git commit -m "first commit"

mir_robot/sdc21x0/CHANGELOG.rst

@@ -0,0 +1,60 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package sdc21x0
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.1.7 (2023-01-20)
+------------------
+* Don't set cmake_policy CMP0048
+* Contributors: Martin Günther
+
+1.1.6 (2022-06-02)
+------------------
+
+1.1.5 (2022-02-11)
+------------------
+
+1.1.4 (2021-12-10)
+------------------
+
+1.1.3 (2021-06-11)
+------------------
+
+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)
+------------------
+* Set cmake_policy CMP0048 to fix warning
+* Contributors: Martin Günther
+
+1.0.5 (2020-05-01)
+------------------
+* Add sdc21x0 package, MC/currents topic
+* Contributors: Martin Günther
+
+* Add sdc21x0 package, MC/currents topic
+* Contributors: Martin Günther
+
+1.0.4 (2019-05-06)
+------------------
+
+1.0.3 (2019-03-04)
+------------------
+
+1.0.2 (2018-07-30)
+------------------
+
+1.0.1 (2018-07-17)
+------------------
+
+1.0.0 (2018-07-12)
+------------------

mir_robot/sdc21x0/CMakeLists.txt

@@ -0,0 +1,40 @@
+cmake_minimum_required(VERSION 3.5.1)
+project(sdc21x0)
+
+find_package(catkin REQUIRED COMPONENTS
+  message_generation
+  std_msgs
+)
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+# Generate messages in the 'msg' folder
+add_message_files(
+  FILES
+  Encoders.msg
+  MotorCurrents.msg
+  StampedEncoders.msg
+)
+
+# Generate services in the 'srv' folder
+add_service_files(
+  FILES
+  Flags.srv
+)
+
+# Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+    std_msgs
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+catkin_package(
+  CATKIN_DEPENDS
+    message_runtime
+    std_msgs
+)

mir_robot/sdc21x0/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/sdc21x0/msg/MotorCurrents.msg

@@ -0,0 +1,2 @@
+float32 left_motor
+float32 right_motor

mir_robot/sdc21x0/msg/StampedEncoders.msg

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

mir_robot/sdc21x0/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>sdc21x0</name>
+  <version>1.1.7</version>
+  <description>Message definitions for the sdc21x0 motor controller</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>std_msgs</depend>
+
+  <build_depend>message_generation</build_depend>
+  <exec_depend>message_runtime</exec_depend>
+</package>

mir_robot/sdc21x0/srv/Flags.srv

@@ -0,0 +1,3 @@
+int32 digitalPort
+---
+bool response