add humble-navigation2

2025-05-27 19:03:40 +08:00
parent 974abb5e1e
commit e74ec539c2
1280 changed files with 204114 additions and 0 deletions
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+cmake_minimum_required(VERSION 3.5)
+project(nav2_msgs)
+
+find_package(ament_cmake REQUIRED)
+find_package(nav2_common REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(action_msgs REQUIRED)
+
+nav2_package()
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/CollisionMonitorState.msg"
+  "msg/Costmap.msg"
+  "msg/CostmapMetaData.msg"
+  "msg/CostmapFilterInfo.msg"
+  "msg/SpeedLimit.msg"
+  "msg/VoxelGrid.msg"
+  "msg/BehaviorTreeStatusChange.msg"
+  "msg/BehaviorTreeLog.msg"
+  "msg/Particle.msg"
+  "msg/ParticleCloud.msg"
+  "srv/GetCostmap.srv"
+  "srv/IsPathValid.srv"
+  "srv/ClearCostmapExceptRegion.srv"
+  "srv/ClearCostmapAroundRobot.srv"
+  "srv/ClearEntireCostmap.srv"
+  "srv/ManageLifecycleNodes.srv"
+  "srv/LoadMap.srv"
+  "srv/SaveMap.srv"
+  "srv/SetInitialPose.srv"
+  "action/AssistedTeleop.action"
+  "action/BackUp.action"
+  "action/ComputePathToPose.action"
+  "action/ComputePathThroughPoses.action"
+  "action/DriveOnHeading.action"
+  "action/SmoothPath.action"
+  "action/FollowPath.action"
+  "action/NavigateToPose.action"
+  "action/NavigateThroughPoses.action"
+  "action/Wait.action"
+  "action/Spin.action"
+  "action/DummyBehavior.action"
+  "action/FollowWaypoints.action"
+  DEPENDENCIES builtin_interfaces geometry_msgs std_msgs action_msgs nav_msgs
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
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+# nav2_msgs
+
+The `nav2_msgs` package is a set of messages, services, and actions for the `Nav2` system. `Nav2` also makes use of the standard `nav_msgs`, where appropriate.
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+#goal definition
+builtin_interfaces/Duration time_allowance
+---
+#result definition
+builtin_interfaces/Duration total_elapsed_time
+---
+#feedback
+builtin_interfaces/Duration current_teleop_duration
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+#goal definition
+geometry_msgs/Point target
+float32 speed
+builtin_interfaces/Duration time_allowance
+---
+#result definition
+builtin_interfaces/Duration total_elapsed_time
+---
+#feedback definition
+float32 distance_traveled
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+#goal definition
+geometry_msgs/PoseStamped[] goals
+geometry_msgs/PoseStamped start
+string planner_id
+bool use_start # If false, use current robot pose as path start, if true, use start above instead
+---
+#result definition
+nav_msgs/Path path
+builtin_interfaces/Duration planning_time
+---
+#feedback definition
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+#goal definition
+geometry_msgs/PoseStamped goal
+geometry_msgs/PoseStamped start
+string planner_id
+bool use_start # If false, use current robot pose as path start, if true, use start above instead
+---
+#result definition
+nav_msgs/Path path
+builtin_interfaces/Duration planning_time
+---
+#feedback definition
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+#goal definition
+geometry_msgs/Point target
+float32 speed
+builtin_interfaces/Duration time_allowance
+---
+#result definition
+builtin_interfaces/Duration total_elapsed_time
+---
+#feedback definition
+float32 distance_traveled
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+#goal definition
+std_msgs/String command
+---
+#result definition
+builtin_interfaces/Duration total_elapsed_time
+---
+#feedback definition
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+#goal definition
+nav_msgs/Path path
+string controller_id
+string goal_checker_id
+---
+#result definition
+std_msgs/Empty result
+---
+#feedback definition
+float32 distance_to_goal
+float32 speed
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+#goal definition
+geometry_msgs/PoseStamped[] poses
+---
+#result definition
+int32[] missed_waypoints
+---
+#feedback definition
+uint32 current_waypoint
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+#goal definition
+geometry_msgs/PoseStamped[] poses
+string behavior_tree
+---
+#result definition
+std_msgs/Empty result
+---
+#feedback definition
+geometry_msgs/PoseStamped current_pose
+builtin_interfaces/Duration navigation_time
+builtin_interfaces/Duration estimated_time_remaining
+int16 number_of_recoveries
+float32 distance_remaining
+int16 number_of_poses_remaining
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+#goal definition
+geometry_msgs/PoseStamped pose
+string behavior_tree
+---
+#result definition
+std_msgs/Empty result
+---
+#feedback definition
+geometry_msgs/PoseStamped current_pose
+builtin_interfaces/Duration navigation_time
+builtin_interfaces/Duration estimated_time_remaining
+int16 number_of_recoveries
+float32 distance_remaining
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+#goal definition
+nav_msgs/Path path
+string smoother_id
+builtin_interfaces/Duration max_smoothing_duration
+bool check_for_collisions
+---
+#result definition
+nav_msgs/Path path
+builtin_interfaces/Duration smoothing_duration
+bool was_completed
+---
+#feedback definition
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+#goal definition
+float32 target_yaw
+builtin_interfaces/Duration time_allowance
+---
+#result definition
+builtin_interfaces/Duration total_elapsed_time
+---
+#feedback definition
+float32 angular_distance_traveled
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+#goal definition
+builtin_interfaces/Duration time
+---
+#result definition
+builtin_interfaces/Duration total_elapsed_time
+---
+#feedback definition
+builtin_interfaces/Duration time_left
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+builtin_interfaces/Time timestamp    # ROS time that this log message was sent.
+BehaviorTreeStatusChange[] event_log
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+builtin_interfaces/Time timestamp  # internal behavior tree event timestamp. Typically this is wall clock time
+string node_name
+string previous_status              # IDLE, RUNNING, SUCCESS or FAILURE
+string current_status               # IDLE, RUNNING, SUCCESS or FAILURE
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+# Action type for robot in Collision Monitor
+uint8 DO_NOTHING=0 # No action
+uint8 STOP=1 # Stop the robot
+uint8 SLOWDOWN=2 # Slowdown in percentage from current operating speed
+uint8 APPROACH=3 # Keep constant time interval before collision
+uint8 action_type
+
+# Name of triggered polygon
+string polygon_name
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+# This represents a 2-D grid map, in which each cell has an associated cost
+
+std_msgs/Header header
+
+# MetaData for the map
+CostmapMetaData metadata
+
+# The cost data, in row-major order, starting with (0,0).
+uint8[] data
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+std_msgs/Header header
+# Type of plugin used (keepout filter, speed limit in m/s, speed limit in percent, etc...)
+# 0: keepout/lanes filter
+# 1: speed limit filter in % of maximum speed
+# 2: speed limit filter in absolute values (m/s)
+uint8 type
+# Name of filter mask topic
+string filter_mask_topic
+# Multiplier base offset and multiplier coefficient for conversion of OccGrid.
+# Used to convert OccupancyGrid data values to filter space values.
+# data -> into some other number space:
+# space = data * multiplier + base
+float32 base
+float32 multiplier
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+# This hold basic information about the characteristics of the Costmap
+
+# The time at which the static map was loaded
+builtin_interfaces/Time map_load_time
+
+# The time of the last update to costmap
+builtin_interfaces/Time update_time
+
+# The corresponding layer name
+string layer
+
+# The map resolution [m/cell]
+float32 resolution
+
+# Number of cells in the horizontal direction
+uint32 size_x
+
+# Number of cells in the vertical direction
+uint32 size_y
+
+# The origin of the costmap [m, m, rad].
+# This is the real-world pose of the cell (0,0) in the map.
+geometry_msgs/Pose origin
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+# This represents an individual particle with weight produced by a particle filter
+
+geometry_msgs/Pose pose
+
+float64 weight
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+# This represents a particle cloud containing particle poses and weights
+
+std_msgs/Header header
+
+# Array of particles in the cloud
+Particle[] particles
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+std_msgs/Header header
+# Setting speed limit in percentage if true or in absolute values in false case
+bool percentage
+# Maximum allowed speed (in percent of maximum robot speed or in m/s depending
+# on "percentage" value). When no-limit it is set to 0.0
+float64 speed_limit
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+std_msgs/Header header
+uint32[] data
+geometry_msgs/Point32 origin
+geometry_msgs/Vector3 resolutions
+uint32 size_x
+uint32 size_y
+uint32 size_z
@@ -0,0 +1,28 @@
+<?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>nav2_msgs</name>
+  <version>1.1.18</version>
+  <description>Messages and service files for the Nav2 stack</description>
+  <maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
+  <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
+  <maintainer email="carlos.a.orduno@intel.com">Carlos Orduno</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>nav2_common</build_depend>
+
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+  <depend>builtin_interfaces</depend>
+  <depend>rosidl_default_generators</depend>
+  <depend>geometry_msgs</depend>
+  <depend>action_msgs</depend>
+  <depend>nav_msgs</depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
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+# Clears the costmap within a distance
+
+float32 reset_distance
+---
+std_msgs/Empty response
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+# Clears the costmap except a rectangular region specified by reset_distance
+
+float32 reset_distance
+---
+std_msgs/Empty response
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+# Clears all layers on the costmap
+
+std_msgs/Empty request
+---
+std_msgs/Empty response
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+# Get the costmap
+
+# Specifications for the requested costmap
+nav2_msgs/CostmapMetaData specs
+---
+nav2_msgs/Costmap map
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+#Determine if the current path is still valid
+
+nav_msgs/Path path
+---
+bool is_valid
+int32[] invalid_pose_indices 
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+# URL of map resource
+# Can be an absolute path to a file: file:///path/to/maps/floor1.yaml
+# Or, relative to a ROS package: package://my_ros_package/maps/floor2.yaml
+string map_url
+---
+# Result code defintions
+uint8 RESULT_SUCCESS=0
+uint8 RESULT_MAP_DOES_NOT_EXIST=1
+uint8 RESULT_INVALID_MAP_DATA=2
+uint8 RESULT_INVALID_MAP_METADATA=3
+uint8 RESULT_UNDEFINED_FAILURE=255
+
+# Returned map is only valid if result equals RESULT_SUCCESS
+nav_msgs/OccupancyGrid map
+uint8 result
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+uint8 STARTUP = 0
+uint8 PAUSE = 1
+uint8 RESUME = 2
+uint8 RESET = 3
+uint8 SHUTDOWN = 4
+
+uint8 command
+---
+bool success
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+# URL of map resource
+# Can be an absolute path to a file: file:///path/to/maps/floor1.yaml
+# Or, relative to a ROS package: package://my_ros_package/maps/floor2.yaml
+string map_topic
+string map_url
+# Constants for image_format. Supported formats: pgm, png, bmp
+string image_format
+# Map modes: trinary, scale or raw
+string map_mode
+# Thresholds. Values in range of [0.0 .. 1.0]
+float32 free_thresh
+float32 occupied_thresh
+---
+bool result
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+geometry_msgs/PoseWithCovarianceStamped pose
+---
+