From 9caba590acf000f4248f12c0fa8e715f1a14e7ec Mon Sep 17 00:00:00 2001 From: Luis Camero Date: Fri, 27 Sep 2024 17:07:05 -0400 Subject: [PATCH 1/7] Initial clearpath_motor_msgs --- clearpath_motor_msgs/CMakeLists.txt | 28 ++++++++++++++++ clearpath_motor_msgs/msg/PumaFeedback.msg | 24 ++++++++++++++ .../msg/PumaMultiFeedback.msg | 3 ++ clearpath_motor_msgs/msg/PumaMultiStatus.msg | 3 ++ clearpath_motor_msgs/msg/PumaStatus.msg | 33 +++++++++++++++++++ clearpath_motor_msgs/package.xml | 29 ++++++++++++++++ 6 files changed, 120 insertions(+) create mode 100644 clearpath_motor_msgs/CMakeLists.txt create mode 100644 clearpath_motor_msgs/msg/PumaFeedback.msg create mode 100644 clearpath_motor_msgs/msg/PumaMultiFeedback.msg create mode 100644 clearpath_motor_msgs/msg/PumaMultiStatus.msg create mode 100644 clearpath_motor_msgs/msg/PumaStatus.msg create mode 100644 clearpath_motor_msgs/package.xml diff --git a/clearpath_motor_msgs/CMakeLists.txt b/clearpath_motor_msgs/CMakeLists.txt new file mode 100644 index 0000000..87003a5 --- /dev/null +++ b/clearpath_motor_msgs/CMakeLists.txt @@ -0,0 +1,28 @@ +cmake_minimum_required(VERSION 3.5) +project(clearpath_motor_msgs) + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +find_package(action_msgs REQUIRED) +find_package(ament_cmake REQUIRED) +find_package(builtin_interfaces REQUIRED) +find_package(rosidl_default_generators REQUIRED) +find_package(std_msgs REQUIRED) + +rosidl_generate_interfaces(${PROJECT_NAME} + msg/PumaFeedback.msg + msg/PumaStatus.msg + msg/PumaMultiFeedback.msg + msg/PumaMultiStatus.msg + DEPENDENCIES action_msgs std_msgs builtin_interfaces +) + +ament_export_dependencies(rosidl_default_runtime) +ament_package() diff --git a/clearpath_motor_msgs/msg/PumaFeedback.msg b/clearpath_motor_msgs/msg/PumaFeedback.msg new file mode 100644 index 0000000..743a64b --- /dev/null +++ b/clearpath_motor_msgs/msg/PumaFeedback.msg @@ -0,0 +1,24 @@ +# Number on the bus (CAN ID). +uint8 device_number + +# Name of joint controlled, or other identifier. +string device_name + +# Duty cycle of the h-bridge driver (-1..1). +float32 duty_cycle + +# Current consumed (amps). +float32 current + +# Travel as measured by the encoder (rad). +float64 travel + +# Angular velocity as measured by the encoder (rad/s). +float64 speed + +# The reported setpoint value of the on-board controller for the given mode. +# In voltage control, duty cycle of the h-bridge driver (-1..1). +# In speed control, angular velocity setpoint of the on-board controller (rad/s). +# In position control, travel as measured by the encoder (rad). +# In current control, the current consumed (amps). +float64 setpoint diff --git a/clearpath_motor_msgs/msg/PumaMultiFeedback.msg b/clearpath_motor_msgs/msg/PumaMultiFeedback.msg new file mode 100644 index 0000000..6dfe874 --- /dev/null +++ b/clearpath_motor_msgs/msg/PumaMultiFeedback.msg @@ -0,0 +1,3 @@ +std_msgs/Header header + +clearpath_motor_msgs/PumaFeedback[] drivers_feedback diff --git a/clearpath_motor_msgs/msg/PumaMultiStatus.msg b/clearpath_motor_msgs/msg/PumaMultiStatus.msg new file mode 100644 index 0000000..45c6600 --- /dev/null +++ b/clearpath_motor_msgs/msg/PumaMultiStatus.msg @@ -0,0 +1,3 @@ +std_msgs/Header header + +clearpath_motor_msgs/PumaStatus[] drivers diff --git a/clearpath_motor_msgs/msg/PumaStatus.msg b/clearpath_motor_msgs/msg/PumaStatus.msg new file mode 100644 index 0000000..57ace40 --- /dev/null +++ b/clearpath_motor_msgs/msg/PumaStatus.msg @@ -0,0 +1,33 @@ +# Number on the bus (CAN ID). +uint8 device_number + +# Name of joint controlled, or other identifier. +string device_name + +# Input terminal voltage (volts). +float32 bus_voltage + +# Internal driver temperature (degC). +float32 temperature + +# Voltage as output to the motor (volts). +float32 output_voltage + +# Value of the auxiliary ADC (volts). +float32 analog_input + +# Available control modes, not all of which are broken out to +# this ROS driver. +uint8 MODE_VOLTAGE=0 +uint8 MODE_CURRENT=1 +uint8 MODE_SPEED=2 +uint8 MODE_POSITION=3 +uint8 MODE_VCOMP=4 +uint8 mode + +# Fault states which could cause the driver to be immobilized. +uint8 FAULT_CURRENT=1 +uint8 FAULT_TEMPERATURE=2 +uint8 FAULT_BUS_VOLTAGE=4 +uint8 FAULT_BRIDGE_DRIVER=8 +uint8 fault diff --git a/clearpath_motor_msgs/package.xml b/clearpath_motor_msgs/package.xml new file mode 100644 index 0000000..6afbb8d --- /dev/null +++ b/clearpath_motor_msgs/package.xml @@ -0,0 +1,29 @@ + + + + clearpath_motor_msgs + 0.3.0 + Messages for Clearpath Motor Drivers. + BSD + + Mike Purvis + + Roni Kreinin + Tony Baltovski + + ament_cmake + + action_msgs + std_msgs + builtin_interfaces + + rosidl_default_generators + + rosidl_default_runtime + + rosidl_interface_packages + + + ament_cmake + + From 0c78cf738d1732fc30c3a3ce8ebf420e32e3e1cb Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Thu, 31 Oct 2024 11:06:03 -0400 Subject: [PATCH 2/7] Changes. --- clearpath_msgs/CHANGELOG.rst | 3 +++ clearpath_platform_msgs/CHANGELOG.rst | 3 +++ 2 files changed, 6 insertions(+) diff --git a/clearpath_msgs/CHANGELOG.rst b/clearpath_msgs/CHANGELOG.rst index 5313aaa..d9724c2 100644 --- a/clearpath_msgs/CHANGELOG.rst +++ b/clearpath_msgs/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.3.0 (2024-09-19) ------------------ diff --git a/clearpath_platform_msgs/CHANGELOG.rst b/clearpath_platform_msgs/CHANGELOG.rst index 76fcaa6..0881b1f 100644 --- a/clearpath_platform_msgs/CHANGELOG.rst +++ b/clearpath_platform_msgs/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_platform_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.3.0 (2024-09-19) ------------------ * Added needs_reset From 0e1f9cc77337df7a516b2744a2bf602abd619381 Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Thu, 31 Oct 2024 11:06:21 -0400 Subject: [PATCH 3/7] 1.0.0 --- clearpath_msgs/CHANGELOG.rst | 4 ++-- clearpath_msgs/package.xml | 2 +- clearpath_platform_msgs/CHANGELOG.rst | 4 ++-- clearpath_platform_msgs/package.xml | 2 +- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/clearpath_msgs/CHANGELOG.rst b/clearpath_msgs/CHANGELOG.rst index d9724c2..76c9ba9 100644 --- a/clearpath_msgs/CHANGELOG.rst +++ b/clearpath_msgs/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.0.0 (2024-10-31) +------------------ 0.3.0 (2024-09-19) ------------------ diff --git a/clearpath_msgs/package.xml b/clearpath_msgs/package.xml index b0b6927..3c13c56 100644 --- a/clearpath_msgs/package.xml +++ b/clearpath_msgs/package.xml @@ -2,7 +2,7 @@ clearpath_msgs - 0.3.0 + 1.0.0 Metapackage for Clearapth messages. BSD diff --git a/clearpath_platform_msgs/CHANGELOG.rst b/clearpath_platform_msgs/CHANGELOG.rst index 0881b1f..a0827e8 100644 --- a/clearpath_platform_msgs/CHANGELOG.rst +++ b/clearpath_platform_msgs/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_platform_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.0.0 (2024-10-31) +------------------ 0.3.0 (2024-09-19) ------------------ diff --git a/clearpath_platform_msgs/package.xml b/clearpath_platform_msgs/package.xml index f6ae13f..ff6ca2f 100644 --- a/clearpath_platform_msgs/package.xml +++ b/clearpath_platform_msgs/package.xml @@ -2,7 +2,7 @@ clearpath_platform_msgs - 0.3.0 + 1.0.0 Messages for Clearpath Platforms. BSD From ef15cf45cd22f7267498f55211cc8d5b3182f409 Mon Sep 17 00:00:00 2001 From: Roni Kreinin <59886299+roni-kreinin@users.noreply.github.com> Date: Wed, 27 Nov 2024 14:59:14 -0500 Subject: [PATCH 4/7] A300 (#63) * Added Lynx messages and actions * Added A300 changes and enums * Added temperature message --- clearpath_motor_msgs/CMakeLists.txt | 9 ++++ .../action/LynxCalibrate.action | 7 +++ clearpath_motor_msgs/action/LynxUpdate.action | 8 +++ clearpath_motor_msgs/msg/LynxDebug.msg | 50 +++++++++++++++++++ clearpath_motor_msgs/msg/LynxFeedback.msg | 14 ++++++ clearpath_motor_msgs/msg/LynxMultiDebug.msg | 3 ++ .../msg/LynxMultiFeedback.msg | 3 ++ clearpath_motor_msgs/msg/LynxMultiStatus.msg | 3 ++ clearpath_motor_msgs/msg/LynxStatus.msg | 39 +++++++++++++++ .../msg/LynxSystemProtection.msg | 19 +++++++ clearpath_motor_msgs/package.xml | 2 +- clearpath_msgs/package.xml | 1 + clearpath_platform_msgs/CMakeLists.txt | 1 + clearpath_platform_msgs/msg/Fans.msg | 12 ++++- clearpath_platform_msgs/msg/Lights.msg | 6 +++ clearpath_platform_msgs/msg/Power.msg | 30 +++++++++++ clearpath_platform_msgs/msg/Temperature.msg | 27 ++++++++++ 17 files changed, 232 insertions(+), 2 deletions(-) create mode 100644 clearpath_motor_msgs/action/LynxCalibrate.action create mode 100644 clearpath_motor_msgs/action/LynxUpdate.action create mode 100644 clearpath_motor_msgs/msg/LynxDebug.msg create mode 100644 clearpath_motor_msgs/msg/LynxFeedback.msg create mode 100644 clearpath_motor_msgs/msg/LynxMultiDebug.msg create mode 100644 clearpath_motor_msgs/msg/LynxMultiFeedback.msg create mode 100644 clearpath_motor_msgs/msg/LynxMultiStatus.msg create mode 100644 clearpath_motor_msgs/msg/LynxStatus.msg create mode 100644 clearpath_motor_msgs/msg/LynxSystemProtection.msg create mode 100644 clearpath_platform_msgs/msg/Temperature.msg diff --git a/clearpath_motor_msgs/CMakeLists.txt b/clearpath_motor_msgs/CMakeLists.txt index 87003a5..8c0fc8a 100644 --- a/clearpath_motor_msgs/CMakeLists.txt +++ b/clearpath_motor_msgs/CMakeLists.txt @@ -17,6 +17,15 @@ find_package(rosidl_default_generators REQUIRED) find_package(std_msgs REQUIRED) rosidl_generate_interfaces(${PROJECT_NAME} + action/LynxCalibrate.action + action/LynxUpdate.action + msg/LynxDebug.msg + msg/LynxFeedback.msg + msg/LynxMultiDebug.msg + msg/LynxMultiFeedback.msg + msg/LynxMultiStatus.msg + msg/LynxStatus.msg + msg/LynxSystemProtection.msg msg/PumaFeedback.msg msg/PumaStatus.msg msg/PumaMultiFeedback.msg diff --git a/clearpath_motor_msgs/action/LynxCalibrate.action b/clearpath_motor_msgs/action/LynxCalibrate.action new file mode 100644 index 0000000..6d12346 --- /dev/null +++ b/clearpath_motor_msgs/action/LynxCalibrate.action @@ -0,0 +1,7 @@ +# Request +--- +# Result +float32[] offset +--- +# Feedback +uint16[] iteration diff --git a/clearpath_motor_msgs/action/LynxUpdate.action b/clearpath_motor_msgs/action/LynxUpdate.action new file mode 100644 index 0000000..1065a68 --- /dev/null +++ b/clearpath_motor_msgs/action/LynxUpdate.action @@ -0,0 +1,8 @@ +# Request +string file +--- +# Result +bool[] success +--- +# Feedback +float32[] progress diff --git a/clearpath_motor_msgs/msg/LynxDebug.msg b/clearpath_motor_msgs/msg/LynxDebug.msg new file mode 100644 index 0000000..4904d88 --- /dev/null +++ b/clearpath_motor_msgs/msg/LynxDebug.msg @@ -0,0 +1,50 @@ +# Number on the bus (CAN ID). +uint8 can_id + +# Name of joint controlled, or other identifier. +string joint_name + +# Faults triggered per second +uint16 fault_frequency + +# Accumulator Flags +uint8 ACCUMULATOR_FLAG_ABOVE_RATED=0 +uint8 ACCUMULATOR_FLAG_CONTINUOUS_1_1=1 +uint8 ACCUMULATOR_FLAG_CONTINUOUS_1_2=2 +uint8 ACCUMULATOR_FLAG_CONTINUOUS_1_3=3 +uint8 ACCUMULATOR_FLAG_CONTINUOUS_1_4=4 +uint8 ACCUMULATOR_FLAG_CONTINUOUS_1_5=5 +uint8 ACCUMULATOR_FLAG_CONTINUOUS_1_6=6 +uint8 ACCUMULATOR_FLAG_CONTINUOUS_1_7=7 +uint8 ACCUMULATOR_FLAG_CONTINUOUS_1_8=8 +uint8 ACCUMULATOR_FLAG_CONTINUOUS_1_9=9 +uint8 ACCUMULATOR_FLAG_CONTINUOUS_2_0=10 +uint8 ACCUMULATOR_FLAG_CONTINUOUS_2_1=11 +uint8 ACCUMULATOR_FLAG_CONTINUOUS_2_2=12 +uint8 ACCUMULATOR_FLAG_CONTINUOUS_2_3=13 +uint8 ACCUMULATOR_FLAG_CONTINUOUS_2_4=14 +uint8 ACCUMULATOR_FLAG_CONTINUOUS_2_5=15 +uint8 ACCUMULATOR_FLAG_CONTINUOUS_2_6=16 +uint8 ACCUMULATOR_FLAG_CONTINUOUS_2_7=17 +uint8 ACCUMULATOR_FLAG_CONTINUOUS_2_8=18 +uint8 ACCUMULATOR_FLAG_CONTINUOUS_2_9=19 +uint8 ACCUMULATOR_FLAG_CONTINUOUS_3_0=20 + +uint32 accumulator_flags + +uint8 ACCUMULATOR_ABOVE_RATED=0 +uint8 ACCUMULATOR_CONTINUOUS_1_1=1 +uint8 ACCUMULATOR_CONTINUOUS_1_5=2 +uint8 ACCUMULATOR_CONTINUOUS_2_0=3 +uint8 ACCUMULATOR_CONTINUOUS_2_5=4 +uint8 ACCUMULATOR_CONTINUOUS_3_0=5 +float32[] accumulators + +# Current readings (Amps) +uint8 CURRENT_ID_FB=0 +uint8 CURRENT_ID_FF=1 +uint8 CURRENT_ID_REF=2 +uint8 CURRENT_IQ_FB=3 +uint8 CURRENT_IQ_FF=4 +uint8 CURRENT_IQ_REF=5 +float32[] currents diff --git a/clearpath_motor_msgs/msg/LynxFeedback.msg b/clearpath_motor_msgs/msg/LynxFeedback.msg new file mode 100644 index 0000000..c736b8c --- /dev/null +++ b/clearpath_motor_msgs/msg/LynxFeedback.msg @@ -0,0 +1,14 @@ +# Number on the bus (CAN ID). +uint8 can_id + +# Name of joint controlled, or other identifier. +string joint_name + +# Current consumed (amps RMS). +float32 current + +# Motor voltage (volts). +float32 voltage + +# Angular velocity of the wheel (rad/s). +float32 velocity diff --git a/clearpath_motor_msgs/msg/LynxMultiDebug.msg b/clearpath_motor_msgs/msg/LynxMultiDebug.msg new file mode 100644 index 0000000..062f432 --- /dev/null +++ b/clearpath_motor_msgs/msg/LynxMultiDebug.msg @@ -0,0 +1,3 @@ +std_msgs/Header header + +clearpath_motor_msgs/LynxDebug[] drivers diff --git a/clearpath_motor_msgs/msg/LynxMultiFeedback.msg b/clearpath_motor_msgs/msg/LynxMultiFeedback.msg new file mode 100644 index 0000000..5567b17 --- /dev/null +++ b/clearpath_motor_msgs/msg/LynxMultiFeedback.msg @@ -0,0 +1,3 @@ +std_msgs/Header header + +clearpath_motor_msgs/LynxFeedback[] drivers diff --git a/clearpath_motor_msgs/msg/LynxMultiStatus.msg b/clearpath_motor_msgs/msg/LynxMultiStatus.msg new file mode 100644 index 0000000..6dcb584 --- /dev/null +++ b/clearpath_motor_msgs/msg/LynxMultiStatus.msg @@ -0,0 +1,3 @@ +std_msgs/Header header + +clearpath_motor_msgs/LynxStatus[] drivers diff --git a/clearpath_motor_msgs/msg/LynxStatus.msg b/clearpath_motor_msgs/msg/LynxStatus.msg new file mode 100644 index 0000000..67477c5 --- /dev/null +++ b/clearpath_motor_msgs/msg/LynxStatus.msg @@ -0,0 +1,39 @@ +# Number on the bus (CAN ID). +uint8 can_id + +# Name of joint controlled, or other identifier. +string joint_name + +# Firmware version +string firmware_version + +# Motor winding temperature (degC). +float32 motor_temperature + +# BLDC MCU temperature (degC) +float32 mcu_temperature + +# BLDC PCB temperature (degC) +float32 pcb_temperature + +# Hardware triggered stop +bool stopped + +# Status Flags +uint8 STATUS_FLAG_ADC_CALIBRATED=0 +uint8 STATUS_FLAG_ROTOR_CALIBRATED=1 +uint8 STATUS_FLAG_CALIBRATION_REQUESTED=2 +uint8 STATUS_FLAG_CALIBRATION_CANCELLED=3 +uint8 STATUS_FLAG_FIRST_VEL_RECEIVED=4 +uint8 STATUS_FLAG_ESTOPPED=5 + +uint32 status_flags + +# Error Flags +uint8 ERROR_FLAG_NOT_CALIBRATED=0 +uint8 ERROR_FLAG_MOTOR_FAULT=1 +uint8 ERROR_FLAG_MOTOR_THERMISTOR=2 +uint8 ERROR_FLAG_PCB_THERMISTOR=3 +uint8 ERROR_FLAG_ENCODER=4 + +uint32 error_flags diff --git a/clearpath_motor_msgs/msg/LynxSystemProtection.msg b/clearpath_motor_msgs/msg/LynxSystemProtection.msg new file mode 100644 index 0000000..12a8630 --- /dev/null +++ b/clearpath_motor_msgs/msg/LynxSystemProtection.msg @@ -0,0 +1,19 @@ +std_msgs/Header header + +# Protection states +uint8 NORMAL=0 +uint8 THROTTLED=1 +uint8 OVERHEATED=2 +uint8 ERROR=3 + +# System state based on highest protection state of motors +uint8 system_state + +# A300 +uint8 A300_MOTOR_REAR_LEFT=0 +uint8 A300_MOTOR_FRONT_LEFT=1 +uint8 A300_MOTOR_FRONT_RIGHT=2 +uint8 A300_MOTOR_REAR_RIGHT=3 + +# Individual motor protection states +uint8[] motor_states diff --git a/clearpath_motor_msgs/package.xml b/clearpath_motor_msgs/package.xml index 6afbb8d..7b40cab 100644 --- a/clearpath_motor_msgs/package.xml +++ b/clearpath_motor_msgs/package.xml @@ -14,8 +14,8 @@ ament_cmake action_msgs - std_msgs builtin_interfaces + std_msgs rosidl_default_generators diff --git a/clearpath_msgs/package.xml b/clearpath_msgs/package.xml index 3c13c56..89df7fb 100644 --- a/clearpath_msgs/package.xml +++ b/clearpath_msgs/package.xml @@ -11,6 +11,7 @@ ament_cmake + clearpath_motor_msgs clearpath_platform_msgs diff --git a/clearpath_platform_msgs/CMakeLists.txt b/clearpath_platform_msgs/CMakeLists.txt index 2a99201..622226b 100644 --- a/clearpath_platform_msgs/CMakeLists.txt +++ b/clearpath_platform_msgs/CMakeLists.txt @@ -25,6 +25,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} msg/RGB.msg msg/Status.msg msg/StopStatus.msg + msg/Temperature.msg srv/ConfigureMcu.srv DEPENDENCIES std_msgs builtin_interfaces ) diff --git a/clearpath_platform_msgs/msg/Fans.msg b/clearpath_platform_msgs/msg/Fans.msg index b07a77c..0524fd5 100644 --- a/clearpath_platform_msgs/msg/Fans.msg +++ b/clearpath_platform_msgs/msg/Fans.msg @@ -1,5 +1,15 @@ # Location of fans. +# Common Core (CC01) +uint8 CC01_FAN1=0 +uint8 CC01_FAN2=1 +uint8 CC01_FAN3=2 +uint8 CC01_FAN4=3 +uint8 CC01_FAN5=4 +uint8 CC01_FAN6=5 +uint8 CC01_FAN7=6 +uint8 CC01_FAN8=7 + # Ridgeback (R100) uint8 R100_EQUIPMENT_BAY_INTAKE=0 uint8 R100_EQUIPMENT_BAY_EXHAUST=1 @@ -14,4 +24,4 @@ uint8 FAN_ON_HIGH=1 uint8 FAN_ON_LOW=2 # Control for the fans -uint8[] fans \ No newline at end of file +uint8[] fans diff --git a/clearpath_platform_msgs/msg/Lights.msg b/clearpath_platform_msgs/msg/Lights.msg index 31a9d70..1d655f8 100644 --- a/clearpath_platform_msgs/msg/Lights.msg +++ b/clearpath_platform_msgs/msg/Lights.msg @@ -28,4 +28,10 @@ uint8 W200_LIGHTS_FRONT_RIGHT=1 uint8 W200_LIGHTS_REAR_LEFT=2 uint8 W200_LIGHTS_REAR_RIGHT=3 +# Husky (A300) +uint8 A300_LIGHTS_FRONT_LEFT=0 +uint8 A300_LIGHTS_FRONT_RIGHT=1 +uint8 A300_LIGHTS_REAR_LEFT=2 +uint8 A300_LIGHTS_REAR_RIGHT=3 + RGB[] lights diff --git a/clearpath_platform_msgs/msg/Power.msg b/clearpath_platform_msgs/msg/Power.msg index d3b1ff0..977a846 100644 --- a/clearpath_platform_msgs/msg/Power.msg +++ b/clearpath_platform_msgs/msg/Power.msg @@ -50,6 +50,21 @@ uint8 A200_LEFT_DRIVER_VOLTAGE=1 uint8 A200_RIGHT_DRIVER_VOLTAGE=2 uint8 A200_VOLTAGES_SIZE=3 +# CC01 +uint8 CC01_BATTERY_VOLTAGE=0 +uint8 CC01_USER_BATTERY_VOLTAGE=1 +uint8 CC01_USER_24V_VOLTAGE=2 +uint8 CC01_USER_12V_VOLTAGE=3 +uint8 CC01_SYSTEM_12V_VOLTAGE=4 +uint8 CC01_EXPANSION_VOLTAGE=5 +uint8 CC01_BREAKOUT_24V_AUX_VOLTAGE=6 +uint8 CC01_BREAKOUT_12V_AUX_VOLTAGE=7 +uint8 CC01_BREAKOUT_USER_12VA_VOLTAGE=8 +uint8 CC01_BREAKOUT_LYNX1_VOLTAGE=9 +uint8 CC01_BREAKOUT_LYNX2_VOLTAGE=10 +uint8 CC01_BREAKOUT_LYNX3_VOLTAGE=11 +uint8 CC01_BREAKOUT_LYNX4_VOLTAGE=12 + float32[] measured_voltages # Current senses available on platform, in amps. @@ -84,4 +99,19 @@ uint8 A200_LEFT_DRIVER_CURRENT=1 uint8 A200_RIGHT_DRIVER_CURRENT=2 uint8 A200_CURRENTS_SIZE=3 +# CC01 +uint8 CC01_BATTERY_PACK_CURRENT=0 +uint8 CC01_USER_BATTERY_CURRENT=1 +uint8 CC01_AUX_CURRENT=2 +uint8 CC01_SYSTEM_12V_CURRENT=3 +uint8 CC01_24_CURRENT=4 +uint8 CC01_12_CURRENT=5 +uint8 CC01_BREAKOUT_USER_24V_CURRENT=6 +uint8 CC01_BREAKOUT_USER_12VA_CURRENT=7 +uint8 CC01_BREAKOUT_USER_12VB_CURRENT=8 +uint8 CC01_BREAKOUT_USER_LYNX1_CURRENT=9 +uint8 CC01_BREAKOUT_USER_LYNX2_CURRENT=10 +uint8 CC01_BREAKOUT_USER_LYNX3_CURRENT=11 +uint8 CC01_BREAKOUT_USER_LYNX4_CURRENT=12 + float32[] measured_currents diff --git a/clearpath_platform_msgs/msg/Temperature.msg b/clearpath_platform_msgs/msg/Temperature.msg new file mode 100644 index 0000000..ba60036 --- /dev/null +++ b/clearpath_platform_msgs/msg/Temperature.msg @@ -0,0 +1,27 @@ +# Location of temperature sensors. + +std_msgs/Header header + +# Common Core (CC01) +uint8 CC01_MCU=0 +uint8 CC01_FAN1=1 +uint8 CC01_FAN2=2 +uint8 CC01_FAN3=3 +uint8 CC01_FAN4=4 +uint8 CC01_FAN5=5 +uint8 CC01_FAN6=6 +uint8 CC01_FAN7=7 +uint8 CC01_FAN8=8 +uint8 CC01_5V_INDUCTOR=9 +uint8 CC01_MAIN_GND_LUG=10 +uint8 CC01_24V_DCDC=11 +uint8 CC01_12V_DCDC=12 +uint8 CC01_EXT_1=13 +uint8 CC01_EXT_2=14 +uint8 CC01_EXT_3=15 +uint8 CC01_EXT_4=16 +uint8 CC01_BREAKOUT_1=17 +uint8 CC01_BREAKOUT_2=18 + +# Array of temperature readings in Celsius +float32[] temperatures From 3e4b1ba2c02fedd7afa2cc02acfa91fdba57771a Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Mon, 25 Nov 2024 22:03:18 -0500 Subject: [PATCH 5/7] [clearpath_motor_msgs] Updated package version. --- clearpath_motor_msgs/package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clearpath_motor_msgs/package.xml b/clearpath_motor_msgs/package.xml index 7b40cab..cc751bf 100644 --- a/clearpath_motor_msgs/package.xml +++ b/clearpath_motor_msgs/package.xml @@ -2,7 +2,7 @@ clearpath_motor_msgs - 0.3.0 + 1.0.0 Messages for Clearpath Motor Drivers. BSD From 5cb6b2d683d093997fba3cfec8c01b7c42216d5f Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Mon, 25 Nov 2024 22:05:21 -0500 Subject: [PATCH 6/7] Changes. --- clearpath_motor_msgs/CHANGELOG.rst | 30 +++++++++++++++++++++++++++ clearpath_msgs/CHANGELOG.rst | 5 +++++ clearpath_platform_msgs/CHANGELOG.rst | 3 +++ 3 files changed, 38 insertions(+) create mode 100644 clearpath_motor_msgs/CHANGELOG.rst diff --git a/clearpath_motor_msgs/CHANGELOG.rst b/clearpath_motor_msgs/CHANGELOG.rst new file mode 100644 index 0000000..9124a48 --- /dev/null +++ b/clearpath_motor_msgs/CHANGELOG.rst @@ -0,0 +1,30 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package clearpath_motor_msgs +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Forthcoming +----------- +* [clearpath_motor_msgs] Updated package version. +* Initial clearpath_motor_msgs +* Contributors: Luis Camero, Tony Baltovski + +1.0.0 (2024-10-31) +------------------ + +0.3.0 (2024-09-19) +------------------ + +0.2.0 (2023-12-06) +------------------ + +0.0.4 (2023-06-20) +------------------ + +0.0.3 (2023-06-12) +------------------ + +0.0.2 (2023-05-19) +------------------ + +0.0.1 (2023-05-02) +------------------ diff --git a/clearpath_msgs/CHANGELOG.rst b/clearpath_msgs/CHANGELOG.rst index 76c9ba9..70b21cb 100644 --- a/clearpath_msgs/CHANGELOG.rst +++ b/clearpath_msgs/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package clearpath_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Added clearpath_motor_msgs dependency in clearpath_msgs +* Contributors: Roni Kreinin + 1.0.0 (2024-10-31) ------------------ diff --git a/clearpath_platform_msgs/CHANGELOG.rst b/clearpath_platform_msgs/CHANGELOG.rst index a0827e8..29407c1 100644 --- a/clearpath_platform_msgs/CHANGELOG.rst +++ b/clearpath_platform_msgs/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package clearpath_platform_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 1.0.0 (2024-10-31) ------------------ From 43742861edaf5b8227a0fb7123007dad8fd180a7 Mon Sep 17 00:00:00 2001 From: Tony Baltovski Date: Mon, 25 Nov 2024 22:05:35 -0500 Subject: [PATCH 7/7] 1.0.1 --- clearpath_motor_msgs/CHANGELOG.rst | 4 ++-- clearpath_motor_msgs/package.xml | 2 +- clearpath_msgs/CHANGELOG.rst | 4 ++-- clearpath_msgs/package.xml | 2 +- clearpath_platform_msgs/CHANGELOG.rst | 4 ++-- clearpath_platform_msgs/package.xml | 2 +- 6 files changed, 9 insertions(+), 9 deletions(-) diff --git a/clearpath_motor_msgs/CHANGELOG.rst b/clearpath_motor_msgs/CHANGELOG.rst index 9124a48..c935a39 100644 --- a/clearpath_motor_msgs/CHANGELOG.rst +++ b/clearpath_motor_msgs/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_motor_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.0.1 (2024-11-25) +------------------ * [clearpath_motor_msgs] Updated package version. * Initial clearpath_motor_msgs * Contributors: Luis Camero, Tony Baltovski diff --git a/clearpath_motor_msgs/package.xml b/clearpath_motor_msgs/package.xml index cc751bf..21c79a6 100644 --- a/clearpath_motor_msgs/package.xml +++ b/clearpath_motor_msgs/package.xml @@ -2,7 +2,7 @@ clearpath_motor_msgs - 1.0.0 + 1.0.1 Messages for Clearpath Motor Drivers. BSD diff --git a/clearpath_msgs/CHANGELOG.rst b/clearpath_msgs/CHANGELOG.rst index 70b21cb..31f8990 100644 --- a/clearpath_msgs/CHANGELOG.rst +++ b/clearpath_msgs/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.0.1 (2024-11-25) +------------------ * Added clearpath_motor_msgs dependency in clearpath_msgs * Contributors: Roni Kreinin diff --git a/clearpath_msgs/package.xml b/clearpath_msgs/package.xml index 89df7fb..ab46102 100644 --- a/clearpath_msgs/package.xml +++ b/clearpath_msgs/package.xml @@ -2,7 +2,7 @@ clearpath_msgs - 1.0.0 + 1.0.1 Metapackage for Clearapth messages. BSD diff --git a/clearpath_platform_msgs/CHANGELOG.rst b/clearpath_platform_msgs/CHANGELOG.rst index 29407c1..ff94c40 100644 --- a/clearpath_platform_msgs/CHANGELOG.rst +++ b/clearpath_platform_msgs/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package clearpath_platform_msgs ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +1.0.1 (2024-11-25) +------------------ 1.0.0 (2024-10-31) ------------------ diff --git a/clearpath_platform_msgs/package.xml b/clearpath_platform_msgs/package.xml index ff6ca2f..c8284a3 100644 --- a/clearpath_platform_msgs/package.xml +++ b/clearpath_platform_msgs/package.xml @@ -2,7 +2,7 @@ clearpath_platform_msgs - 1.0.0 + 1.0.1 Messages for Clearpath Platforms. BSD