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[ONAV-1546] added message changes from 0.10.0 updates #185

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Oct 31, 2023
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[ONAV-1546] added message changes from 0.10.0 updates #185

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c384225
added message changes from 0.10.0 updates
jmastrangelo-cpr Oct 30, 2023
080cd84
review fixes
jmastrangelo-cpr Oct 31, 2023
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12 changes: 10 additions & 2 deletions docs_outdoornav_user_manual/api/api_endpoints/autonomy_api.mdx
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Original file line number Diff line number Diff line change
Expand Up @@ -197,7 +197,7 @@ direction).

#### /safety/safety_stop

  **Message Type:** std_msgs/Bool
  **Message Type:** [clearpath_safety_msgs/Safety](definitions.mdx#msg-safety)

  **Description:** Flag denoting if autonomy should be stopped due to any
of the following reasons: emergency stop active, one of the sensors has
Expand Down Expand Up @@ -474,9 +474,17 @@ package has been included.
  **Action Type:** [clearpath_navigation_msgs/action/Mission](definitions.mdx#action-mission)

  **Description:** Send goals for execution by the robot. This will
include the goal, the viapoint(s), tasks, goal tolerances and goal
include the goal, the waypoint(s), tasks, goal tolerances and goal
heading.

#### /mission/by_id

  **Action Type:** [clearpath_navigation_msgs/action/ExecuteMissionByUuid](definitions.mdx#action-execute-mission-by-uuid)

  **Description:** Send goals for execution by the robot
according to the specific mission uuid. This will include the goal, the waypoint(s), tasks,
goal tolerances and goal heading.

#### /undock

  **Action Type:** [clearpath_dock_msgs/action/Dock](definitions.mdx#action-undock)
Expand Down
48 changes: 48 additions & 0 deletions docs_outdoornav_user_manual/api/api_endpoints/definitions.mdx
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Expand Up @@ -329,6 +329,10 @@ float64[] floats
# String data to be passed to the action_server_name
# The exact meaning of these values is dependent on the underlying service
string[] strings

# Boolean value which determines whether a mission using this task can continue
# if this task fails to execute
bool allow_failure
```

#### clearpath_navigation_msgs/TrackError.msg {#msg-track-error}
Expand Down Expand Up @@ -392,6 +396,20 @@ string hardware_revision
string firmware_revision
```

#### clearpath_safety_msgs/Safety.msg {#msg-safety}

```
# Safety monitor message telling us if the safety monitor has been triggered and a message
# indicating what caused the trigger

uint8 SAFETY_ESTOP = 0
uint8 SAFETY_SENSOR_TIMEOUT = 1

bool safety_monitor_triggered
uint8 trigger_type
string message
```

#### clearpath_safety_msgs/WatchdogStatus.msg {#msg-safety-watchdog}

```
Expand Down Expand Up @@ -1519,13 +1537,43 @@ bool success
float32 percent_complete
```

#### clearpath_navigation_msgs/action/ExecuteMissionByUuid.action {#action-execute-mission-by-uuid}

```
# Action definition for executing a mission by uuid

# goal
string uuid # UUID of The mission being executed

# from_start = True -> Forces the mission to execute from the beginning
bool from_start

# If from_start = False, mission will be executed from the waypoint with UUID specified.
# If from_start = False and no start_waypoint_uuid is specified then autonomy will pick the closest waypoint
string start_waypoint_uuid
---
# result
bool success
---
# feedback
string state

```

#### clearpath_navigation_msgs/action/Mission.action {#action-mission}

```
# Action definition for sending a mission to the Clearpath OutdoorNav software

# goal
clearpath_navigation_msgs/Mission mission

# from_start = True -> Forces the mission to execute from the beginning
bool from_start

# If from_start = False, mission will be executed from the start_waypoint specified.
# If from_start = False and no start_waypoint is specified then autonomy will pick the closest waypoint
clearpath_navigation_msgs/Waypoint start_waypoint
---
# result
bool success
Expand Down