Remove drift and control dimension services, add ServoCommandType ser…

…vice and ServoStatus message
moveit · Jul 28, 2023 · d4769ca · d4769ca
1 parent 313bd6a
commit d4769ca
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Showing 5 changed files with 25 additions and 31 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -73,6 +73,7 @@ set(msg_files
   "msg/WorkspaceParameters.msg"
   "msg/KinematicSolverInfo.msg"
   "msg/PositionIKRequest.msg"
+  "msg/ServoStatus.msg"
 )
 
 set(srv_files
@@ -97,8 +98,7 @@ set(srv_files
   "srv/CheckIfRobotStateExistsInWarehouse.srv"
   "srv/RenameRobotStateInWarehouse.srv"
   "srv/DeleteRobotStateFromWarehouse.srv"
-  "srv/ChangeControlDimensions.srv"
-  "srv/ChangeDriftDimensions.srv"
+  "srv/ServoCommandType.srv"
 )
 
 set(action_files

diff --git a/msg/ServoStatus.msg b/msg/ServoStatus.msg
@@ -0,0 +1,13 @@
+# Message
+int8 code # will contains integer code
+string message # will contain explanatory message
+
+# Status types (should reflect StatusCode from moveit_servo/utils/datatype.hpp)
+int8 INVALID = -1
+int8 NO_WARNING = 0
+int8 DECELERATE_FOR_APPROACHING_SINGULARITY = 1
+int8 HALT_FOR_SINGULARITY = 2
+int8 DECELERATE_FOR_LEAVING_SINGULARITY = 3
+int8 DECELERATE_FOR_COLLISION = 4
+int8 HALT_FOR_COLLISION = 5
+int8 JOINT_BOUND = 6
diff --git a/srv/ChangeControlDimensions.srv b/srv/ChangeControlDimensions.srv
diff --git a/srv/ChangeDriftDimensions.srv b/srv/ChangeDriftDimensions.srv
diff --git a/srv/ServoCommandType.srv b/srv/ServoCommandType.srv
@@ -0,0 +1,10 @@
+# Request constants
+int8 JOINT_JOG = 0
+int8 TWIST = 1
+int8 POSE = 2
+
+# Request Field
+int8 command_type
+---
+# Response Field
+bool success