Add gizmo_msgs

gizmo_msgs/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(gizmo_msgs)
+
+
+add_compile_options(-std=c++11)
+
+
+find_package(catkin REQUIRED
+        COMPONENTS
+        actionlib
+        actionlib_msgs
+        audio_msgs
+        geometry_msgs
+        mayfield_msgs
+        message_generation
+        mobile_base_driver
+        nav_msgs
+        sensor_msgs
+        std_msgs
+        )
+
+add_action_files(
+        FILES
+        CalibrationPath.action
+        RecordBagfile.action
+)
+
+add_message_files(
+        FILES
+        Action.msg
+        Asleep.msg
+        Awake.msg
+        Bumpers.msg
+        ChestLED.msg
+        ClientTouch.msg
+        ClientWaypoint.msg
+        Command.msg
+        CompressedOccupancyGrid.msg
+        Connection.msg
+        Deaf.msg
+        Exchange.msg
+        Field.msg
+        FilteredBattery.msg
+        HeadPose.msg
+        MomentAction.msg
+        MomentActions.msg
+        MqttMessage.msg
+        NavigationFeedback.msg
+        NavigationGoal.msg
+        RomojiFeedback.msg
+        RomojiGoal.msg
+        SoundHoundCommand.msg
+        StringStamped.msg
+        VolumeButton.msg
+        Volume.msg
+)
+
+add_service_files(
+        FILES
+        Deafen.srv
+        GetDirection.srv
+        GetField.srv
+        ListFields.srv
+        MqttStatus.srv
+        MqttSubscribe.srv
+        PhotoCapture.srv
+        RobotInfo.srv
+        RobotPose.srv
+        SetField.srv
+        SetNavMode.srv
+        Snooze.srv
+        Stat.srv
+        UploaderStatus.srv
+        WakeUp.srv
+
+)
+
+generate_messages(
+        DEPENDENCIES
+        actionlib_msgs
+        audio_msgs
+        geometry_msgs
+        mayfield_msgs
+        mobile_base_driver
+        nav_msgs
+        sensor_msgs
+        std_msgs
+)
+
+catkin_package(
+        CATKIN_DEPENDS
+        actionlib_msgs
+        audio_msgs
+        geometry_msgs
+        nav_msgs
+        mayfield_msgs
+        mobile_base_driver
+        sensor_msgs
+        std_msgs
+)
+
+include_directories(${catkin_INCLUDE_DIRS})

gizmo_msgs/README.md

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+# gizmo_msgs
+
+Message types used for interacting with gizmo, the default behavior stack on the Kuri. Extracted from the robot.

gizmo_msgs/action/CalibrationPath.action

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+
+---
+
+#result definition
+bool success
+string error
+
+---
+
+
+

gizmo_msgs/action/RecordBagfile.action

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+# mode is 'mapping' or 'localization' or 'stopped'
+string mode
+---
+bool success
+---

gizmo_msgs/msg/Action.msg

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+# ROS message to broadcast the robot's current task and/or reaction
+string task
+string reaction

gizmo_msgs/msg/Awake.msg

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+geometry_msgs/Vector3 direction
+uint16 relative_angle
+float32 score

gizmo_msgs/msg/Bumpers.msg

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+Header header
+mobile_base_driver/Bumper[3] bumper

gizmo_msgs/msg/ChestLED.msg

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+std_msgs/ColorRGBA[] array

gizmo_msgs/msg/ClientTouch.msg

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+string request_id
+float32 x
+float32 y

gizmo_msgs/msg/ClientWaypoint.msg

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+string request_id
+string waypoint_uuid

gizmo_msgs/msg/Command.msg

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+string name
+mayfield_msgs/KeyValue[] params

gizmo_msgs/msg/CompressedOccupancyGrid.msg

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+# This represents a 2-D grid map, in which each cell represents the probability of
+# occupancy.
+
+Header header
+
+#MetaData for the map
+nav_msgs/MapMetaData info
+
+# This data is a png8 image file as it appears on disk encoded as a base64 string.
+# When uncompressed the pixel array is in row-major order, starting with (0,0).
+# Currently, unknown is 205, free is 255, and occupied is 0.
+string data

gizmo_msgs/msg/Connection.msg

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+bool is_connected
+string peer_id
+bool are_all_peers_gone

gizmo_msgs/msg/Exchange.msg

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+SoundHoundCommand[] commands
+string error
+string transcription

gizmo_msgs/msg/Field.msg

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+string name
+string type
+uint32 length
+string description
+string mode

gizmo_msgs/msg/FilteredBattery.msg

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+uint8 rounded_pct
+bool dock_present
+bool is_charging

gizmo_msgs/msg/HeadPose.msg

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+float32 pan
+float32 tilt

gizmo_msgs/msg/MomentAction.msg

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+string event
+string uuid

gizmo_msgs/msg/MomentActions.msg

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+MomentAction[] actions

gizmo_msgs/msg/MqttMessage.msg

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+string topic
+string payload

gizmo_msgs/msg/NavigationFeedback.msg

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+byte GO_TO_WAYPOINT=0
+byte DRIVE_TO_POINT_IN_IMAGE=1
+byte FOLLOW_ME=2
+
+byte NAV_SUCCESS=0
+byte NAV_PLANNING=1
+byte NAV_MOVING=2
+byte NAV_ERROR=3
+byte NAV_CANCELED=4
+
+# NAV_ status
+byte status
+# Type of navigation
+byte nav_type
+# Request ID if from client
+string request_id
+# error string if NAV_ERROR
+string error
+# waypoint UUID if GO_TO_WAYPOINT
+string waypoint_uuid
+# Goal pose
+geometry_msgs/Pose goal

gizmo_msgs/msg/NavigationGoal.msg

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+# This is a message covering all types of navigation
+byte GO_TO_WAYPOINT=0
+byte DRIVE_TO_POINT_IN_IMAGE=1
+byte FOLLOW_ME=2
+
+# Type of navigation
+byte nav_type
+# Goal of navigation
+geometry_msgs/Pose pose
+# Waypoint UUID for GO_TO_WAYPOINT
+string waypoint_uuid
+# Head pose for GO_TO_WAYPOINT
+gizmo_msgs/HeadPose head_pose
+# Request ID (if from client)
+string request_id

gizmo_msgs/msg/RomojiFeedback.msg

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+string request_id
+string feedback

gizmo_msgs/msg/RomojiGoal.msg

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+# Name of romoji to play
+string name
+# Whether to play sound or not (if the animation has sounds)
+bool sound
+# Request ID of the animation
+string request_id

gizmo_msgs/msg/SoundHoundCommand.msg

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+string name
+mayfield_msgs/KeyValue[] params

gizmo_msgs/msg/StringStamped.msg

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+Header header
+string timems
+string data

gizmo_msgs/msg/Volume.msg

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+# Volume level
+# If is_relative is True, this adds to the current volume level
+# If is_relative is False, this sets the current volume level
+# Note: level is on the range [0:100], and will be clapmed appropriately
+# upon receipt of this message
+int16 level
+
+# Whether the level should be added to the current level or set absolutely
+bool is_relative
+
+# Mute and unmute
+# If either of these are set to true, the above values will not be used
+# Muting stores the volume level and sets the level to 0
+# Unmuting restores the volume level (or uses the default volume if no level
+# has been stored)
+bool mute
+bool unmute

gizmo_msgs/msg/VolumeButton.msg

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+bool up_button_pressed
+bool down_button_pressed

gizmo_msgs/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>gizmo_msgs</name>
+  <version>14.3.1</version>
+  <description>The gizmo_msgs package</description>
+
+  <maintainer email="sarah.osentoski@us.bosch.com">Sarah Osentoski</maintainer>
+  <license>TODO</license>
+
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>message_generation</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>actionlib_msgs</build_depend>
+  <build_depend>audio_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>diagnostic_msgs</build_depend>
+  <build_depend>mobile_base_driver</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>mayfield_msgs</build_depend>
+
+  <run_depend>message_runtime</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>actionlib_msgs</run_depend>
+  <run_depend>audio_msgs</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>diagnostic_msgs</run_depend>
+  <run_depend>mobile_base_driver</run_depend>
+  <run_depend>mayfield_msgs</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+
+
+  <export>
+  </export>
+</package>

gizmo_msgs/srv/Deafen.srv

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+---
+string state

gizmo_msgs/srv/GetDirection.srv

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+uint8 threshold
+uint16 ms_duration
+uint16 ms_delay
+---
+geometry_msgs/Vector3 direction
+uint16 relative_angle

gizmo_msgs/srv/GetField.srv

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+string name
+---
+string json_value

gizmo_msgs/srv/ListFields.srv

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+---
+audio_msgs/Field[] fields

gizmo_msgs/srv/MqttStatus.srv

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+---
+# MQTT Node will assemble topic names for you based on the device, environment
+# robot_id, and the 'endpoint' which is specified when you publish the message
+# More info at:
+# https://github.com/mayfieldrobotics/kuri_project_management/tree/master/mqtt
+string device
+string environment
+string robot_id
+
+# In test environment, we let MQTT pick its own path for credentials so we
+# don't interfere with other MQTT nodes
+string alt_cred_path
+
+bool connected

gizmo_msgs/srv/MqttSubscribe.srv

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+string topic
+---
+bool success

gizmo_msgs/srv/PhotoCapture.srv

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+---
+sensor_msgs/CompressedImage image

gizmo_msgs/srv/RobotInfo.srv

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+---
+uint16 client_interface_ver
+string robot_base_ver
+string gizmo_ver

gizmo_msgs/srv/RobotPose.srv

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+---
+geometry_msgs/Pose pose

gizmo_msgs/srv/SetField.srv

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+string name
+string json_value
+---

gizmo_msgs/srv/SetNavMode.srv

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+string mode
+---
+bool success

gizmo_msgs/srv/Snooze.srv

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+---
+string state

gizmo_msgs/srv/Stat.srv

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+---
+string state
+string direction

gizmo_msgs/srv/UploaderStatus.srv

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+---
+# In test environment, we let the cloud uploader pick its own path for the
+# uploader queue.  In normal operation this will point to
+# /mayfield/something/something
+string uploader_queue

gizmo_msgs/srv/WakeUp.srv

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+---
+string state