diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..90d781e --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,13 @@ +cmake_minimum_required(VERSION 3.8) +project(rm_msgs) + +find_package(rosidl_default_generators REQUIRED) +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/DataMCU.msg" + "msg/DataRef.msg" + "msg/DataAI.msg" + "msg/Ps2Data.msg" +) + +ament_package() + diff --git a/msg/DataAI.msg b/msg/DataAI.msg new file mode 100644 index 0000000..30f9fa6 --- /dev/null +++ b/msg/DataAI.msg @@ -0,0 +1,4 @@ +float32 yaw +float32 pit +float32 rol +uint8 noetice \ No newline at end of file diff --git a/msg/DataMCU.msg b/msg/DataMCU.msg new file mode 100644 index 0000000..7fa1d92 --- /dev/null +++ b/msg/DataMCU.msg @@ -0,0 +1,9 @@ +float32 q0 +float32 q1 +float32 q2 +float32 q3 +float32 yaw +float32 pit +float32 rol +float32 ball_speed +uint8 notice \ No newline at end of file diff --git a/msg/DataRef.msg b/msg/DataRef.msg new file mode 100644 index 0000000..6326cd1 --- /dev/null +++ b/msg/DataRef.msg @@ -0,0 +1,4 @@ +uint16 team +uint16 time +uint8 sentry_hp +uint8 ballet_remain \ No newline at end of file diff --git a/msg/Ps2Data.msg b/msg/Ps2Data.msg new file mode 100644 index 0000000..2b52c1c --- /dev/null +++ b/msg/Ps2Data.msg @@ -0,0 +1,20 @@ +# control input message +float32 lx +float32 ly +float32 rx +float32 ry + +float32 up_down +float32 left_right + +bool l1 +bool l2 +bool r1 +bool r2 + +# 四种模式 +uint8 mode # 0:手柄控制 1:键盘控制 2:自瞄 3:手动瞄准 + +bool select +bool start + diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..3641978 --- /dev/null +++ b/package.xml @@ -0,0 +1,16 @@ + + + rm_msgs + 0.0.1 + 这个包包含用于机器人操作的消息定义。 + biao + MIT + + rosidl_default_generators + rosidl_default_runtime + rosidl_interface_packages + + + ament_cmake + + \ No newline at end of file