From 779e4462ed421f749c4a737114d9cc6a061b11c8 Mon Sep 17 00:00:00 2001 From: Dave Kroezen Date: Fri, 19 Jul 2024 09:48:53 +0200 Subject: [PATCH 1/3] Add missing parameters to goal --- penelope_aerospace_pl_msgs/action/DvmInspect.action | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/penelope_aerospace_pl_msgs/action/DvmInspect.action b/penelope_aerospace_pl_msgs/action/DvmInspect.action index e88082b..757263d 100644 --- a/penelope_aerospace_pl_msgs/action/DvmInspect.action +++ b/penelope_aerospace_pl_msgs/action/DvmInspect.action @@ -14,6 +14,10 @@ SolidPrimitiveStamped allocated_space # Define the location of the geometry file string geometry_file_location # e.g. a '.ply' file +# TODO: Add description +string[] dvm_aquisition_parameters_directories +string[] dvm_aquisition_parameters_files + # Define process parameters # The robot settings string[] robot_parameters # e.g. 'robot.ini' From 015d1e0d88af54210222ae1763e5f53650076a91 Mon Sep 17 00:00:00 2001 From: Dave Kroezen Date: Fri, 19 Jul 2024 09:48:53 +0200 Subject: [PATCH 2/3] Add images to result --- penelope_aerospace_pl_msgs/action/DvmInspect.action | 2 ++ 1 file changed, 2 insertions(+) diff --git a/penelope_aerospace_pl_msgs/action/DvmInspect.action b/penelope_aerospace_pl_msgs/action/DvmInspect.action index 757263d..b715e57 100644 --- a/penelope_aerospace_pl_msgs/action/DvmInspect.action +++ b/penelope_aerospace_pl_msgs/action/DvmInspect.action @@ -39,6 +39,8 @@ DvmState[] measurement_state bool[] measurement_ready bool[] processed_data_available bool[] ndt_approved +sensor_msgs/Image[] intensity_map +sensor_msgs/Image[] processed_scan # Action success/failure indicator. # Refer to penelope_aerospace_pl_msgs/msg/ResultCodes for defined error codes. From 2a6318e31d5c1ef1c5db50cfd63f81fdd29d755d Mon Sep 17 00:00:00 2001 From: Dave Kroezen Date: Fri, 19 Jul 2024 09:49:00 +0200 Subject: [PATCH 3/3] Requested by Erwin/Deni to be part of the DvmState enums --- penelope_aerospace_pl_msgs/msg/DvmState.msg | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/penelope_aerospace_pl_msgs/msg/DvmState.msg b/penelope_aerospace_pl_msgs/msg/DvmState.msg index fa51d1f..be3fe98 100644 --- a/penelope_aerospace_pl_msgs/msg/DvmState.msg +++ b/penelope_aerospace_pl_msgs/msg/DvmState.msg @@ -37,5 +37,10 @@ uint8 CANCELLED = 8 uint8 ABORTED = 9 uint8 FAILED = 10 uint8 OFFLINE = 11 +uint8 NOTHING_HAPPENING = 12 +uint8 MOVING = 13 +uint8 SCAN_FINISHED = 15 +uint8 SCAN_FAILED = 16 +uint8 SCAN_ABORTED = 17 uint8 data