From a86f194a12b073ab6dc5ed40933ef5162fc4eb51 Mon Sep 17 00:00:00 2001
From: Steve Macenski <stevenmacenski@gmail.com>
Date: Sat, 8 Jun 2024 12:08:01 -0700
Subject: [PATCH] migrate msgs

---
 nav2_msgs/action/DockRobot.action    | 42 ++++++++++++++++++++++++++++
 nav2_msgs/action/UndockRobot.action  | 25 +++++++++++++++++
 nav2_msgs/srv/ReloadDockDatabase.srv |  5 ++++
 3 files changed, 72 insertions(+)
 create mode 100644 nav2_msgs/action/DockRobot.action
 create mode 100644 nav2_msgs/action/UndockRobot.action
 create mode 100644 nav2_msgs/srv/ReloadDockDatabase.srv

diff --git a/nav2_msgs/action/DockRobot.action b/nav2_msgs/action/DockRobot.action
new file mode 100644
index 0000000000..fc85e6cca9
--- /dev/null
+++ b/nav2_msgs/action/DockRobot.action
@@ -0,0 +1,42 @@
+#goal definition
+
+bool use_dock_id True  # Whether to use the dock_id or dock_pose fields
+string dock_id  # Dock name or ID to dock at, from given dock database
+
+geometry_msgs/PoseStamped dock_pose  # Dock pose
+string dock_type  # If using dock_pose, what type of dock it is. Not necessary if only using one type of dock.
+
+float32 max_staging_time 1000.0  # Maximum time for navigation to get to the dock's staging pose.
+bool navigate_to_staging_pose True  # Whether or not to navigate to staging pose or assume robot is already at staging pose within tolerance to execute behavior
+
+---
+#result definition
+
+# Error codes
+# Note: The expected priority order of the errors should match the message order
+uint16 NONE=0
+uint16 DOCK_NOT_IN_DB=901
+uint16 DOCK_NOT_VALID=902
+uint16 FAILED_TO_STAGE=903
+uint16 FAILED_TO_DETECT_DOCK=904
+uint16 FAILED_TO_CONTROL=905
+uint16 FAILED_TO_CHARGE=906
+uint16 UNKNOWN=999
+
+bool success True  # docking success status
+uint16 error_code 0  # Contextual error code, if any
+uint16 num_retries 0  # Number of retries attempted
+
+---
+#feedback definition
+
+uint16 NONE=0
+uint16 NAV_TO_STAGING_POSE=1
+uint16 INITIAL_PERCEPTION=2
+uint16 CONTROLLING=3
+uint16 WAIT_FOR_CHARGE=4
+uint16 RETRY=5
+
+uint16 state  # Current docking state
+builtin_interfaces/Duration docking_time  # Docking time elapsed
+uint16 num_retries 0  # Number of retries attempted
diff --git a/nav2_msgs/action/UndockRobot.action b/nav2_msgs/action/UndockRobot.action
new file mode 100644
index 0000000000..4ab21a75dd
--- /dev/null
+++ b/nav2_msgs/action/UndockRobot.action
@@ -0,0 +1,25 @@
+#goal definition
+
+# If initialized on a dock so the server doesn't know what type of dock its on,
+# you must specify what dock it is to know where to stage for undocking.
+# If only one type of dock plugin is present, it is not necessary to set.
+# If not set & server instance was used to dock, server will use current dock information from last docking request.
+string dock_type
+
+float32 max_undocking_time 30.0 # Maximum time to undock
+
+---
+#result definition
+
+# Error codes
+# Note: The expected priority order of the errors should match the message order
+uint16 NONE=0
+uint16 DOCK_NOT_VALID=902
+uint16 FAILED_TO_CONTROL=905
+uint16 UNKNOWN=999
+
+bool success True  # docking success status
+uint16 error_code 0  # Contextual error code, if any
+
+---
+#feedback definition
diff --git a/nav2_msgs/srv/ReloadDockDatabase.srv b/nav2_msgs/srv/ReloadDockDatabase.srv
new file mode 100644
index 0000000000..fb6f36d7a4
--- /dev/null
+++ b/nav2_msgs/srv/ReloadDockDatabase.srv
@@ -0,0 +1,5 @@
+# Reloads the dock's database with a new filepath
+
+string filepath
+---
+bool success