added Watchdog messages to ROS2

clearpathrobotics · Sep 25, 2024 · 2c50fe4 · 2c50fe4
1 parent 0c7925e
commit 2c50fe4
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Showing 34 changed files with 197 additions and 4 deletions.
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/CMakeLists.txt b/clearpath_outdoornav_msgs/clearpath_safety_msgs/CMakeLists.txt
@@ -5,14 +5,48 @@ project(clearpath_safety_msgs)
 
 find_package(rosidl_default_generators REQUIRED)
 find_package(ament_cmake REQUIRED)
+find_package(std_msgs REQUIRED)
 set(CMAKE_CXX_STANDARD 17)
 
 rosidl_generate_interfaces(
     ${PROJECT_NAME}
         msg/AssistedTeleopState.msg
         msg/ObstacleMap.msg
         msg/Safety.msg
+        msg/WatchdogConfigArray.msg
+        msg/WatchdogConfigCommon.msg
+        msg/WatchdogConfigCommunication.msg
+        msg/WatchdogConfigHeartbeat.msg
+        msg/WatchdogConfigInclination.msg
+        msg/WatchdogConfigNodeletStatus.msg
+        msg/WatchdogConfigNodeStatus.msg
+        msg/WatchdogConfigNumPoints.msg
+        msg/WatchdogConfigOdomCovariance.msg
+        msg/WatchdogConfigRtkFix.msg
+        msg/WatchdogConfigTopicData.msg
         msg/WatchdogStatus.msg
+        msg/WatchdogStatusArray.msg
+        srv/AddCommunicationWatchdog.srv
+        srv/AddHeartbeatWatchdog.srv
+        srv/AddInclinationWatchdog.srv
+        srv/AddNodeletStatusWatchdog.srv
+        srv/AddNodeStatusWatchdog.srv
+        srv/AddNumPointsWatchdog.srv
+        srv/AddOdomCovarianceWatchdog.srv
+        srv/AddRtkFixWatchdog.srv
+        srv/AddTopicDataWatchdog.srv
+        srv/RemoveWatchdog.srv
+        srv/UpdateCommunicationWatchdog.srv
+        srv/UpdateHeartbeatWatchdog.srv
+        srv/UpdateInclinationWatchdog.srv
+        srv/UpdateNodeletStatusWatchdog.srv
+        srv/UpdateNodeStatusWatchdog.srv
+        srv/UpdateNumPointsWatchdog.srv
+        srv/UpdateOdomCovarianceWatchdog.srv
+        srv/UpdateRtkFixWatchdog.srv
+        srv/UpdateTopicDataWatchdog.srv
+    DEPENDENCIES
+        std_msgs
 )
 
 ament_package()

diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/AssistedTeleopState.msg b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/AssistedTeleopState.msg
@@ -12,6 +12,7 @@ uint8 ASSIST_ON = 100
 uint8 ASSIST_OFF_SERVICE = 101
 uint8 ASSIST_OFF_JOYSTICK_OVERRIDE = 102
 uint8 ASSIST_OFF_SENSOR_TIMEOUT = 103
+uint8 ASSIST_OFF_REMOTE_CONTROLLER_OVERRIDE = 104
 uint8 assist_off_trigger
 
 string error_message
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigArray.msg b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigArray.msg
@@ -0,0 +1,13 @@
+# Watchdog config message containing information related to device
+# monitoring and what action should be taken to recover from an error
+
+
+WatchdogConfigCommunication[] communication_config
+WatchdogConfigHeartbeat[] heartbeat_config
+WatchdogConfigInclination[] inclination_config
+WatchdogConfigNodeStatus[] node_status_config
+WatchdogConfigNodeletStatus[] nodelet_status_config
+WatchdogConfigNumPoints[] num_points_config
+WatchdogConfigOdomCovariance[] odom_covariance_config
+WatchdogConfigRtkFix[] rtk_fix_config
+WatchdogConfigTopicData[] topic_data_config
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigCommon.msg b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigCommon.msg
@@ -0,0 +1,6 @@
+string name
+string type
+bool enabled
+string[] components
+string on_trigger_action
+# string[] on_trigger_options
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigCommunication.msg b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigCommunication.msg
@@ -0,0 +1,5 @@
+WatchdogConfigCommon base_config
+string protocol
+string ip        # only used when protocol is 'ip'
+string interface # only used when protocol is 'can' or 'serial'
+float32 timeout
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigHeartbeat.msg b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigHeartbeat.msg
@@ -0,0 +1,3 @@
+WatchdogConfigCommon base_config
+string topic
+float32 timeout
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigInclination.msg b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigInclination.msg
@@ -0,0 +1,5 @@
+WatchdogConfigCommon base_config
+float32 roll_limit
+float32 pitch_limit
+float32 delay
+string topic
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigNodeStatus.msg b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigNodeStatus.msg
@@ -0,0 +1,3 @@
+WatchdogConfigCommon base_config
+string node_name
+uint8 num_requests
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigNodeletStatus.msg b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigNodeletStatus.msg
@@ -0,0 +1,4 @@
+WatchdogConfigCommon base_config
+string manager
+string nodelet
+uint8 num_requests
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigNumPoints.msg b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigNumPoints.msg
@@ -0,0 +1,3 @@
+WatchdogConfigCommon base_config
+string topic
+int32 threshold
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigOdomCovariance.msg b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigOdomCovariance.msg
@@ -0,0 +1,5 @@
+WatchdogConfigCommon base_config
+string topic          # Odometry topic
+float32 xy_threshold
+float32 yaw_threshold
+float32 timeout
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigRtkFix.msg b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigRtkFix.msg
@@ -0,0 +1,6 @@
+WatchdogConfigCommon base_config
+
+bool rtk_heading_required
+bool rtk_position_required
+float32 timeout
+string gnss_type # Either 'swiftnav' or 'xvn'
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigTopicData.msg b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogConfigTopicData.msg
@@ -0,0 +1,3 @@
+WatchdogConfigCommon base_config
+string topic
+float32 timeout
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogStatus.msg b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogStatus.msg
@@ -1,5 +1,8 @@
-# Watchdog status message containing information related to sensor monitoring, emergency stop and safety stops
+# The message definition for a Watchdog including the type of watchdog, whether it
+# has been triggered or not and the recovery taken.
 
-bool[] gps_watchdog_triggered
-bool[] lidar_watchdog_triggered
-bool[] camera_watchdog_triggered
+
+string name
+bool triggered
+string trigger_message
+string action
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogStatusArray.msg b/clearpath_outdoornav_msgs/clearpath_safety_msgs/msg/WatchdogStatusArray.msg
@@ -0,0 +1,5 @@
+# Watchdog status message containing information related to device 
+# monitoring and what action has been taken to recover from an error
+
+std_msgs/Header header
+WatchdogStatus[] statuses
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddCommunicationWatchdog.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddCommunicationWatchdog.srv
@@ -0,0 +1,5 @@
+
+WatchdogConfigCommunication config
+
+---
+bool success
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddHeartbeatWatchdog.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddHeartbeatWatchdog.srv
@@ -0,0 +1,5 @@
+
+WatchdogConfigHeartbeat config
+
+---
+bool success
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddInclinationWatchdog.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddInclinationWatchdog.srv
@@ -0,0 +1,5 @@
+
+WatchdogConfigInclination config
+
+---
+bool success
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddNodeStatusWatchdog.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddNodeStatusWatchdog.srv
@@ -0,0 +1,5 @@
+
+WatchdogConfigNodeStatus config
+
+---
+bool success
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddNodeletStatusWatchdog.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddNodeletStatusWatchdog.srv
@@ -0,0 +1,5 @@
+
+WatchdogConfigNodeletStatus config
+
+---
+bool success
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddNumPointsWatchdog.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddNumPointsWatchdog.srv
@@ -0,0 +1,5 @@
+
+WatchdogConfigNumPoints config
+
+---
+bool success
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddOdomCovarianceWatchdog.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddOdomCovarianceWatchdog.srv
@@ -0,0 +1,5 @@
+
+WatchdogConfigOdomCovariance config
+
+---
+bool success
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddRtkFixWatchdog.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddRtkFixWatchdog.srv
@@ -0,0 +1,5 @@
+
+WatchdogConfigRtkFix config
+
+---
+bool success
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddTopicDataWatchdog.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/AddTopicDataWatchdog.srv
@@ -0,0 +1,5 @@
+
+WatchdogConfigTopicData config
+
+---
+bool success
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/RemoveWatchdog.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/RemoveWatchdog.srv
@@ -0,0 +1,4 @@
+
+string name
+---
+bool success
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/UpdateCommunicationWatchdog.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/UpdateCommunicationWatchdog.srv
@@ -0,0 +1,5 @@
+
+WatchdogConfigCommunication new_config
+string current_name     # used as a key to find the watchdog in the list of watchdogs
+---
+bool success
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/UpdateHeartbeatWatchdog.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/UpdateHeartbeatWatchdog.srv
@@ -0,0 +1,5 @@
+
+WatchdogConfigHeartbeat new_config
+string current_name     # used as a key to find the watchdog in the list of watchdogs
+---
+bool success
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/UpdateInclinationWatchdog.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/UpdateInclinationWatchdog.srv
@@ -0,0 +1,5 @@
+
+WatchdogConfigInclination new_config
+string current_name     # used as a key to find the watchdog in the list of watchdogs
+---
+bool success
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/UpdateNodeStatusWatchdog.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/UpdateNodeStatusWatchdog.srv
@@ -0,0 +1,5 @@
+
+WatchdogConfigNodeStatus new_config
+string current_name     # used as a key to find the watchdog in the list of watchdogs
+---
+bool success
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/UpdateNodeletStatusWatchdog.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/UpdateNodeletStatusWatchdog.srv
@@ -0,0 +1,5 @@
+
+WatchdogConfigNodeletStatus new_config
+string current_name     # used as a key to find the watchdog in the list of watchdogs
+---
+bool success
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/UpdateNumPointsWatchdog.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/UpdateNumPointsWatchdog.srv
@@ -0,0 +1,5 @@
+
+WatchdogConfigNumPoints new_config
+string current_name     # used as a key to find the watchdog in the list of watchdogs
+---
+bool success
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/UpdateOdomCovarianceWatchdog.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/UpdateOdomCovarianceWatchdog.srv
@@ -0,0 +1,5 @@
+
+WatchdogConfigOdomCovariance new_config
+string current_name     # used as a key to find the watchdog in the list of watchdogs
+---
+bool success
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/UpdateRtkFixWatchdog.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/UpdateRtkFixWatchdog.srv
@@ -0,0 +1,5 @@
+
+WatchdogConfigRtkFix new_config
+string current_name     # used as a key to find the watchdog in the list of watchdogs
+---
+bool success
diff --git a/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/UpdateTopicDataWatchdog.srv b/clearpath_outdoornav_msgs/clearpath_safety_msgs/srv/UpdateTopicDataWatchdog.srv
@@ -0,0 +1,5 @@
+
+WatchdogConfigTopicData new_config
+string current_name     # used as a key to find the watchdog in the list of watchdogs
+---
+bool success