diff --git a/.gitignore b/.gitignore index 150a90d..8b71b9e 100644 --- a/.gitignore +++ b/.gitignore @@ -7,3 +7,4 @@ msg_gen srv_gen src version.txt +**/*.swp diff --git a/marti_can_msgs/package.xml b/marti_can_msgs/package.xml index c4e1531..17a4524 100644 --- a/marti_can_msgs/package.xml +++ b/marti_can_msgs/package.xml @@ -1,6 +1,6 @@ marti_can_msgs - 1.2.0 + 1.3.0 marti_can_msgs diff --git a/marti_common_msgs/package.xml b/marti_common_msgs/package.xml index 77815a1..7f19cfb 100644 --- a/marti_common_msgs/package.xml +++ b/marti_common_msgs/package.xml @@ -1,6 +1,6 @@ marti_common_msgs - 1.2.0 + 1.3.0 marti_common_msgs diff --git a/marti_dbw_msgs/package.xml b/marti_dbw_msgs/package.xml index c59b9ad..f8102e5 100644 --- a/marti_dbw_msgs/package.xml +++ b/marti_dbw_msgs/package.xml @@ -1,7 +1,7 @@ marti_dbw_msgs - 1.2.0 + 1.3.0 marti_dbw_msgs diff --git a/marti_introspection_msgs/CMakeLists.txt b/marti_introspection_msgs/CMakeLists.txt new file mode 100644 index 0000000..b7becce --- /dev/null +++ b/marti_introspection_msgs/CMakeLists.txt @@ -0,0 +1,24 @@ +cmake_minimum_required(VERSION 3.10.0) +project(marti_introspection_msgs) + +set(CMAKE_CXX_STANDARD 14) + +find_package(ament_cmake REQUIRED) +find_package(rosidl_default_generators REQUIRED) +find_package(builtin_interfaces REQUIRED) + +set(MSG_FILES + msg/NodeInfo.msg + msg/ParamInfo.msg + msg/TopicInfo.msg + msg/ServiceInfo.msg +) + +rosidl_generate_interfaces(${PROJECT_NAME} + ${MSG_FILES} + DEPENDENCIES ${MSG_DEPS} +) + +ament_export_dependencies(rosidl_default_runtime) +ament_package() + diff --git a/marti_introspection_msgs/msg/NodeInfo.msg b/marti_introspection_msgs/msg/NodeInfo.msg new file mode 100644 index 0000000..2305fb6 --- /dev/null +++ b/marti_introspection_msgs/msg/NodeInfo.msg @@ -0,0 +1,22 @@ +# This message contains documentation data about a specific node + +# The fully qualified node name +string name + +# The location the node handle is constructed +string location + +# The name of the nodelet manager this is running in, if any +string nodelet_manager + +# A human readable description of the node +string description + +# A list of each topic used in the node +TopicInfo[] topics + +# A list of each parameter used in the node +ParamInfo[] parameters + +# A list of each service used in the node +ServiceInfo[] services diff --git a/marti_introspection_msgs/msg/ParamInfo.msg b/marti_introspection_msgs/msg/ParamInfo.msg new file mode 100644 index 0000000..f6091f8 --- /dev/null +++ b/marti_introspection_msgs/msg/ParamInfo.msg @@ -0,0 +1,37 @@ +# This message contains documentation data about a parameter in a node +uint8 TYPE_XMLRPC=0 +uint8 TYPE_DOUBLE=1 +uint8 TYPE_STRING=2 +uint8 TYPE_INT=3 +uint8 TYPE_FLOAT=4 +uint8 TYPE_BOOL=5 + +# The internal name of the parameter +string name + +# The external, global name of the parameter +string resolved_name + +# A description of the parameter and what it does +string description + +# Used to group related components +string group + +# The type of parameter using the enums above +uint8 type + +# If the parameter is dynamic or not +bool dynamic + +# Default values +int32 default_int +float32 default_float +float64 default_double +string default_string +bool default_bool + +# Max and minimum values (may have rounding issues) +# Unused if both are 0.0 +float64 max_value +float64 min_value diff --git a/marti_introspection_msgs/msg/ServiceInfo.msg b/marti_introspection_msgs/msg/ServiceInfo.msg new file mode 100644 index 0000000..7c2b821 --- /dev/null +++ b/marti_introspection_msgs/msg/ServiceInfo.msg @@ -0,0 +1,22 @@ +# This message contains documentation data about a service client/server in a node + +# The internal name of the service +string name + +# The external, global name of the service +string resolved_name + +# A human readable description of the service and how to use it +string description + +# Used to group related components +string group + +# The name of the message type +string message_type + +# If this is a service server, otherwise it is a service client +bool server + +# Indicates if this is a topic service rather than a true service +bool topic_service diff --git a/marti_introspection_msgs/msg/TopicInfo.msg b/marti_introspection_msgs/msg/TopicInfo.msg new file mode 100644 index 0000000..efc7a1a --- /dev/null +++ b/marti_introspection_msgs/msg/TopicInfo.msg @@ -0,0 +1,19 @@ +# This message contains documentation data about a topic in a node + +# The internal name of the topic +string name + +# The external, global name of the topic +string resolved_name + +# A human readable description of the topic and how to use it +string description + +# Used to group related components +string group + +# The name of the message type +string message_type + +# If the topic is being advertised, otherwise it is being subscribed to +bool advertised diff --git a/marti_introspection_msgs/package.xml b/marti_introspection_msgs/package.xml new file mode 100644 index 0000000..2db8985 --- /dev/null +++ b/marti_introspection_msgs/package.xml @@ -0,0 +1,25 @@ + + marti_introspection_msgs + 1.3.0 + + marti_introspection_msgs + + Matthew Bries + Matthew Bries + BSD + https://github.com/swri-robotics/marti_messages + + ament_cmake + rosidl_default_generators + + builtin_interfaces + + rosidl_default_runtime + + rosidl_interface_packages + + + ament_cmake + + + diff --git a/marti_nav_msgs/package.xml b/marti_nav_msgs/package.xml index 27faf90..cc9c0fe 100644 --- a/marti_nav_msgs/package.xml +++ b/marti_nav_msgs/package.xml @@ -1,6 +1,6 @@ marti_nav_msgs - 1.2.0 + 1.3.0 marti_nav_msgs diff --git a/marti_perception_msgs/package.xml b/marti_perception_msgs/package.xml index a3c6ecb..24b14c7 100644 --- a/marti_perception_msgs/package.xml +++ b/marti_perception_msgs/package.xml @@ -1,6 +1,6 @@ marti_perception_msgs - 1.2.0 + 1.3.0 marti_perception_msgs diff --git a/marti_sensor_msgs/package.xml b/marti_sensor_msgs/package.xml index 6b4ea37..3829740 100644 --- a/marti_sensor_msgs/package.xml +++ b/marti_sensor_msgs/package.xml @@ -1,6 +1,6 @@ marti_sensor_msgs - 1.2.0 + 1.3.0 marti_sensor_msgs diff --git a/marti_status_msgs/package.xml b/marti_status_msgs/package.xml index 30f81b0..0d1a345 100644 --- a/marti_status_msgs/package.xml +++ b/marti_status_msgs/package.xml @@ -1,6 +1,6 @@ marti_status_msgs - 1.2.0 + 1.3.0 marti_status_msgs diff --git a/marti_visualization_msgs/package.xml b/marti_visualization_msgs/package.xml index 51e1c9e..6326d90 100644 --- a/marti_visualization_msgs/package.xml +++ b/marti_visualization_msgs/package.xml @@ -1,6 +1,6 @@ marti_visualization_msgs - 1.2.0 + 1.3.0 marti_visualization_msgs