Drivetrains (#82)

Author: roni-kreinin

clearpath_motor_msgs/CMakeLists.txt

@@ -21,6 +21,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   action/LynxUpdate.action
   msg/LynxDebug.msg
   msg/LynxFeedback.msg
+  msg/LynxMotorProtection.msg
   msg/LynxMultiDebug.msg
   msg/LynxMultiFeedback.msg
   msg/LynxMultiStatus.msg

clearpath_motor_msgs/msg/LynxMotorProtection.msg

@@ -0,0 +1,14 @@
+# Number on the bus (CAN ID).
+uint8 can_id
+
+# Name of joint controlled, or other identifier.
+string joint_name
+
+# Protection states
+uint8 NORMAL=0
+uint8 THROTTLED=1
+uint8 OVERHEATED=2
+uint8 ERROR=3
+
+# Protection state
+uint8 state

clearpath_motor_msgs/msg/LynxSystemProtection.msg

@@ -1,19 +1,7 @@
 std_msgs/Header header
 
-# Protection states
-uint8 NORMAL=0
-uint8 THROTTLED=1
-uint8 OVERHEATED=2
-uint8 ERROR=3
-
 # System state based on highest protection state of motors
 uint8 system_state
 
-# A300
-uint8 A300_MOTOR_REAR_LEFT=0
-uint8 A300_MOTOR_FRONT_LEFT=1
-uint8 A300_MOTOR_FRONT_RIGHT=2
-uint8 A300_MOTOR_REAR_RIGHT=3
-
 # Individual motor protection states
-uint8[] motor_states
+clearpath_motor_msgs/LynxMotorProtection[] motor_states