From b4a5f76fb969204a08e0e33de3afd65ffd6ae2af Mon Sep 17 00:00:00 2001 From: Robofish <1683502971@qq.com> Date: Fri, 14 Feb 2025 15:46:39 +0800 Subject: [PATCH] Add some message types --- CMakeLists.txt | 13 +++++++++++++ msg/DataAI.msg | 4 ++++ msg/DataMCU.msg | 9 +++++++++ msg/DataRef.msg | 4 ++++ msg/Ps2Data.msg | 20 ++++++++++++++++++++ package.xml | 16 ++++++++++++++++ 6 files changed, 66 insertions(+) create mode 100644 CMakeLists.txt create mode 100644 msg/DataAI.msg create mode 100644 msg/DataMCU.msg create mode 100644 msg/DataRef.msg create mode 100644 msg/Ps2Data.msg create mode 100644 package.xml 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 @@ +<?xml version="1.0"?> +<package format="3"> + <name>rm_msgs</name> + <version>0.0.1</version> + <description>这个包包含用于机器人操作的消息定义。</description> + <maintainer email="1683502971@qq.com">biao</maintainer> + <license>MIT</license> + + <buildtool_depend>rosidl_default_generators</buildtool_depend> + <exec_depend>rosidl_default_runtime</exec_depend> + <member_of_group>rosidl_interface_packages</member_of_group> + + <export> + <build_type>ament_cmake</build_type> + </export> +</package> \ No newline at end of file