fix: adaptions for v2.1

vda5050_msgs/CMakeLists.txt

@@ -24,16 +24,18 @@ set(msg_files
     "msg/BoundingBoxReference.msg"
     "msg/Connection.msg"
     "msg/ControlPoint.msg"
+    "msg/Corridor.msg"
     "msg/Edge.msg"
     "msg/EdgeState.msg"
     "msg/Error.msg"
     "msg/ErrorReference.msg"
+    "msg/Header.msg"
     "msg/Info.msg"
     "msg/InfoReference.msg"
-    "msg/Header.msg"
     "msg/InstantActions.msg"
     "msg/Load.msg"
     "msg/LoadDimensions.msg"
+    "msg/Map.msg"
     "msg/Node.msg"
     "msg/NodePosition.msg"
     "msg/NodeState.msg"
@@ -46,7 +48,7 @@ set(msg_files
 )
 rosidl_generate_interfaces(${PROJECT_NAME}
   ${msg_files}
-  DEPENDENCIES 
+  DEPENDENCIES
     std_msgs
     builtin_interfaces
 )

vda5050_msgs/msg/Corridor.msg

@@ -0,0 +1,7 @@
+float64 left_width                  #  Defines the width of the corridor in meters to the left related to the trajectory of the vehicle.
+float64 right_width                 #  Defines the width of the corridor in meters to the right related to the trajectory of the vehicle.
+string corridor_ref_point           #  Defines whether the boundaries are valid for the kinematic center or the contour of the vehicle.
+
+#Enums for corridor_ref_point
+string KINEMATICCENTER="KINEMATICCENTER"
+string CONTOUR="CONTOUR"

vda5050_msgs/msg/Edge.msg

@@ -29,6 +29,8 @@ float64 orientation                 # [rad] Orientation of the AGV on the edge r
                                     # If a trajectory with orientation is defined, follow the trajectories orientation.
                                     # If a trajectory without orientation and the orientation field here is defined,
                                     # apply the orientation to the tangent of the trajectory.
+string orientation_type             # "GLOBAL"- relative to the global project specific map coordinate system;
+                                    # "TANGENTIAL"- tangential to the edge. If not defined, the default value is "TANGENTIAL"
 
 string direction                    # Sets direction at junctions for line-guided vehicles, to be defined initially
                                     # (vehicle individual) Example: left, right, straight, 433MHz
@@ -39,10 +41,15 @@ float64 max_rotation_speed          # [rad/s] Maximum rotation speed Optional: N
 vda5050_msgs/Trajectory trajectory  # Trajectory JSON-object for this edge as a NURBS. Defines the curve on which the
                                     # AGV should move between start_node and end_node. Optional: Can be omitted if AGV
                                     # cannot process trajectories or if AGV plans its own trajectory.
+vda5050_msgs/Corridor corridor      # Definition of boundaries in which a vehicle can deviate from its trajectory, e. g. to avoid obstacles.
 float64 length                      # [m] Length of the path from startNode to endNode. Optional: This value is used
                                     # by lineguided AGVs to decrease their speed before reaching a stop position.
 
 vda5050_msgs/Action[] actions       # Array of action_ids to be executed on the edge. An action triggered by an edge will
                                     # only be active for the time that the AGV is traversing the edge which triggered
                                     # the action. When the AGV leaves the edge, the action will stop and the state
                                     # before entering the edge will be restored.
+
+# Enum for orientation_type
+string GLOBAL="GLOBAL"
+string TANGENTIAL="TANGENTIAL"

vda5050_msgs/msg/Error.msg

@@ -6,6 +6,7 @@ string error_description                      # Error description
 string error_level                            # Enum {warning, fatal} warning: AGV is ready to start (e.g. maintenance
                                               # cycle expiration warning) fatal: AGV is not in running condition, user
                                               # intervention required (e.g. laser scanner is contaminated)
+string error_hint                             # Hint on how to approach or solve the reported error.
 
 # Enums for error_level
 string WARNING="warning"

vda5050_msgs/msg/InstantActions.msg

@@ -9,4 +9,4 @@ string manufacturer # Manufacturer of the AGV
 
 string serial_number # Serial Number of the AGV
 
-Action[] instant_actions # List of actions to execute
+Action[] actions # List of actions to execute

vda5050_msgs/msg/Load.msg

@@ -14,4 +14,4 @@ vda5050_msgs/BoundingBoxReference bounding_box_reference  # Point of reference f
 
 vda5050_msgs/LoadDimensions load_dimensions              # Dimensions of the load’s bounding box in meters.
 
-uint32 weight                                           # Absolute weight of the load measured in kg.
+float64 weight                                           # Absolute weight of the load measured in kg.

vda5050_msgs/msg/Map.msg

@@ -0,0 +1,8 @@
+string map_id                # ID of the map describing a defined area of the vehicle's workspace.
+string map_version           # Version of the map.
+string map_description       # Additional information on the map.
+string map_status            # Information on the status of the map indicating, if a map version is currently used on the vehicle. ENABLED: Indicates this map is currently active / used on the AGV. At most one map with the same mapId can have its status set to ENABLED.<br>DISABLED: Indicates this map version is currently not enabled on the AGV and thus could be enabled or deleted by request.
+
+# Enums for map status
+string ENABLED="ENABLED"
+string DISABLED="DISABLED"

vda5050_msgs/msg/State.msg

@@ -51,10 +51,6 @@ vda5050_msgs/AGVPosition agv_position                # Current position of the A
 
 vda5050_msgs/Velocity velocity                      # AGV's velocity in vehicle coordinates
 
-vda5050_msgs/Trajectory trajectory                   # The trajectory is to be communicated as a NURBS and is defined in
-                                                     # chapter 5.1. Optional: AGVs that plan their own path are to
-                                                     # communicate their path via a trajectory object.
-
 vda5050_msgs/Load[] loads                            # Loads that are currently handled by the AGV.
                                                      # Optional: If AGV cannot determine load state, leave the array out of the state.
                                                      # If the  AGV  can determine the  load  state,  but  the  array  is  empty,  the  AGV  is considered unloaded.
@@ -72,11 +68,10 @@ vda5050_msgs/Error[] errors                          # Array of errorobjects. Em
 
 vda5050_msgs/SafetyState safety_state                # Contains all safetyrelated information.
 
-vda5050_msgs/Info[] informations                     # Array of info-objects. An empty array indicates that the AGV has no information.
-                                                     # This should only be used for visualization or debugging – it must not be used for logic in master control
-                                                     # Changed to information with 2.0
-
-
+vda5050_msgs/Info[] information                     # Array of info-objects. An empty array indicates that the AGV has no information.
+                                                    # This should only be used for visualization or debugging – it must not be used for logic in master control
+                                                    # Changed to information with 2.0
+vda5050_msgs/Map[] maps                             #Array of map-objects that are currently stored on the vehicle.
 
                                                      # Enums for operatingMode
 string AUTOMATIC="AUTOMATIC"