135 lines
2.5 KiB
Protocol Buffer
135 lines
2.5 KiB
Protocol Buffer
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syntax = "proto3";
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package cmvr.api;
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import "cmvr/api/common.proto";
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message JointCmd {
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string joint_name = 1; // 关节名称
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double rad = 2; // 弧度
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double vel = 3; // 角速度，rad/s
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}
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message Pose3D{
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double x = 1;
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double y = 2;
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double z = 3;
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double rx = 4;
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double ry = 5;
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double rz = 6;
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}
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enum RobotCartesian{
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X = 0;
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Y = 1;
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Z = 2;
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RX = 3;
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RY = 4;
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RZ = 5;
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} ;
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enum RobotJointIndexDirection{
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FORWARD = 0;
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BACKWARD = 1;
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X_POSITIVE = 2; // X轴正向
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X_NEGATIVE = 3; // X轴负向
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Y_POSITIVE = 4; // Y轴正向
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Y_NEGATIVE = 5; // Y轴负向
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Z_POSITIVE = 6; // Z轴正向
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Z_NEGATIVE = 7; // Z轴负向
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ROTATE_X = 8; // 绕X轴旋转
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ROTATE_Y = 9; // 绕Y轴旋转
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ROTATE_Z = 10; // 绕Z轴旋转
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}
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message MoveJ{
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message Request{
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CommandHeader.Request header = 1;
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repeated JointCmd cmds = 2;
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double vel = 3;
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double acc = 4;
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}
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message Response{
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CommandHeader.Feedback header= 1;
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}
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}
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message MoveL{
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message Request{
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CommandHeader.Request header = 1;
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string ee_link = 2; //连杆名称
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Pose3D targetPose = 3;
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double vel = 4;
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double acc = 5;
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}
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message Response{
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CommandHeader.Feedback header= 1;
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}
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}
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message SpeedJ{
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message Request{
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CommandHeader.Request header = 1;
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string joint_name = 2;
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double vel = 3;
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double acc = 4;
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RobotJointIndexDirection dir = 5;
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}
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message Response{
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CommandHeader.Feedback header= 1;
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}
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}
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message SpeedL{
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message Request{
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CommandHeader.Request header = 1;
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string ee_link = 2;
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double vel = 3;
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double acc = 4;
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RobotJointIndexDirection dir = 5;
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RobotCartesian cart = 6;
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}
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message Response{
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CommandHeader.Feedback header= 1;
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}
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}
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// 关节状态消息
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message JointState {
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repeated string name = 1; // 关节名称
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repeated double position = 2; // 关节位置
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repeated double velocity = 3; // 可选：关节速度
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repeated double effort = 4; // 可选：关节力矩
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double timestamp = 5; // 可选：时间戳
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}
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// 返回消息
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message JointResponse {
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CommandHeader.Feedback header= 1;
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repeated JointState state = 2;
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}
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// 请求消息（可选）
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message JointRequest {
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CommandHeader.Request header = 1;
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}
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message GetPose{
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message Request{
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CommandHeader.Request header = 1;
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string base_link = 2;
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string ee_link = 3;
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}
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message Response{
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CommandHeader.Feedback header= 1;
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Pose3D pose = 2;
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}
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} |