PALLET_LIFT_STATE_UP = 3
+
+bool is_enabled
+uint8 state

mir_robot/mir_msgs/msg/Path.msg

@@ -0,0 +1,2 @@
+Header header
+mir_msgs/Pose2D[] poses

mir_robot/mir_msgs/msg/Pendant.msg

@@ -0,0 +1,3 @@
+float32   x
+float32   y
+uint8     gpio_bits

mir_robot/mir_msgs/msg/PlanSegment.msg

@@ -0,0 +1,5 @@
+bool forward_motion
+int32 start_idx
+float64 length
+float64 remaining_length
+geometry_msgs/PoseStamped[] path

mir_robot/mir_msgs/msg/PlanSegments.msg

@@ -0,0 +1 @@
+mir_msgs/PlanSegment[] p_segments

mir_robot/mir_msgs/msg/Pose2D.msg

@@ -0,0 +1,3 @@
+float32 x
+float32 y
+float32 orientation

mir_robot/mir_msgs/msg/PowerBoardMotorStatus.msg

@@ -0,0 +1,32 @@
+uint16 LeftMotor_CtrlWord
+int32 LeftMotor_Speed
+int32 LeftMotor_Encoder
+uint16 LeftMotor_Status
+uint8 LeftMotor_Error
+uint32 LeftMotor_ErrorHist1
+uint32 LeftMotor_ErrorHist2
+int32 LeftMotor_Current
+uint16 LeftMotor_I2t_Motor
+uint16 LeftMotor_I2t_Controller
+int16 LeftMotor_Temperature
+uint16 RightMotor_CtrlWord
+int32 RightMotor_Speed
+int32 RightMotor_Encoder
+uint16 RightMotor_Status
+uint8 RightMotor_Error
+uint32 RightMotor_ErrorHist1
+uint32 RightMotor_ErrorHist2
+int32 RightMotor_Current
+uint16 RightMotor_I2t_Motor
+uint16 RightMotor_I2t_Controller
+int16 RightMotor_Temperature
+#Status bits for brake feedback.
+uint8 BRAKE_STATUS_BRAKED_BIT=1		# is "1" if brake is supposed to be braked
+uint8 BRAKE_STATUS_FB_BIT=4			# is "1" if brake feedback sensor is activated (brake is released)
+uint8 BRAKE_STATUS_TRANSITION_BIT=128
+# So error combinations are - (Any combination with the TRANSITION bit set are valid)
+#  BRAKED	FB	TRANSITION	STATUSWORD
+#	0		0	0			0x00			Brake is suppused to be released, but FB indicate braked. We are not in transition.
+#	1		1	0			0x05			Brake is suppused to be braked, but FB indicate released. We are not in transition.
+uint8 Brake_LeftStatus
+uint8 Brake_RightStatus

mir_robot/mir_msgs/msg/PrecisionDockingStatus.msg

@@ -0,0 +1,5 @@
+bool connected
+bool motor_forward
+bool motor_back
+bool left_docking
+bool right_docking

mir_robot/mir_msgs/msg/Proximity.msg

@@ -0,0 +1,2 @@
+Header header
+uint16[] ranges

mir_robot/mir_msgs/msg/ResourceState.msg

@@ -0,0 +1,15 @@
+string[] assigned # A list of IPs of all assigned robots (Areas can have more than one robot assigned at a time)
+uint32 ROBOT_POSITION=0
+uint32 STAGING_POSITION=1
+uint32 CHARGING_STATION=2
+uint32 AREA=3
+uint32 ELEVATOR_ENTRY_POSITION=26
+uint32 ELEVATOR_POSITION=25
+uint32 type # The resource type
+uint32 path_idx # The index from the global path in which the robot gets into the position
+float32 distance # The distance from the robot to the resource
+geometry_msgs/Point collision_point # The collision point with the resource
+geometry_msgs/Point[] resource_geometry # The resource_geometry
+string[] queue # The queue for a resource. It's a list of robots ips.
+string name # The name of the resource
+string guid # The guid of the resource

mir_robot/mir_msgs/msg/ResourcesAcquisition.msg

@@ -0,0 +1,4 @@
+Header header
+geometry_msgs/PoseStamped[] path
+string position_guid
+string token

mir_robot/mir_msgs/msg/ResourcesState.msg

@@ -0,0 +1,3 @@
+Header header
+ResourceState[] resources
+string token

mir_robot/mir_msgs/msg/RobotMode.msg

@@ -0,0 +1,9 @@
+# The robot operates in different mode
+uint8 ROBOT_MODE_NONE = 0		# start mode
+uint8 ROBOT_MODE_MAPPING = 3		# in mapping a new map is made
+uint8 ROBOT_MODE_MAPPING_FINALIZING = 4		# in mapping the recorded map is being finalised
+uint8 ROBOT_MODE_MISSION = 7		# primary mode when executing a mission (action list)
+uint8 ROBOT_MODE_CHANGING = 255		# a transition mode - to say that a transition is in progress
+
+uint8 robotMode
+string robotModeString

mir_robot/mir_msgs/msg/RobotState.msg

@@ -0,0 +1,17 @@
+# The robot has to be in a predefined state
+uint8 ROBOT_STATE_NONE = 0
+uint8 ROBOT_STATE_STARTING = 1
+uint8 ROBOT_STATE_SHUTTINGDOWN = 2
+uint8 ROBOT_STATE_READY = 3		# ready to execute
+uint8 ROBOT_STATE_PAUSE = 4		# pause from executing
+uint8 ROBOT_STATE_EXECUTING = 5		# when running in mission/taxa/bus
+uint8 ROBOT_STATE_ABORTED = 6
+uint8 ROBOT_STATE_COMPLETED = 7		# done executing
+uint8 ROBOT_STATE_DOCKED = 8		# in the dock and charging the batteries
+uint8 ROBOT_STATE_DOCKING = 9
+uint8 ROBOT_STATE_EMERGENCYSTOP = 10	# the robot has emg-stop activated
+uint8 ROBOT_STATE_MANUALCONTROL = 11	# a pause state, where the robot can move
+uint8 ROBOT_STATE_ERROR = 12		# a general error state, requires a error handle
+
+uint8 robotState
+string robotStateString

mir_robot/mir_msgs/msg/RobotStatus.msg

@@ -0,0 +1,29 @@
+Header header
+float32 battery_percentage
+int32 battery_time_remaining
+float32 battery_voltage
+float32 distance_to_next_target
+Error[] errors
+string footprint
+HookStatus hook_status
+HookData hook_data
+string map_id
+bool unloaded_map_changes
+int32 mission_queue_id
+string mission_text
+int32 mode_id
+string mode_text
+float64 moved
+Pose2D position
+string robot_name
+string session_id
+string software_version
+uint8 state_id
+string state_text
+int32 uptime
+Twist2D velocity
+mir_msgs/UserPrompt user_prompt
+bool safety_system_muted
+bool joystick_low_speed_mode_enabled
+string joystick_web_session_id
+string mode_key_state

mir_robot/mir_msgs/msg/SafetyStatus.msg

@@ -0,0 +1,40 @@
+bool is_connected
+
+bool is_firmware_ok
+int32 firmware_version
+
+bool in_protective_stop
+bool in_emergency_stop
+bool sto_feedback
+bool is_restart_required
+
+bool is_safety_muted
+float64 max_lin_speed
+float64 max_rot_speed
+
+# Defines for filling out the mute_mask
+uint8 MUTE_FRONT_RIGHT  = 1
+uint8 MUTE_FRONT_CENTER = 2
+uint8 MUTE_FRONT_LEFT   = 4
+uint8 MUTE_LEFT_CENTER  = 8
+uint8 MUTE_REAR_LEFT    = 16
+uint8 MUTE_REAR_CENTER  = 32
+uint8 MUTE_REAR_RIGHT   = 64
+uint8 MUTE_RIGHT_CENTER = 128
+
+uint8 MUTE_FRONT        = 7
+uint8 MUTE_LEFT         = 28
+uint8 MUTE_REAR         = 112
+uint8 MUTE_RIGHT        = 193
+uint8 MUTE_SIDES        = 221
+uint8 MUTE_ALL          = 255
+
+uint8 mute_mask
+uint8 partial_mute_mask
+
+bool is_limited_speed_active
+bool is_lifter_down
+bool in_sleep_mode
+
+bool in_manual_mode
+bool is_manual_mode_restart_required

mir_robot/mir_msgs/msg/Serial.msg

@@ -0,0 +1,2 @@
+Header header
+string data

mir_robot/mir_msgs/msg/ServiceResponseHeader.msg

@@ -0,0 +1,2 @@
+bool success
+string error

mir_robot/mir_msgs/msg/SkidDetectionDiff.msg

@@ -0,0 +1,14 @@
+time time_stamp
+float64 enc_acc_x
+float64 enc_acc_y
+float64 enc_rot_th
+
+
+float64 imu_acc_x
+float64 imu_acc_y
+float64 imu_rot_th
+
+
+float64 diff_acc_x
+float64 diff_acc_y
+float64 diff_rot_th

mir_robot/mir_msgs/msg/SkidDetectionStampedFloat.msg

@@ -0,0 +1,2 @@
+time time_stamp
+float64 value

mir_robot/mir_msgs/msg/SoundEvent.msg

@@ -0,0 +1,16 @@
+time time_stamp
+string sound_guid
+string message
+
+uint8 START=0
+uint8 STOP =1
+uint8 MUTE=2
+uint8 UNMUTE=3
+uint8 PAUSE=4
+uint8 UNPAUSE=5
+uint8 FINISH=6
+uint8 MUTEABLE=7
+uint8 REQ_PLAY=10
+
+
+uint8 event

mir_robot/mir_msgs/msg/StampedEncoders.msg

@@ -0,0 +1,2 @@
+Header header
+Encoders encoders

mir_robot/mir_msgs/msg/TimeDebug.msg

@@ -0,0 +1,2 @@
+string[] description
+float64[] time_elapsed

mir_robot/mir_msgs/msg/Trolley.msg

@@ -0,0 +1,5 @@
+int32 id
+float32 length
+float32 width
+float32 height
+float32 offset_locked_wheels

mir_robot/mir_msgs/msg/Twist2D.msg

@@ -0,0 +1,2 @@
+float32 linear
+float32 angular

mir_robot/mir_msgs/msg/UserPrompt.msg

@@ -0,0 +1,6 @@
+bool has_request
+string guid
+string user_group
+string question
+string[] options
+duration timeout

mir_robot/mir_msgs/msg/WebPath.msg

@@ -0,0 +1,3 @@
+int32 seq
+float32[] x
+float32[] y

mir_robot/mir_msgs/msg/WorldMap.msg

@@ -0,0 +1,4 @@
+mir_msgs/ResourcesState positions
+mir_msgs/ResourcesState areas
+mir_msgs/ExternalRobots robots
+int32 map_id

mir_robot/mir_msgs/msg/WorldModel.msg

@@ -0,0 +1,3 @@
+Header header
+mir_msgs/WorldMap[] world_map # world model for a particular map
+bool enable_resource_tracking

mir_robot/mir_msgs/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>mir_msgs</name>
+  <version>1.1.7</version>
+  <description>Message definitions for the MiR robot</description>
+
+  <maintainer email="martin.guenther@dfki.de">Martin Günther</maintainer>
+  <author email="martin.guenther@dfki.de">Martin Günther</author>
+
+  <license>BSD</license>
+
+  <url type="website">https://github.com/DFKI-NI/mir_robot</url>
+  <url type="repository">https://github.com/DFKI-NI/mir_robot</url>
+  <url type="bugtracker">https://github.com/DFKI-NI/mir_robot/issues</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>geometry_msgs</depend>
+
+  <build_depend>message_generation</build_depend>
+  <exec_depend>message_runtime</exec_depend>
+</package>