removed service file and rearranged message

scout_msgs/CMakeLists.txt

@@ -49,20 +49,18 @@ add_message_files(
     FILES
     ScoutActuatorState.msg
     ScoutLightCmd.msg
-    ScoutMotionState.msg
+    ScoutLightState.msg
     ScoutRCState.msg
-    ScoutSystemState.msg
+    ScoutStatus.msg
 )
 
 
 ## Generate services in the 'srv' folder
-add_service_files(
+# add_service_files(
-  FILES
+#   FILES
-  ScoutCheckLightState.srv
+#   Service1.srv
-  ScoutCheckRCState.srv
+#   Service2.srv
-  ScoutCheckSystemState.srv
+# )
-  ScoutCheckActuatorState.srv
-)
 
 ## Generate actions in the 'action' folder
 # add_action_files(

scout_msgs/msg/ScoutLightCmd.msg

@@ -1,7 +1,7 @@
-# uint8 LIGHT_CONST_OFF = 0
+uint8 LIGHT_CONST_OFF = 0
-# uint8 LIGHT_CONST_ON = 1
+uint8 LIGHT_CONST_ON = 1
-# uint8 LIGHT_BREATH = 2
+uint8 LIGHT_BREATH = 2
-# uint8 LIGHT_CUSTOM = 3
+uint8 LIGHT_CUSTOM = 3
 
 bool cmd_ctrl_allowed
 uint8 front_mode

scout_msgs/msg/ScoutLightState.msg

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

scout_msgs/msg/ScoutMotionState.msg

@@ -1,4 +0,0 @@
-Header header
-
-float32 linear_velocity
-float32 angular_velocity

scout_msgs/msg/ScoutStatus.msg

@@ -0,0 +1,27 @@
+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 vehicle_state
+uint8 control_mode
+uint16 error_code
+float64 battery_voltage
+
+# motor state
+ScoutActuatorState[4] actuator_states
+
+# light state
+bool light_control_enabled
+ScoutLightState front_light_state
+ScoutLightState rear_light_state

scout_msgs/msg/ScoutSystemState.msg

@@ -1,23 +0,0 @@
-# uint8 VehicleStateNormal = 0
-# uint8  VehicleStateEStop = 1
-# uint8  VehicleStateException = 2
-
-# uint8  CONTROL_MODE_RC = 0
-# uint8  CONTROL_MODE_CAN = 1
-# uint8  CONTROL_MODE_UART = 2
-
-# uint16 SYSTEM_ERROR_MOTOR_DRIVER_MASK 0x0100
-# uint16 SYSTEM_ERROR_HL_COMM_MASK 0x0200
-# uint16 SYSTEM_ERROR_BATTERY_FAULT_MASK ((uint16_t)0x0001)
-# uint16 SYSTEM_ERROR_BATTERY_WARNING_MASK ((uint16_t)0x0002)
-# uint16 SYSTEM_ERROR_RC_SIGNAL_LOSS_MASK ((uint16_t)0x0004)
-# uint16 SYSTEM_ERROR_MOTOR1_COMM_MASK ((uint16_t)0x0008)
-# uint16 SYSTEM_ERROR_MOTOR2_COMM_MASK ((uint16_t)0x0010)
-# uint16 SYSTEM_ERROR_MOTOR3_COMM_MASK ((uint16_t)0x0020)
-# uint16 SYSTEM_ERROR_MOTOR4_COMM_MASK ((uint16_t)0x0040)
-# uint16 SYSTEM_ERROR_STEER_ENCODER_MASK ((uint16_t)0x0080)
-
-uint8 vehicle_state
-uint8 control_mode
-float32 battery_voltage
-uint16 error_code

scout_msgs/srv/ScoutCheckActuatorState.srv

@@ -1,10 +0,0 @@
-uint8 motor_id
----
-int16 rpm
-float64 current
-int32 pulse_count
-
-float32 driver_voltage
-float32 driver_temperature
-int8 motor_temperature
-uint8 driver_state

scout_msgs/srv/ScoutCheckLightState.srv

@@ -1,12 +0,0 @@
-bool is_check
----
-bool cmd_ctrl_allowed
-uint8 front_mode
-uint8 front_custom_value
-uint8 rear_mode
-uint8 rear_custom_value
-
-# uint8 LIGHT_CONST_OFF = 0
-# uint8 LIGHT_CONST_ON = 1
-# uint8 LIGHT_BREATH = 2
-# uint8 LIGHT_CUSTOM = 3

scout_msgs/srv/ScoutCheckRCState.srv

@@ -1,12 +0,0 @@
-bool is_check
----
-uint8 swa
-uint8 swb
-uint8 swc
-uint8 swd
-
-int8 stick_right_v
-int8 stick_right_h
-int8 stick_left_v
-int8 stick_left_h
-int8 var_a

scout_msgs/srv/ScoutCheckSystemState.srv

@@ -1,25 +0,0 @@
-bool is_check
----
-uint8 vehicle_state
-uint8 control_mode
-float32 battery_voltage
-uint16 error_code
-
-# uint8 VehicleStateNormal = 0
-# uint8  VehicleStateEStop = 1
-# uint8  VehicleStateException = 2
-
-# uint8  CONTROL_MODE_RC = 0
-# uint8  CONTROL_MODE_CAN = 1
-# uint8  CONTROL_MODE_UART = 2
-
-# uint16 SYSTEM_ERROR_MOTOR_DRIVER_MASK 0x0100
-# uint16 SYSTEM_ERROR_HL_COMM_MASK 0x0200
-# uint16 SYSTEM_ERROR_BATTERY_FAULT_MASK ((uint16_t)0x0001)
-# uint16 SYSTEM_ERROR_BATTERY_WARNING_MASK ((uint16_t)0x0002)
-# uint16 SYSTEM_ERROR_RC_SIGNAL_LOSS_MASK ((uint16_t)0x0004)
-# uint16 SYSTEM_ERROR_MOTOR1_COMM_MASK ((uint16_t)0x0008)
-# uint16 SYSTEM_ERROR_MOTOR2_COMM_MASK ((uint16_t)0x0010)
-# uint16 SYSTEM_ERROR_MOTOR3_COMM_MASK ((uint16_t)0x0020)
-# uint16 SYSTEM_ERROR_MOTOR4_COMM_MASK ((uint16_t)0x0040)
-# uint16 SYSTEM_ERROR_STEER_ENCODER_MASK ((uint16_t)0x0080)