From 7363a685364b21f038bb8a64c92ec1faef6861f7 Mon Sep 17 00:00:00 2001
From: Nicolas Hiillos <nicolashiillos@gmail.com>
Date: Tue, 6 Dec 2022 10:59:40 +0200
Subject: [PATCH] Implement initial robot message and service

---
 src/robot_interfaces/CMakeLists.txt        | 34 ++++++++++++++++++++++
 src/robot_interfaces/msg/Motion.msg        |  5 ++++
 src/robot_interfaces/package.xml           | 26 +++++++++++++++++
 src/robot_interfaces/srv/ExecuteMotion.srv |  5 ++++
 4 files changed, 70 insertions(+)
 create mode 100644 src/robot_interfaces/CMakeLists.txt
 create mode 100644 src/robot_interfaces/msg/Motion.msg
 create mode 100644 src/robot_interfaces/package.xml
 create mode 100644 src/robot_interfaces/srv/ExecuteMotion.srv

diff --git a/src/robot_interfaces/CMakeLists.txt b/src/robot_interfaces/CMakeLists.txt
new file mode 100644
index 0000000..f8de5fe
--- /dev/null
+++ b/src/robot_interfaces/CMakeLists.txt
@@ -0,0 +1,34 @@
+cmake_minimum_required(VERSION 3.8)
+project(robot_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+find_package(geometry_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/Motion.msg"
+  "srv/ExecuteMotion.srv"
+  DEPENDENCIES geometry_msgs # Add packages that above messages depend on, in this case geometry_msgs for Sphere.msg
+)
+
+ament_package()
diff --git a/src/robot_interfaces/msg/Motion.msg b/src/robot_interfaces/msg/Motion.msg
new file mode 100644
index 0000000..df49c97
--- /dev/null
+++ b/src/robot_interfaces/msg/Motion.msg
@@ -0,0 +1,5 @@
+# A single motion, consisting of a list of timestamped points
+
+geometry_msgs/PoseStamped[] path
+float64 acceleration
+float64 velocity
diff --git a/src/robot_interfaces/package.xml b/src/robot_interfaces/package.xml
new file mode 100644
index 0000000..8332bba
--- /dev/null
+++ b/src/robot_interfaces/package.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>robot_interfaces</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="root@todo.todo">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <depend>geometry_msgs</depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/src/robot_interfaces/srv/ExecuteMotion.srv b/src/robot_interfaces/srv/ExecuteMotion.srv
new file mode 100644
index 0000000..1428e73
--- /dev/null
+++ b/src/robot_interfaces/srv/ExecuteMotion.srv
@@ -0,0 +1,5 @@
+# Motion service
+
+Motion motion
+---
+string status