add ranger motion mode setting

include/ugv_sdk/agilex_base.hpp

@@ -59,6 +59,9 @@ class AgilexBase {
                         LightMode rear_mode, uint8_t rear_custom_value);
   void DisableLightControl();
 
+  // motion mode change
+  void SetMotionMode(uint8_t mode);
+
   // reset fault states
   void ResetRobotState();
 

include/ugv_sdk/agilex_message.h

@@ -53,6 +53,12 @@ typedef struct {
   bool enable_braking;
 } BrakingCommandMessage;
 
+// 0x141
+typedef  struct
+{
+  uint8_t motion_mode;
+} MotionModeMessage;
+
 /**************** Feedback messages *****************/
 
 // 0x211
@@ -288,6 +294,7 @@ typedef enum {
   AgxMsgMotionCommand,
   AgxMsgLightCommand,
   AgxMsgBrakingCommand,
+  AgxMsgSetMotionMode,
   // state feedback
   AgxMsgSystemState,
   AgxMsgMotionState,
@@ -321,6 +328,7 @@ typedef struct {
     MotionCommandMessage motion_command_msg;
     LightCommandMessage light_command_msg;
     BrakingCommandMessage braking_command_msg;
+    MotionModeMessage motion_mode_msg;
     // state feedback
     SystemStateMessage system_state_msg;
     MotionStateMessage motion_state_msg;

include/ugv_sdk/ranger_base.hpp

@@ -68,6 +68,7 @@ class RangerBase : public AgilexBase {
   // robot control
   void SetMotionCommand(double linear_vel, double angular_vel);
   void SetLightCommand(const RangerLightCmd &cmd);
+  void SetMotionMode(uint8_t mode);
 
   // get robot state
   RangerState GetRangerState();