Raisin Interfaces Message Types

Definitions are sourced from release/install/raisin_ros2_messages/ubuntu/22.04/x86_64/release/messages. Only the public message schemas are documented here.

Messages

raisin_interfaces

• ActuatorState: - Fields:

  • string name

  • float64 position

  • float64 velocity

  • float64 effort

  • uint16 status

  • float64 temperature

• ActuatorStates: - Fields:

  • int32 num_actuators

  • ActuatorState[] actuator_states

• AudioData: - Fields:

  • std_msgs/Header header

  • uint8[] data

• Command: - Fields:

  • float64 x_pos

  • float64 y_pos

  • float64 x_vel

  • float64 y_vel

  • float64 yaw_rate

  • float64 pitch_angle

  • float64 body_height

  • float64 pan_dir

  • float64 tilt_dir

• FfmpegPacket: - Fields:

  • std_msgs/Header header

  • uint8[] data

  • int32 width

  • int32 height

  • string encoding

  • uint64 pts

  • uint8 flags

  • bool is_bigendian

• Heightmap: - Fields:

  • int32 sample_x

  • int32 sample_y

  • float64 size_x

  • float64 size_y

  • float64 center_x

  • float64 center_y

  • float64[] height_vec

  • uint8[] color

• Imu: - Fields:

  • float64 quaternion_w

  • float64 quaternion_x

  • float64 quaternion_y

  • float64 quaternion_z

  • float64 angular_velocity_x

  • float64 angular_velocity_y

  • float64 angular_velocity_z

  • float64 linear_acceleration_x

  • float64 linear_acceleration_y

  • float64 linear_acceleration_z

• JointState: - Fields:

  • float64 joint_position

  • float64 joint_velocity

• JointStates: - Fields:

  • float64 timestamp

  • int32 num_joints

  • JointState[] joint_states

• JointTarget: - Fields:

  • float64 target_position

  • float64 target_velocity

  • float64 p_gain

  • float64 d_gain

• JointTargets: - Fields:

  • int32 num_joints

  • JointTarget[] joint_targets

• JoyListen: - Fields:

  • string topic

  • string network_id

  • bool selected

  • bool online

• JoyRange: - Fields:

  • float64[] p_scale

  • float64[] n_scale

• Log: - Fields:

  • string data

  • int8 level

• ModuleList: - Fields:

  • string[] controllers

  • int32 loaded_controller

  • raisin_interfaces/PluginState[] plugin_states

• Parameter: - Fields:

  • string name

  • string value

  • string type

  • string[] options

• PasswordStatus: - Fields:

  • int8 status

  • int64 failed_attempts

  • int64 lockout_time

  • int64 failed_attempts_max

• PluginState: - Fields:

  • string name

  • bool is_loaded

  • bool is_loadable

  • bool is_unloadable

• Pose: - Fields:

  • float64 timestamp

  • float64[3] position

  • float64[4] quaternion

• QuadrupedState: - Fields:

  • float64[3] position

  • float64[4] quaternion

  • float64[12] joint_positon

• RobotState: - Fields:

  • ActuatorState[] actuator_states

  • float64[3] base_pos

  • float64[4] base_quat

  • float64[3] base_lin_vel

  • float64[3] base_ang_vel

  • Imu imu

  • float64 max_voltage

  • float64 min_voltage

  • float64 max_current

  • float64 voltage

  • float64 current

  • float64 body_temperature

  • int32 state

  • int32 joy_listen_type

  • JoyListen[] joy_listen_state

• ScopeTimeMeasurement: - Fields:

  • string id

  • float64 total_time

  • int32 count

• State: - Fields:

  • std_msgs/Header header

  • float64[3] position

  • float64[9] orientation

  • float64[3] translation

  • float64[9] rotation

• TaskProfile: - Fields:

  • string name

  • uint32 execute_count

  • uint64 delay_sum

  • uint64 execution_time

• ThreadPoolProfile: - Fields:

  • ThreadProfile[] thread_pool_profiles

• ThreadProfile: - Fields:

  • TaskProfile[] event_task_profiles

  • TaskProfile[] periodic_task_profiles

• TimeProfile: - Fields:

  • float32 cpu_usage

  • float32 memory_usage

  • float32 disk_usage

  • float32 cpu_temperature

  • ScopeTimeMeasurement[] scope_measurements

• VelocityCommand: - Fields:

  • float64 x_vel

  • float64 y_vel

  • float64 yaw_rate

• Waypoint: - Fields:

  • string frame

  • float64 x

  • float64 y

  • float64 z

  • bool use_z

Services

raisin_interfaces

• AppendWaypoint: - Request fields:

  • Waypoint waypoint

  • Response fields: - bool success - string message

• AudioDevices: - Request fields:

  • (none)

  • Response fields: - string[] devices - bool success - string message

• Float64: - Request fields:

  • float64 data

  • Response fields: - bool success - string message

• Float64AndAxis: - Request fields:

  • int8 pnb

  • int16 axis

  • float64 data

  • Response fields: - bool success - string message

• GetFloat64: - Request fields:

  • (none)

  • Response fields: - bool success - string message - float64 data

• GetParameters: - Request fields:

  • (none)

  • Response fields: - Parameter[] param

• GetWaypoints: - Request fields:

  • (none)

  • Response fields: - bool success - string message - Waypoint[] waypoints - uint8 repetition - uint8 current_index

• Log: - Request fields:

  • string data

  • int8 level

  • Response fields: - bool success - string message

• LogTree: - Request fields:

  • (none)

  • Response fields: - string username - string prefix - string ssh_port - string[] dirs - int32[] sizes

• Password: - Request fields:

  • string id

  • string pw

  • Response fields: - bool success - string message

• RobotDescription: - Request fields:

  • (none)

  • Response fields: - bool success - bool is_real_robot - string robot_model - string robot_nickname - string serial_number - string driver_version - string robot_software_version - float64 max_voltage - float64 min_voltage - float64 max_current

• SetLaserMap: - Request fields:

  • string name

  • sensor_msgs/PointCloud2 pc

  • geometry_msgs/Pose initial_pose

  • Response fields: - bool success - string message

• SetParameter: - Request fields:

  • Parameter param

  • Response fields: - bool success - string message

• SetPoseWithCovarianceStamped: - Request fields:

  • geometry_msgs/PoseWithCovarianceStamped pose

  • Response fields: - bool success - string message

• SetWaypoints: - Request fields:

  • Waypoint[] waypoints

  • uint8 repetition

  • uint8 current_index

  • Response fields: - bool success - string message

• String: - Request fields:

  • string data

  • Response fields: - bool success - string message

• StringAndBool: - Request fields:

  • string data

  • bool flag

  • Response fields: - bool success - string message

• Terrain: - Request fields:

  • string name

  • string[] param_name

  • float64[] param

  • Response fields: - bool success - string message

• Vector3: - Request fields:

  • float64 x

  • float64 y

  • float64 z

  • Response fields: - bool success - string message

• Waypoints: - Request fields:

  • Waypoint[] waypoints

  • int8 repetition

  • Response fields: - bool success - string message