added msg package for TB3

.gitignore

@@ -15,7 +15,6 @@
 
 # Fortran module files
 *.mod
-*.smod
 
 # Compiled Static libraries
 *.lai
@@ -27,3 +26,35 @@
 *.exe
 *.out
 *.app
+
+# user setting
+*.*~
+*.bak
+.svn
+.tags
+.tags_sorted_by_file
+*.cfgc
+*.txt.user*
+*-build/
+cpp/
+bin/
+build/
+msg_gen/
+srv_gen/
+docs/
+lib/
+cmake_install.cmake
+Makefile
+CMakeFiles/
+assets/
+gen/
+build.xml
+lint.xml
+local.properties
+proguard-project.txt
+build-*/
+*.autosave
+*.pyc
+*.dat
+*.txt.user
+*.gch

CMakeLists.txt

@@ -0,0 +1,63 @@
+################################################################################
+# CMake
+################################################################################
+cmake_minimum_required(VERSION 2.8.3)
+project(turtlebot3_msgs)
+
+################################################################################
+# Packages
+################################################################################
+find_package(catkin REQUIRED COMPONENTS
+  message_generation
+  std_msgs
+  sensor_msgs
+  std_srvs
+)
+
+################################################################################
+# Declare ROS messages, services and actions
+################################################################################
+add_message_files(
+  FILES
+  SensorState.msg
+  MotorPower.msg
+  VersionInfo.msg
+  PanoramaImg.msg
+)
+
+add_service_files(
+  DIRECTORY srv
+  FILES
+  TakePanorama.srv
+  SetFollowState.srv
+)
+
+
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+  sensor_msgs
+)
+
+################################################################################
+# Declare ROS dynamic reconfigure parameters
+################################################################################
+
+################################################################################
+# Catkin specific configuration
+################################################################################
+catkin_package(
+  CATKIN_DEPENDS std_msgs sensor_msgs std_srvs message_runtime
+)
+
+################################################################################
+# Build
+################################################################################
+
+################################################################################
+# Install
+################################################################################
+
+################################################################################
+# Test
+################################################################################

README.md

@@ -0,0 +1,11 @@
+<img src="https://raw.githubusercontent.com/ROBOTIS-GIT/ROBOTIS-Documents/master/wiki-images/Turtlebot3/Turtlebot3_logo.jpg" width="300">
+
+# Turtlebot3
+
+TurtleBot3 is a small, low cost, fully programmable, ROS­ based mobile robot. It is intended to be used for the purpose of education, research, product prototyping, and hobby application.
+
+The goal of the TurtleBot3 is to drastically reduce the size and the price of the platform without sacrificing capability, functionality, and quality. Since the additional options, such as the chassis, the computers, and the sensors, are available, the TurtleBot3 can be customized in various ways. The TurtleBot3 is willing to be in the center of the maker movement by applying the latest technical advances of the SBC(Single­Board Computer), the Depth sensor, and the 3D printing.
+
+# Documents
+
+- http://turtlebot3.robotis.com/ (beta version)

msg/MotorPower.msg

@@ -0,0 +1,7 @@
+# Turn on/off Dynamixels
+
+# State
+uint8 OFF = 0
+uint8 ON  = 1
+
+uint8 state

msg/PanoramaImg.msg

@@ -0,0 +1,8 @@
+#Pano message
+Header header
+string pano_id
+float64 latitude
+float64 longitude
+float64 heading #in degrees, compass heading
+string geo_tag
+sensor_msgs/Image image

msg/SensorState.msg

@@ -0,0 +1,32 @@
+########################################
+# CONSTANTS
+########################################
+# Bumper states (states are combined, when multiple bumpers are pressed)
+uint8 BUMPER_RIGHT  = 1
+uint8 BUMPER_CENTER = 2
+uint8 BUMPER_LEFT   = 4
+
+# Cliff sensor states (states are combined, when multiple cliff sensors are triggered)
+uint8 CLIFF_RIGHT  = 1
+uint8 CLIFF_CENTER = 2
+uint8 CLIFF_LEFT   = 4
+
+# Button states (only one button can be triggered at a time)
+uint8 BUTTON0 = 1
+uint8 BUTTON1 = 2
+uint8 BUTTON2 = 4
+
+# Motor errors
+uint8 ERROR_LEFT_MOTOR  = 1
+uint8 ERROR_RIGHT_MOTOR = 2
+
+########################################
+# Messages
+########################################
+time stamp
+uint8  bumper
+uint8  cliff
+uint8  button
+int32  left_encoder    # (-2,147,483,648 ~ 2,147,483,647)
+int32  right_encoder   # (-2,147,483,648 ~ 2,147,483,647)
+float32  battery

msg/VersionInfo.msg

@@ -0,0 +1,3 @@
+string hardware   # <yyyy>.<mm>.<dd>        : hardware version of Turtlebot3 (ex. 2017.05.23)
+string firmware   # <major>.<minor>.<patch> : firmware version of OpenCR
+string software   # <major>.<minor>.<patch> : software version of Turtlebot3 ROS packages

package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<package>
+  <name>turtlebot3_msgs</name>
+  <version>0.1.2</version>
+  <description>
+    Message and service types: custom messages and services for TurtleBot3 packages
+  </description>
+  <license>Apache License 2.0</license>
+  <author email="[email protected]">Pyo</author>
+  <maintainer email="[email protected]">Pyo</maintainer>
+  <url type="bugtracker">https://github.com/ROBOTIS-GIT/turtlebot3/issues</url>
+  <url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3</url>
+  <url type="website">http://wiki.ros.org/turtlebot3_msgs</url>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>std_srvs</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>std_srvs</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>message_runtime</run_depend>
+</package>

srv/SetFollowState.srv

@@ -0,0 +1,12 @@
+uint8 STOPPED = 0
+uint8 FOLLOW  = 1
+
+# Following running/stopped
+uint8 state
+
+---
+
+uint8 OK    = 0
+uint8 ERROR = 1
+
+uint8 result

srv/TakePanorama.srv

@@ -0,0 +1,21 @@
+# mode for taking the pictures
+uint8 mode
+# rotate, stop, snapshot, rotate, stop, snapshot, ...
+uint8 SNAPANDROTATE=0
+# keep rotating while taking snapshots
+uint8 CONTINUOUS=1
+# stop an ongoing panorama creation
+uint8 STOP=2
+# total angle of panorama picture
+float32 pano_angle
+# angle interval when creating the panorama picture in snap&rotate mode, time interval otherwise 
+float32 snap_interval
+# rotating velocity
+float32 rot_vel
+
+---
+
+uint8 status
+uint8 STARTED=0
+uint8 IN_PROGRESS=1
+uint8 STOPPED=2