From c023db2c2f7503cfc90c90599a9aff0a297ad8a9 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Mon, 8 Jun 2026 19:29:35 +0200 Subject: [PATCH 1/4] Add new messages and services --- CMakeLists.txt | 7 ++++++- msg/JsonStringType.msg | 1 + msg/SharedVariablesEditResponse.msg | 2 ++ msg/VariableUpdate.msg | 2 ++ srv/SharedVariablesEditor.srv | 3 +++ srv/VariablesViewer.srv | 3 +++ 6 files changed, 17 insertions(+), 1 deletion(-) create mode 100644 msg/JsonStringType.msg create mode 100644 msg/SharedVariablesEditResponse.msg create mode 100644 msg/VariableUpdate.msg create mode 100644 srv/SharedVariablesEditor.srv create mode 100644 srv/VariablesViewer.srv diff --git a/CMakeLists.txt b/CMakeLists.txt index 316f7df..3c2754d 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -27,9 +27,9 @@ set(msg_files "msg/ControlCycle.msg" "msg/Current.msg" "msg/Digital.msg" + "msg/DigitalStamped.msg" "msg/DigitalIO.msg" "msg/DigitalIOStateStamped.msg" - "msg/DigitalStamped.msg" "msg/DoubleMultiArrayStamped.msg" "msg/Float32Stamped.msg" "msg/Float64Stamped.msg" @@ -44,12 +44,17 @@ set(msg_files "msg/ToolOutputMode.msg" "msg/VoltageCurrentStamped.msg" "msg/WorldModelNames.msg" + "msg/JsonStringType.msg" + "msg/VariableUpdate.msg" + "msg/SharedVariablesEditResponse.msg" ) set(srv_files "srv/SetAnalogOutput.srv" "srv/SetDigitalOutput.srv" "srv/SetSpeedFraction.srv" + "srv/SharedVariablesEditor.srv" + "srv/VariablesViewer.srv" ) set(action_files diff --git a/msg/JsonStringType.msg b/msg/JsonStringType.msg new file mode 100644 index 0000000..673b10c --- /dev/null +++ b/msg/JsonStringType.msg @@ -0,0 +1 @@ +std_msgs/String json_string diff --git a/msg/SharedVariablesEditResponse.msg b/msg/SharedVariablesEditResponse.msg new file mode 100644 index 0000000..1553300 --- /dev/null +++ b/msg/SharedVariablesEditResponse.msg @@ -0,0 +1,2 @@ +bool success +std_msgs/String result_message # contains the error message if 'success' is False diff --git a/msg/VariableUpdate.msg b/msg/VariableUpdate.msg new file mode 100644 index 0000000..6c60b89 --- /dev/null +++ b/msg/VariableUpdate.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +JsonStringType data diff --git a/srv/SharedVariablesEditor.srv b/srv/SharedVariablesEditor.srv new file mode 100644 index 0000000..3d6eb4a --- /dev/null +++ b/srv/SharedVariablesEditor.srv @@ -0,0 +1,3 @@ +JsonStringType request # json string with new values, null will delete the variable +--- +SharedVariablesEditResponse response diff --git a/srv/VariablesViewer.srv b/srv/VariablesViewer.srv new file mode 100644 index 0000000..cdb21b2 --- /dev/null +++ b/srv/VariablesViewer.srv @@ -0,0 +1,3 @@ +# empty request +--- +VariableUpdate response # a full variables update From fcd2679c43cdcda70432204699b4723b9e07ccfe Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Wed, 10 Jun 2026 10:52:39 +0200 Subject: [PATCH 2/4] Add explicit default value for play_program in SetMode action --- action/SetMode.action | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/action/SetMode.action b/action/SetMode.action index 1ca6b37..3d589db 100644 --- a/action/SetMode.action +++ b/action/SetMode.action @@ -13,7 +13,7 @@ bool stop_program # faulty motion, etc.) If you want to be safe, set the 'stop_program' flag below and manually play # the program after robot state is returned to normal. # This flag will only be used when requesting mode RUNNING -bool play_program +bool play_program false --- # result From a678855de86d8992b62f8258b12e96907e000839 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Mon, 8 Jun 2026 19:30:58 +0200 Subject: [PATCH 3/4] Increase minimum cmake version to 3.14.4 That's the lowest version from any of the Humble target platforms. Using a cmake version < 3.10 will trigger a warning on more recent systems. --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 3c2754d..c07c93b 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 3.5) +cmake_minimum_required(VERSION 3.14.4) project(urinterfaces) From 566a20c12d0df900eb0cca2c6e796251a1b0cda3 Mon Sep 17 00:00:00 2001 From: Felix Exner Date: Mon, 8 Jun 2026 19:31:44 +0200 Subject: [PATCH 4/4] Added TOOL_SAFE tool_output mode --- msg/ToolOutputMode.msg | 1 + 1 file changed, 1 insertion(+) diff --git a/msg/ToolOutputMode.msg b/msg/ToolOutputMode.msg index 7258413..3bd171c 100644 --- a/msg/ToolOutputMode.msg +++ b/msg/ToolOutputMode.msg @@ -1,6 +1,7 @@ std_msgs/Header header uint8 TOOL_OUTPUT=0 uint8 TOOL_POWER=1 +uint8 TOOL_SAFE=2 uint8 output_mode