From 9b7cfd8320f44f8421dc1314dad80dde9869014c Mon Sep 17 00:00:00 2001 From: RomanRobotnik Date: Fri, 1 Dec 2023 16:19:32 +0100 Subject: [PATCH] Create new msg and srv to get motors general info --- CMakeLists.txt | 2 ++ msg/MotorInfo.msg | 5 +++++ srv/GetMotorsInfo.srv | 2 ++ 3 files changed, 9 insertions(+) create mode 100644 msg/MotorInfo.msg create mode 100644 srv/GetMotorsInfo.srv diff --git a/CMakeLists.txt b/CMakeLists.txt index 0ac8195..4fdcb68 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -70,6 +70,7 @@ add_message_files(DIRECTORY msg MotorReferenceValue.msg MotorReferenceValueArray.msg RecordStatus.msg + MotorInfo.msg ) ## Generate services in the 'srv' folder @@ -117,6 +118,7 @@ add_service_files( SetTransform.srv LoggerQuery.srv Record.srv + GetMotorsInfo.srv ) add_action_files( diff --git a/msg/MotorInfo.msg b/msg/MotorInfo.msg new file mode 100644 index 0000000..5da5428 --- /dev/null +++ b/msg/MotorInfo.msg @@ -0,0 +1,5 @@ +# Contains standard information about the motordrive +uint8 can_id +string joint +string serial_number +string software_version \ No newline at end of file diff --git a/srv/GetMotorsInfo.srv b/srv/GetMotorsInfo.srv new file mode 100644 index 0000000..ef30080 --- /dev/null +++ b/srv/GetMotorsInfo.srv @@ -0,0 +1,2 @@ +--- +MotorInfo[] info \ No newline at end of file