feat(autoware_adapi_v1_msgs): add door command (autowarefoundation#40)

* door command Signed-off-by: Takagi, Isamu <[email protected]> * remove unused constant Signed-off-by: Takagi, Isamu <[email protected]> * modify command Signed-off-by: Takagi, Isamu <[email protected]> --------- Signed-off-by: Takagi, Isamu <[email protected]>
isamu-takagi · Aug 4, 2023 · fcdd3d0 · fcdd3d0
1 parent 90478d5
commit fcdd3d0
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Showing 5 changed files with 11 additions and 2 deletions.
diff --git a/autoware_adapi_v1_msgs/CMakeLists.txt b/autoware_adapi_v1_msgs/CMakeLists.txt
@@ -31,6 +31,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   planning/msg/VelocityFactor.msg
   planning/msg/VelocityFactorArray.msg
   system/msg/MrmState.msg
+  vehicle/msg/DoorCommand.msg
   vehicle/msg/DoorLayout.msg
   vehicle/msg/DoorStatus.msg
   vehicle/msg/DoorStatusArray.msg
@@ -40,6 +41,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   vehicle/msg/VehicleStatus.msg
   vehicle/msg/VehicleDimensions.msg
   vehicle/msg/VehicleKinematics.msg
+  vehicle/srv/SetDoorCommand.srv
   vehicle/srv/GetDoorLayout.srv
   vehicle/srv/GetVehicleDimensions.srv
   DEPENDENCIES

diff --git a/autoware_adapi_v1_msgs/vehicle/msg/DoorCommand.msg b/autoware_adapi_v1_msgs/vehicle/msg/DoorCommand.msg
@@ -0,0 +1,5 @@
+uint8 OPEN = 1
+uint8 CLOSE = 2
+
+uint32 index
+uint8 command
diff --git a/autoware_adapi_v1_msgs/vehicle/msg/DoorStatus.msg b/autoware_adapi_v1_msgs/vehicle/msg/DoorStatus.msg
@@ -1,4 +1,3 @@
-# constants for door status
 uint8 UNKNOWN = 0
 uint8 NOT_AVAILABLE = 1
 uint8 OPENED = 2

diff --git a/autoware_adapi_v1_msgs/vehicle/srv/GetDoorLayout.srv b/autoware_adapi_v1_msgs/vehicle/srv/GetDoorLayout.srv
@@ -1,3 +1,3 @@
 ---
 autoware_adapi_v1_msgs/ResponseStatus status
-autoware_adapi_v1_msgs/DoorLayout doors
+autoware_adapi_v1_msgs/DoorLayout[] doors
diff --git a/autoware_adapi_v1_msgs/vehicle/srv/SetDoorCommand.srv b/autoware_adapi_v1_msgs/vehicle/srv/SetDoorCommand.srv
@@ -0,0 +1,3 @@
+autoware_adapi_v1_msgs/DoorCommand[] doors
+---
+autoware_adapi_v1_msgs/ResponseStatus status