georg_interfaces

Message descriptions for Ohm @home robots

These Messages/Services/Actions are each implemented by the robot's subsystems.
This robot utilizes a Functional approach to subsystems, decreasing operational overhead,
and making it easier to use a central planning system + AI interaction.

Example messages

Enums

# Power supply status constants
uint8 POWER_SUPPLY_STATUS_UNKNOWN = 0
uint8 POWER_SUPPLY_STATUS_CHARGING = 1
uint8 POWER_SUPPLY_STATUS_DISCHARGING = 2
uint8 POWER_SUPPLY_STATUS_NOT_CHARGING = 3
uint8 POWER_SUPPLY_STATUS_FULL = 4

<...>

uint8   power_supply_status     # The charging status as reported. Values defined above

Polling (no-request) service

---
bool is_calibrated

Pinging (request-only) service

trajectory_msgs/JointTrajectory trajectory
---

Action with no return

geometry_msgs/PointStamped target
geometry_msgs/Vector3 pointing_axis
string pointing_frame
builtin_interfaces/Duration min_duration
float64 max_velocity
---
---
float64 pointing_angle_error

Resources

Many more example messages/services/actions can be found here:

• https://github.com/ros-controls/control_msgs/blob/master/control_msgs/
• https://github.com/ros2/common_interfaces/blob/jazzy/