HiveCoreRD/hivecore_robot_interfaces
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update interfaces @huiyu

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This commit is contained in:
NuoDaJia02
2026-01-04 17:54:22 +08:00
parent 80eb876dfd
commit 959e7b2907
2 changed files with 31 additions and 11 deletions
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39
src/action/MoveToPosition.action
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@@ -1,12 +1,31 @@
# Goal definition
float32 target_x
float32 target_y
##############################################################################
# ExecuteBtAction - ROS Action Definition for Executing move to position
# Purpose: start a wheel movement to drive the robot to the specified position.
# Goal Example: "{target_x : 1, target_y : 1, target_z : 1, target_angle_pitch : 10, target_angle_roll : 10,target_angle_yaw : 10}"
##############################################################################
# ------------------------------ Action Goal (Request Target) ------------------------------
# Description: Define pose target parameters (Cartesian space + Euler angle orientation)
float32 target_x # Target position X-axis coordinate (world frame) [Unit: m]
float32 target_y # Target position Y-axis coordinate (world frame) [Unit: m]
float32 target_z # Target position Z-axis coordinate (world frame) [Unit: m]
float32 target_angle_pitch # Target pitch angle [Unit: deg]
float32 target_angle_roll # Target roll angle [Unit: deg]
float32 target_angle_yaw # Target yaw angle [Unit: deg]
---
# Result definition
bool success
string message
# ------------------------------ Action Result (Final Outcome) ------------------------------
# Description: Overall feedback after completion of the skill sequence execution
bool success # Overall execution result flag (true=success, false=failure)
string message # Human-readable execution summary (e.g. "failed by some reasons")
---
# Feedback definition
float32 current_x
float32 current_y
float32 progress
# ------------------------------ Action Feedback (Streamed Status) ------------------------------
# Description: Real-time streamed status feedback during skill sequence execution
float32 current_x # Current position X-axis coordinate (world frame) [Unit: m]
float32 current_y # Current position Y-axis coordinate (world frame) [Unit: m]
float32 current_z # Current position Z-axis coordinate (world frame) [Unit: m]
float32 current_angle_pitch # Current pitch angle [Unit: deg]
float32 current_angle_roll # Current roll angle [Unit: deg]
float32 current_angle_yaw # Current yaw angle [Unit: deg]
float32 progress # Execution progress (range: 0.0 ~ 1.0):
# - START → 0.0
# - END → 1.0

3
src/srv/MotorParam.srv
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@@ -1,5 +1,6 @@
uint16 motor_id
uint16 max_speed
uint16 accel
uint16 add_acc
uint16 dec_acc
---
int16 ret