From 3e36193606a644d1ae72ba9b110dcba47e6accc6 Mon Sep 17 00:00:00 2001 From: Bill Finger Date: Wed, 28 May 2025 18:19:56 +0300 Subject: [PATCH] feat: add recorder interfaces --- rbs_utils/rbs_utils_interfaces/CMakeLists.txt | 2 ++ rbs_utils/rbs_utils_interfaces/msg/RecorderCommands.msg | 6 ++++++ rbs_utils/rbs_utils_interfaces/srv/Recorder.srv | 3 +++ 3 files changed, 11 insertions(+) create mode 100644 rbs_utils/rbs_utils_interfaces/msg/RecorderCommands.msg create mode 100644 rbs_utils/rbs_utils_interfaces/srv/Recorder.srv diff --git a/rbs_utils/rbs_utils_interfaces/CMakeLists.txt b/rbs_utils/rbs_utils_interfaces/CMakeLists.txt index f11f6a3..8f4e748 100644 --- a/rbs_utils/rbs_utils_interfaces/CMakeLists.txt +++ b/rbs_utils/rbs_utils_interfaces/CMakeLists.txt @@ -15,6 +15,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} "msg/AssemblyConfig.msg" "msg/NamedPose.msg" "msg/RelativeNamedPose.msg" + "msg/RecorderCommands.msg" "srv/GetGraspPose.srv" "srv/GetPlacePose.srv" "srv/GetRelativeNamedPose.srv" @@ -22,6 +23,7 @@ rosidl_generate_interfaces(${PROJECT_NAME} "srv/GetNamedPose.srv" "srv/AddTasks.srv" "srv/TaskFromQueue.srv" + "srv/Recorder.srv" DEPENDENCIES std_msgs geometry_msgs ) diff --git a/rbs_utils/rbs_utils_interfaces/msg/RecorderCommands.msg b/rbs_utils/rbs_utils_interfaces/msg/RecorderCommands.msg new file mode 100644 index 0000000..1a52562 --- /dev/null +++ b/rbs_utils/rbs_utils_interfaces/msg/RecorderCommands.msg @@ -0,0 +1,6 @@ +string RUN = "run" +string SAVE_AND_NEXT = "save_and_next" +string CANCEL_AND_NEXT = "cancel_and_next" +string STOP_AND_SAVE = "stop_and_save" +string STOP_AND_CANCEL = "stop_and_cancel" +string command diff --git a/rbs_utils/rbs_utils_interfaces/srv/Recorder.srv b/rbs_utils/rbs_utils_interfaces/srv/Recorder.srv new file mode 100644 index 0000000..c1563e5 --- /dev/null +++ b/rbs_utils/rbs_utils_interfaces/srv/Recorder.srv @@ -0,0 +1,3 @@ +rbs_utils_interfaces/RecorderCommands command +--- +bool ok