major revision

scout_msgs/msg/ScoutLightCmd.msg

@@ -0,0 +1,10 @@
+uint8 LIGHT_CONST_OFF = 0
+uint8 LIGHT_CONST_ON = 1
+uint8 LIGHT_BREATH = 2
+uint8 LIGHT_CUSTOM = 3
+
+bool enable_cmd_light_control
+uint8 front_mode
+uint8 front_custom_value
+uint8 rear_mode
+uint8 rear_custom_value

scout_msgs/msg/ScoutLightState.msg

@@ -0,0 +1,2 @@
+uint8 mode
+uint8 custom_value

scout_msgs/msg/ScoutMotorState.msg

@@ -0,0 +1,3 @@
+float64 current
+float64 rpm
+float64 temperature

scout_msgs/msg/ScoutStatus.msg

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+Header header
+
+int8 MOTOR_ID_FRONT_RIGHT = 0
+int8 MOTOR_ID_FRONT_LEFT = 1
+int8 MOTOR_ID_REAR_RIGHT = 2
+int8 MOTOR_ID_REAR_LEFT = 3
+
+int8 LIGHT_ID_FRONT = 0
+int8 LIGHT_ID_REAR = 1
+
+# motion state
+float64 linear_velocity
+float64 angular_velocity
+
+# base state
+uint8 base_state
+uint8 control_mode
+uint16 fault_code
+float64 battery_voltage
+
+# motor state
+ScoutMotorState[4] motor_states
+
+# light state
+bool light_control_enabled
+ScoutLightState front_light_state
+ScoutLightState rear_light_state