hivecore robot interfaces

src/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+
+set(msg_files
+  msg/PoseArrayClassAndID.msg
+  msg/PoseClassAndID.msg
+)
+set(action_files
+  action/MoveToPosition.action
+  action/ArmSpaceControl.action
+  action/HandControl.action
+  action/LegControl.action
+  action/VisionGraspObject.action
+)
+set(srv_files
+  srv/VisionObjectRecognition.srv
+)
+
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  ${action_files}
+  ${srv_files}
+  
+  DEPENDENCIES
+    std_msgs
+    geometry_msgs
+    builtin_interfaces
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()

src/action/ArmSpaceControl.action

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+# Goal: target pose in space
+# Example fields; adjust as needed for your robot
+geometry_msgs/PoseStamped target
+---
+# Result
+bool success
+string message
+---
+# Feedback
+float32 progress

src/action/HandControl.action

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+# Goal: hand control parameters
+int32 mode  # 0=open, 1=close
+float32 effort
+---
+bool success
+string message
+---
+float32 progress

src/action/LegControl.action

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+# Goal: leg control parameters
+geometry_msgs/TwistStamped target
+---
+bool success
+string message
+---
+float32 progress

src/action/MoveToPosition.action

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+# Goal definition
+float32 target_x
+float32 target_y
+---
+# Result definition
+bool success
+string message
+---
+# Feedback definition
+float32 current_x
+float32 current_y
+float32 progress

src/action/VisionGraspObject.action

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+# Goal: specify object id/name
+string object_id
+---
+bool success
+string message
+---
+float32 grasp_progress

src/msg/PoseArrayClassAndID.msg

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+std_msgs/Header header
+PoseClassAndID[] objects

src/msg/PoseClassAndID.msg

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+string class_name
+int32 class_id
+geometry_msgs/Pose[] pose_list
+

src/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>interfaces</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="root@todo.todo">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/srv/VisionObjectRecognition.srv

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+string camera_position
+
+---
+
+std_msgs/Header header
+string info
+bool success
+interfaces/PoseClassAndID[] objects