Initial ROS 2 Jazzy

clearpath_motor_msgs/CMakeLists.txt

@@ -17,6 +17,15 @@ find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
+  action/LynxCalibrate.action
+  action/LynxUpdate.action
+  msg/LynxDebug.msg
+  msg/LynxFeedback.msg
+  msg/LynxMultiDebug.msg
+  msg/LynxMultiFeedback.msg
+  msg/LynxMultiStatus.msg
+  msg/LynxStatus.msg
+  msg/LynxSystemProtection.msg
   msg/PumaFeedback.msg
   msg/PumaStatus.msg
   msg/PumaMultiFeedback.msg

clearpath_motor_msgs/action/LynxCalibrate.action

@@ -0,0 +1,7 @@
+# Request
+---
+# Result
+float32[] offset
+---
+# Feedback
+uint16[] iteration

clearpath_motor_msgs/action/LynxUpdate.action

@@ -0,0 +1,8 @@
+# Request
+string file
+---
+# Result
+bool[] success
+---
+# Feedback
+float32[] progress

clearpath_motor_msgs/msg/LynxDebug.msg

@@ -0,0 +1,50 @@
+# Number on the bus (CAN ID).
+uint8 can_id
+
+# Name of joint controlled, or other identifier.
+string joint_name
+
+# Faults triggered per second
+uint16 fault_frequency
+
+# Accumulator Flags
+uint8 ACCUMULATOR_FLAG_ABOVE_RATED=0
+uint8 ACCUMULATOR_FLAG_CONTINUOUS_1_1=1
+uint8 ACCUMULATOR_FLAG_CONTINUOUS_1_2=2
+uint8 ACCUMULATOR_FLAG_CONTINUOUS_1_3=3
+uint8 ACCUMULATOR_FLAG_CONTINUOUS_1_4=4
+uint8 ACCUMULATOR_FLAG_CONTINUOUS_1_5=5
+uint8 ACCUMULATOR_FLAG_CONTINUOUS_1_6=6
+uint8 ACCUMULATOR_FLAG_CONTINUOUS_1_7=7
+uint8 ACCUMULATOR_FLAG_CONTINUOUS_1_8=8
+uint8 ACCUMULATOR_FLAG_CONTINUOUS_1_9=9
+uint8 ACCUMULATOR_FLAG_CONTINUOUS_2_0=10
+uint8 ACCUMULATOR_FLAG_CONTINUOUS_2_1=11
+uint8 ACCUMULATOR_FLAG_CONTINUOUS_2_2=12
+uint8 ACCUMULATOR_FLAG_CONTINUOUS_2_3=13
+uint8 ACCUMULATOR_FLAG_CONTINUOUS_2_4=14
+uint8 ACCUMULATOR_FLAG_CONTINUOUS_2_5=15
+uint8 ACCUMULATOR_FLAG_CONTINUOUS_2_6=16
+uint8 ACCUMULATOR_FLAG_CONTINUOUS_2_7=17
+uint8 ACCUMULATOR_FLAG_CONTINUOUS_2_8=18
+uint8 ACCUMULATOR_FLAG_CONTINUOUS_2_9=19
+uint8 ACCUMULATOR_FLAG_CONTINUOUS_3_0=20
+
+uint32 accumulator_flags
+
+uint8 ACCUMULATOR_ABOVE_RATED=0
+uint8 ACCUMULATOR_CONTINUOUS_1_1=1
+uint8 ACCUMULATOR_CONTINUOUS_1_5=2
+uint8 ACCUMULATOR_CONTINUOUS_2_0=3
+uint8 ACCUMULATOR_CONTINUOUS_2_5=4
+uint8 ACCUMULATOR_CONTINUOUS_3_0=5
+float32[] accumulators
+
+# Current readings (Amps)
+uint8 CURRENT_ID_FB=0
+uint8 CURRENT_ID_FF=1
+uint8 CURRENT_ID_REF=2
+uint8 CURRENT_IQ_FB=3
+uint8 CURRENT_IQ_FF=4
+uint8 CURRENT_IQ_REF=5
+float32[] currents

clearpath_motor_msgs/msg/LynxFeedback.msg

@@ -0,0 +1,14 @@
+# Number on the bus (CAN ID).
+uint8 can_id
+
+# Name of joint controlled, or other identifier.
+string joint_name
+
+# Current consumed (amps RMS).
+float32 current
+
+# Motor voltage (volts).
+float32 voltage
+
+# Angular velocity of the wheel (rad/s).
+float32 velocity

clearpath_motor_msgs/msg/LynxMultiDebug.msg

@@ -0,0 +1,3 @@
+std_msgs/Header header
+
+clearpath_motor_msgs/LynxDebug[] drivers

clearpath_motor_msgs/msg/LynxMultiFeedback.msg

@@ -0,0 +1,3 @@
+std_msgs/Header header
+
+clearpath_motor_msgs/LynxFeedback[] drivers

clearpath_motor_msgs/msg/LynxMultiStatus.msg

@@ -0,0 +1,3 @@
+std_msgs/Header header
+
+clearpath_motor_msgs/LynxStatus[] drivers

clearpath_motor_msgs/msg/LynxStatus.msg

@@ -0,0 +1,39 @@
+# Number on the bus (CAN ID).
+uint8 can_id
+
+# Name of joint controlled, or other identifier.
+string joint_name
+
+# Firmware version
+string firmware_version
+
+# Motor winding temperature (degC).
+float32 motor_temperature
+
+# BLDC MCU temperature (degC)
+float32 mcu_temperature
+
+# BLDC PCB temperature (degC)
+float32 pcb_temperature
+
+# Hardware triggered stop
+bool stopped
+
+# Status Flags
+uint8 STATUS_FLAG_ADC_CALIBRATED=0
+uint8 STATUS_FLAG_ROTOR_CALIBRATED=1
+uint8 STATUS_FLAG_CALIBRATION_REQUESTED=2
+uint8 STATUS_FLAG_CALIBRATION_CANCELLED=3
+uint8 STATUS_FLAG_FIRST_VEL_RECEIVED=4
+uint8 STATUS_FLAG_ESTOPPED=5
+
+uint32 status_flags
+
+# Error Flags
+uint8 ERROR_FLAG_NOT_CALIBRATED=0
+uint8 ERROR_FLAG_MOTOR_FAULT=1
+uint8 ERROR_FLAG_MOTOR_THERMISTOR=2
+uint8 ERROR_FLAG_PCB_THERMISTOR=3
+uint8 ERROR_FLAG_ENCODER=4
+
+uint32 error_flags

clearpath_motor_msgs/msg/LynxSystemProtection.msg

@@ -0,0 +1,19 @@
+std_msgs/Header header
+
+# Protection states
+uint8 NORMAL=0
+uint8 THROTTLED=1
+uint8 OVERHEATED=2
+uint8 ERROR=3
+
+# System state based on highest protection state of motors
+uint8 system_state
+
+# A300
+uint8 A300_MOTOR_REAR_LEFT=0
+uint8 A300_MOTOR_FRONT_LEFT=1
+uint8 A300_MOTOR_FRONT_RIGHT=2
+uint8 A300_MOTOR_REAR_RIGHT=3
+
+# Individual motor protection states
+uint8[] motor_states

clearpath_motor_msgs/package.xml

@@ -14,8 +14,9 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>action_msgs</depend>
-  <depend>std_msgs</depend>
   <depend>builtin_interfaces</depend>
+  <depend>std_msgs</depend>
+
 
   <build_depend>rosidl_default_generators</build_depend>
 

clearpath_platform_msgs/CMakeLists.txt

@@ -25,6 +25,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   msg/RGB.msg
   msg/Status.msg
   msg/StopStatus.msg
+  msg/Temperature.msg
   srv/ConfigureMcu.srv
   DEPENDENCIES std_msgs builtin_interfaces
 )

clearpath_platform_msgs/msg/Fans.msg

@@ -1,5 +1,15 @@
 # Location of fans.
 
+# Common Core (CC01)
+uint8 CC01_FAN1=0
+uint8 CC01_FAN2=1
+uint8 CC01_FAN3=2
+uint8 CC01_FAN4=3
+uint8 CC01_FAN5=4
+uint8 CC01_FAN6=5
+uint8 CC01_FAN7=6
+uint8 CC01_FAN8=7
+
 # Ridgeback (R100)
 uint8 R100_EQUIPMENT_BAY_INTAKE=0
 uint8 R100_EQUIPMENT_BAY_EXHAUST=1
@@ -14,4 +24,4 @@ uint8 FAN_ON_HIGH=1
 uint8 FAN_ON_LOW=2
 
 # Control for the fans
-uint8[] fans
+uint8[] fans

clearpath_platform_msgs/msg/Lights.msg

@@ -28,4 +28,10 @@ uint8 W200_LIGHTS_FRONT_RIGHT=1
 uint8 W200_LIGHTS_REAR_LEFT=2
 uint8 W200_LIGHTS_REAR_RIGHT=3
 
+# Husky (A300)
+uint8 A300_LIGHTS_FRONT_LEFT=0
+uint8 A300_LIGHTS_FRONT_RIGHT=1
+uint8 A300_LIGHTS_REAR_LEFT=2
+uint8 A300_LIGHTS_REAR_RIGHT=3
+
 RGB[] lights

clearpath_platform_msgs/msg/Power.msg

@@ -50,6 +50,21 @@ uint8 A200_LEFT_DRIVER_VOLTAGE=1
 uint8 A200_RIGHT_DRIVER_VOLTAGE=2
 uint8 A200_VOLTAGES_SIZE=3
 
+# CC01
+uint8 CC01_BATTERY_VOLTAGE=0
+uint8 CC01_USER_BATTERY_VOLTAGE=1
+uint8 CC01_USER_24V_VOLTAGE=2
+uint8 CC01_USER_12V_VOLTAGE=3
+uint8 CC01_SYSTEM_12V_VOLTAGE=4
+uint8 CC01_EXPANSION_VOLTAGE=5
+uint8 CC01_BREAKOUT_24V_AUX_VOLTAGE=6
+uint8 CC01_BREAKOUT_12V_AUX_VOLTAGE=7
+uint8 CC01_BREAKOUT_USER_12VA_VOLTAGE=8
+uint8 CC01_BREAKOUT_LYNX1_VOLTAGE=9
+uint8 CC01_BREAKOUT_LYNX2_VOLTAGE=10
+uint8 CC01_BREAKOUT_LYNX3_VOLTAGE=11
+uint8 CC01_BREAKOUT_LYNX4_VOLTAGE=12
+
 float32[] measured_voltages
 
 # Current senses available on platform, in amps.
@@ -84,4 +99,19 @@ uint8 A200_LEFT_DRIVER_CURRENT=1
 uint8 A200_RIGHT_DRIVER_CURRENT=2
 uint8 A200_CURRENTS_SIZE=3
 
+# CC01
+uint8 CC01_BATTERY_PACK_CURRENT=0
+uint8 CC01_USER_BATTERY_CURRENT=1
+uint8 CC01_AUX_CURRENT=2
+uint8 CC01_SYSTEM_12V_CURRENT=3
+uint8 CC01_24_CURRENT=4
+uint8 CC01_12_CURRENT=5
+uint8 CC01_BREAKOUT_USER_24V_CURRENT=6
+uint8 CC01_BREAKOUT_USER_12VA_CURRENT=7
+uint8 CC01_BREAKOUT_USER_12VB_CURRENT=8
+uint8 CC01_BREAKOUT_USER_LYNX1_CURRENT=9
+uint8 CC01_BREAKOUT_USER_LYNX2_CURRENT=10
+uint8 CC01_BREAKOUT_USER_LYNX3_CURRENT=11
+uint8 CC01_BREAKOUT_USER_LYNX4_CURRENT=12
+
 float32[] measured_currents

clearpath_platform_msgs/msg/Temperature.msg

@@ -0,0 +1,27 @@
+# Location of temperature sensors.
+
+std_msgs/Header header
+
+# Common Core (CC01)
+uint8 CC01_MCU=0
+uint8 CC01_FAN1=1
+uint8 CC01_FAN2=2
+uint8 CC01_FAN3=3
+uint8 CC01_FAN4=4
+uint8 CC01_FAN5=5
+uint8 CC01_FAN6=6
+uint8 CC01_FAN7=7
+uint8 CC01_FAN8=8
+uint8 CC01_5V_INDUCTOR=9
+uint8 CC01_MAIN_GND_LUG=10
+uint8 CC01_24V_DCDC=11
+uint8 CC01_12V_DCDC=12
+uint8 CC01_EXT_1=13
+uint8 CC01_EXT_2=14
+uint8 CC01_EXT_3=15
+uint8 CC01_EXT_4=16
+uint8 CC01_BREAKOUT_1=17
+uint8 CC01_BREAKOUT_2=18
+
+# Array of temperature readings in Celsius
+float32[] temperatures