Add missing messages and services

cyclonedds_ws/src/unitree/unitree_api/CMakeLists.txt

@@ -34,6 +34,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
         "msg/Response.msg"
         "msg/ResponseHeader.msg"
         "msg/ResponseStatus.msg"
+        "srv/Generic.srv"
 
   DEPENDENCIES geometry_msgs
 )

cyclonedds_ws/src/unitree/unitree_api/srv/Generic.srv

@@ -0,0 +1,3 @@
+Request request
+---
+Response response

cyclonedds_ws/src/unitree/unitree_go/CMakeLists.txt

@@ -29,6 +29,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
         "msg/AudioData.msg"
         "msg/BmsCmd.msg"
         "msg/BmsState.msg"
+        "msg/ConfigChangeStatus.msg"
         "msg/Error.msg"
         "msg/Go2FrontVideoData.msg"
         "msg/HeightMap.msg"

cyclonedds_ws/src/unitree/unitree_go/msg/ConfigChangeStatus.msg

@@ -0,0 +1,2 @@
+string name
+string content

cyclonedds_ws/src/unitree/unitree_hg/CMakeLists.txt

@@ -37,6 +37,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
 	"msg/MotorCmd.msg"
 	"msg/MotorState.msg"
 	"msg/PressSensorState.msg"
+	"msg/SportModeState.msg"
   DEPENDENCIES geometry_msgs
 )
 

cyclonedds_ws/src/unitree/unitree_hg/msg/SportModeState.msg

@@ -0,0 +1,4 @@
+uint32 fsm_id
+uint32 fsm_mode
+uint32 task_id
+float32 task_time

cyclonedds_ws/src/unitree/unitree_hg_doubleimu/CMakeLists.txt

@@ -0,0 +1,45 @@
+cmake_minimum_required(VERSION 3.8)
+project(unitree_hg_doubleimu)
+
+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)
+find_package(geometry_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(rosidl_generator_dds_idl REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/DoubleIMUState.msg"
+  DEPENDENCIES geometry_msgs
+)
+
+rosidl_generate_dds_interfaces(
+  ${rosidl_generate_interfaces_TARGET}__dds_connext_idl
+  IDL_TUPLES ${rosidl_generate_interfaces_IDL_TUPLES}
+  OUTPUT_SUBFOLDERS "dds_connext"
+)
+add_dependencies(
+  ${PROJECT_NAME}
+  ${PROJECT_NAME}__dds_connext_idl
+)
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

cyclonedds_ws/src/unitree/unitree_hg_doubleimu/msg/DoubleIMUState.msg

@@ -0,0 +1,6 @@
+float32[4] quaternion
+float32[3] gyroscope
+float32[3] accelerometer
+float32[3] rpy
+int16 temperature
+uint32 tick

cyclonedds_ws/src/unitree/unitree_hg_doubleimu/package.xml

@@ -0,0 +1,23 @@
+<?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>unitree_hg_doubleimu</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="root@todo.todo">root</maintainer>
+  <license>BSD 3-Clause License</license>
+
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>geometry_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

example/src/include/common/ut_errror.hpp

@@ -13,4 +13,4 @@ UT_DECL_ERR(UT_ROBOT_TASK_UNKNOWN_ERROR, -2, "task unknown error.")
 #define UT_PRINT_ERR(code, error)                         \
   if ((code) == (error)) {                                \
     RCLCPP_ERROR(this->get_logger(), "%s", error##_DESC); \
-  }
+  }