74 lines
1.3 KiB
Protocol Buffer
74 lines
1.3 KiB
Protocol Buffer
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syntax = "proto3";
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package cmvr.msgs;
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message AgvPose2d {
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double x = 1;
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double y = 2;
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double theta = 3;
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}
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message AgvVelocity {
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double vx = 1;
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double vy = 2;
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double wz = 3;
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}
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message AgvBatteryState {
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double percentage = 1;
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double voltage = 2;
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double current = 3;
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double temperature = 4;
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bool charging = 5;
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}
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message AgvMotionOptions {
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double max_speed = 1;
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double max_angular_speed = 2;
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double max_acceleration = 3;
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double max_angular_acceleration = 4;
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double reach_distance = 5;
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double reach_angle = 6;
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double speed_ratio = 7;
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bool asynchronous = 8;
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}
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message AgvAdapterParams {
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map<string, string> values = 1;
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}
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message AgvRuntimeState {
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double timestamp = 1;
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int32 mode = 2;
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bool connected = 3;
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bool localized = 4;
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bool moving = 5;
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bool fault = 6;
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bool emergency_stopped = 7;
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AgvPose2d pose = 8;
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AgvVelocity velocity = 9;
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AgvBatteryState battery = 10;
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string current_map = 11;
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string current_station = 12;
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string last_error = 13;
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}
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message AgvStation {
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string id = 1;
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string type = 2;
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AgvPose2d pose = 3;
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string description = 4;
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}
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message AgvPathSegment {
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string source_station = 1;
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string target_station = 2;
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}
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message AgvNavigationStatus {
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int32 state = 1;
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int32 type = 2;
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double progress = 3;
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string message = 4;
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}
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