Implement initial axidraw_controller

src/robot_interfaces/CMakeLists.txt

@@ -23,14 +23,17 @@ if(BUILD_TESTING)
 endif()
 
 find_package(geometry_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(rclcpp REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/Motion.msg"
+  "msg/Points.msg"
   "srv/ExecuteMotion.srv"
+  "srv/Status.srv"
   "action/ExecuteMotion.action"
-  DEPENDENCIES geometry_msgs # Add packages that above messages depend on
+  DEPENDENCIES geometry_msgs std_msgs # Add packages that above messages depend on
 )
 
 ament_package()

src/robot_interfaces/msg/Motion.msg

@@ -1,5 +1,5 @@
 # A single motion, consisting of a list of timestamped points
 
 geometry_msgs/PoseStamped[] path
+float64[] velocity
 float64 acceleration
-float64 velocity

src/robot_interfaces/msg/Points.msg

@@ -0,0 +1,3 @@
+# A list of points
+
+geometry_msgs/Point[] points

src/robot_interfaces/package.xml

@@ -14,6 +14,7 @@
 
   <depend>geometry_msgs</depend>
   <depend>action_msgs</depend>
+  <depend>std_msgs</depend>
 
   <build_depend>rosidl_default_generators</build_depend>
 

src/robot_interfaces/srv/Status.srv

@@ -0,0 +1,6 @@
+# Status service
+# Provide a resource and recieve the status of that resource
+
+string resource
+---
+string status