Added auto generated messages

Author: davidwatkins-bdai

CMakeLists.txt

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+# AUTOMATICALLY GENERATED BY PROTO CONVERSION
+
+# Common request header.
+bosdyn_msgs/RequestHeader header
+bool header_is_set
+
+# Define the unique action that all data should be saved with.
+bosdyn_msgs/CaptureActionId action_id
+bool action_id_is_set
+
+# Metadata to store with the data capture. The main DAQ service saves it in the DataBuffer.
+bosdyn_msgs/Metadata metadata
+bool metadata_is_set
+
+# List of capability requests that should be collected as part of this capture action.
+bosdyn_msgs/AcquisitionRequestList acquisition_requests
+bool acquisition_requests_is_set
+
+# Optional duration used to extend the amount of time that the data request may take, in
+# the event that a plugin is incorrectly specifying its timeout.
+# The amount of time allowed will be the maximum of this duration and any requests
+# made to plugins or other capture sources.
+builtin_interfaces/Duration min_timeout
+bool min_timeout_is_set

msg/AcquireDataRequest.msg

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+# AUTOMATICALLY GENERATED BY PROTO CONVERSION
+
+# Common response header
+bosdyn_msgs/ResponseHeader header
+bool header_is_set
+
+# Result of the AcquirePluginData RPC call. Further monitoring on the success of the
+# acquisition request can be done using the GetStatus RPC.
+bosdyn_msgs/AcquireDataResponseStatus status
+
+# Identifier which can be used to check the status of or cancel the acquisition action..
+uint32 request_id

msg/AcquireDataResponse.msg

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+# AUTOMATICALLY GENERATED BY PROTO CONVERSION
+
+int8 STATUS_UNKNOWN=0
+int8 STATUS_OK=1 # The capture action has successfully started acquiring the data.
+int8 STATUS_UNKNOWN_CAPTURE_TYPE=2 # One of the capability requests in the AcquisitionRequestList is unknown.
+
+int8 value

msg/AcquireDataResponseStatus.msg

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+# AUTOMATICALLY GENERATED BY PROTO CONVERSION
+
+# The AcquireLease request message which sends which resource the lease should be for.
+
+# Common request header.
+bosdyn_msgs/RequestHeader header
+bool header_is_set
+
+# The resource to obtain a Lease for.
+string resource

msg/AcquireLeaseRequest.msg

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+# AUTOMATICALLY GENERATED BY PROTO CONVERSION
+
+# The AcquireLease response returns the lease for the desired resource if it could be obtained.
+# If a client is returned a new lease, the client should initiate a
+# RetainLease bidirectional streaming request immediately after completion
+# of AcquireLease.
+
+# Common response Header.
+bosdyn_msgs/ResponseHeader header
+bool header_is_set
+
+# Return status for the request.
+bosdyn_msgs/AcquireLeaseResponseStatus status
+
+# The lease for the resource. Only set if status field == STATUS_OK.
+bosdyn_msgs/Lease lease
+bool lease_is_set
+
+# The owner for the lease. Set if status field == OK or status field == RESOURCE_ALREADY_CLAIMED.
+bosdyn_msgs/LeaseOwner lease_owner
+bool lease_owner_is_set

msg/AcquireLeaseResponse.msg

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+# AUTOMATICALLY GENERATED BY PROTO CONVERSION
+
+# UNKNOWN should never be used. An internal LeaseService issue has happened
+# if UNKNOWN is set.
+int8 STATUS_UNKNOWN=0
+
+# AcquireLease was successful.The lease field will be populated with the new
+# lease for the resource. The client is expected to call the RetainLease method
+# immediately after.
+int8 STATUS_OK=1
+
+# AcquireLease failed since the resource has already been claimed.
+# The TakeLease method may be used to forcefully grab the lease.
+int8 STATUS_RESOURCE_ALREADY_CLAIMED=2
+
+# AcquireLease failed since the resource is not known to LeaseService.
+# The ListLeaseResources method may be used to list all known
+# resources.
+int8 STATUS_INVALID_RESOURCE=3
+
+# The LeaseService is not authoritative - so Acquire should not work.
+int8 STATUS_NOT_AUTHORITATIVE_SERVICE=4
+
+int8 value

msg/AcquireLeaseResponseStatus.msg

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+# AUTOMATICALLY GENERATED BY PROTO CONVERSION
+
+# Message sent by main DAQ service to all data acquisition plugin services.
+
+# Common request header
+bosdyn_msgs/RequestHeader header
+bool header_is_set
+
+# Metadata acquirers use these DataIdentifier objects to associate them with the acquired
+# metadata when storing them in the DataBuffer.
+# Data acquirers simply get the timestamp from these DataIdentifier objects to use when
+# storing the data in the DataBuffer.
+bosdyn_msgs/DataIdentifier[] data_id
+
+# Metadata specified by the requestor.
+bosdyn_msgs/Metadata metadata
+bool metadata_is_set
+
+# Id to be associated with all the data buffered for this request. It will be stored
+# in the DataIdentifier field of each piece of data buffered from this request.
+bosdyn_msgs/CaptureActionId action_id
+bool action_id_is_set
+
+# List of capability requests specific for this DAQ plugin.
+bosdyn_msgs/AcquisitionRequestList acquisition_requests
+bool acquisition_requests_is_set

msg/AcquirePluginDataRequest.msg

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+# AUTOMATICALLY GENERATED BY PROTO CONVERSION
+
+# Common response header
+bosdyn_msgs/ResponseHeader header
+bool header_is_set
+
+# Result of the AcquirePluginData RPC call. Further monitoring on the success of the
+# acquisition request can be done using the GetStatus RPC.
+bosdyn_msgs/AcquirePluginDataResponseStatus status
+
+# Identifier which can be used to check the status of or cancel the acquisition action..
+uint32 request_id
+
+# Time (in the robot's clock) by which this capture should definitely be complete.
+# If it is not complete by this time, something has gone wrong.
+builtin_interfaces/Time timeout_deadline
+bool timeout_deadline_is_set

msg/AcquirePluginDataResponse.msg

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+# AUTOMATICALLY GENERATED BY PROTO CONVERSION
+
+int8 STATUS_UNKNOWN=0
+int8 STATUS_OK=1 # The capture action has successfully started acquiring the data.
+int8 STATUS_UNKNOWN_CAPTURE_TYPE=2 # One of the capability requests in the AcquisitionRequestList is unknown.
+
+int8 value

msg/AcquirePluginDataResponseStatus.msg

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+# AUTOMATICALLY GENERATED BY PROTO CONVERSION
+
+# A list of all capabilities (data and images) that a specific data acquisition plugin service can successfully
+# acquire and save the data specified in each capability.
+
+# List of non-image data acquisition capabilities.
+bosdyn_msgs/DataAcquisitionCapability[] data_sources
+
+# List of image data acquisition capabilities.
+bosdyn_msgs/ImageAcquisitionCapability[] image_sources
+
+# List of network compute capabilities.
+bosdyn_msgs/NetworkComputeCapability[] network_compute_sources

msg/AcquisitionCapabilityList.msg

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+# AUTOMATICALLY GENERATED BY PROTO CONVERSION
+
+# The grouping of all individual image and data captures for a given capture action.
+
+# List of image requests.
+bosdyn_msgs/ImageSourceCapture[] image_captures
+
+# List of non-image data and metadata requests.
+bosdyn_msgs/DataCapture[] data_captures
+
+# List of Network Compute Bridge requests
+bosdyn_msgs/NetworkComputeCapture[] network_compute_captures

msg/AcquisitionRequestList.msg

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+# AUTOMATICALLY GENERATED BY PROTO CONVERSION
+
+# An Action is what the robot should do at a location. For example, the user
+# may desire that the robot perform a laser scan at a given waypoint.
+
+# The robot does nothing but wait while
+# also performing its ActionWrapper(s). For example, if the user
+# wants the robot to pose for some amount of time (while doing
+# nothing else), they would populate an ActionWrapper with Pose
+# and set the desired duration here accordingly.
+
+# For actions associated with the Data Acquisition Service (DAQ).
+
+
+bosdyn_msgs/ActionOneOfAction action

msg/Action.msg

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+# AUTOMATICALLY GENERATED BY PROTO CONVERSION
+
+bosdyn_msgs/AcquireDataRequest acquire_data_request
+bool acquire_data_request_is_set
+bosdyn_msgs/DataAcquisitionCompletionBehavior completion_behavior

msg/ActionDataAcquisition.msg

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+# AUTOMATICALLY GENERATED BY PROTO CONVERSION
+
+# A query parameter which filters the possible set of data identifiters to those
+# which contain the same action/group names matching any of the names in the
+# set of CaptureActionIds.
+
+# The action ids to filter with.
+bosdyn_msgs/CaptureActionId[] action_ids

msg/ActionIdQuery.msg

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+# AUTOMATICALLY GENERATED BY PROTO CONVERSION
+
+# ONEOF MESSAGE  Only one of the following can be set
+bosdyn_msgs/ActionSleep sleep
+bosdyn_msgs/ActionDataAcquisition data_acquisition
+bosdyn_msgs/ActionRemoteGrpc remote_grpc
+
+# This field can be used to specify a behavior tree as an action.  If the user had
+# two callbacks they would like to run simultaneously at the waypoint this action
+# is associated with, they could use create a behavior tree inside Node with both
+# callbacks embedded in a simple parallel.
+# The downside of using node, is that editors might not support editing parameters
+# directly.
+bosdyn_msgs/Node node
+
+int8 ACTION_NOT_SET=0
+int8 ACTION_SLEEP_SET=1
+int8 ACTION_DATA_ACQUISITION_SET=2
+int8 ACTION_REMOTE_GRPC_SET=3
+int8 ACTION_NODE_SET=4
+
+# Only one of the above can be filled in.  Use the enum to choose which.
+int8 action_choice

msg/ActionOneOfAction.msg

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+# AUTOMATICALLY GENERATED BY PROTO CONVERSION
+
+# Name of the service in the directory.
+string service_name
+
+# Timeout of any single RPC. If the timeout is exceeded, the RPC will fail. The mission
+# service treats each failed RPC differently:
+# - EstablishSession: An error is returned in LoadMission.
+# - Tick: The RPC is retried.
+# - Stop: The error is ignored, and the RPC is not retried.
+# Omit for a default of 60 seconds.
+builtin_interfaces/Duration rpc_timeout
+bool rpc_timeout_is_set
+
+# Resources that we will need leases on.
+string[] lease_resources
+
+# The list of variables the remote host should receive.
+# Variables given can be available at either run-time or compile-time.
+# The "key" in KeyValue is the name of the variable as used by the remote system.
+bosdyn_msgs/KeyValue[] inputs

msg/ActionRemoteGrpc.msg

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+# AUTOMATICALLY GENERATED BY PROTO CONVERSION
+
+builtin_interfaces/Duration duration
+bool duration_is_set

msg/ActionSleep.msg

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+# AUTOMATICALLY GENERATED BY PROTO CONVERSION
+
+# An ActionWrapper is what the robot should do prior to and during an action.
+# For example, the user may desire that the robot stand in such a way that its
+# z-axis is aligned with the gravity vector, even though it is standing on an
+# incline.
+
+# Sit the robot prior to performing the action
+
+# Pose the robot prior to performing the action
+
+# Set the brightness of the LEDs on the SpotCam.
+
+# Set the pan, tilt, and zoom of the SpotCam.
+
+# Position the body and perform a joint move and cartesian command in target frame
+
+# Set the camera params of the gripper camera
+
+
+bosdyn_msgs/ActionWrapperRobotBodySit robot_body_sit
+bool robot_body_sit_is_set
+bosdyn_msgs/ActionWrapperRobotBodyPose robot_body_pose
+bool robot_body_pose_is_set
+bosdyn_msgs/ActionWrapperSpotCamLed spot_cam_led
+bool spot_cam_led_is_set
+bosdyn_msgs/ActionWrapperSpotCamPtz spot_cam_ptz
+bool spot_cam_ptz_is_set
+bosdyn_msgs/ActionWrapperArmSensorPointing arm_sensor_pointing
+bool arm_sensor_pointing_is_set
+bosdyn_msgs/ActionWrapperGripperCameraParams gripper_camera_params
+bool gripper_camera_params_is_set
+bosdyn_msgs/ActionWrapperGripperCommand gripper_command
+bool gripper_command_is_set

msg/ActionWrapper.msg

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+# AUTOMATICALLY GENERATED BY PROTO CONVERSION
+
+# Arm Joint Move Command
+# The joint trajectory to execute in the initial rough pointing joint move.
+bosdyn_msgs/ArmJointTrajectory joint_trajectory
+bool joint_trajectory_is_set
+
+# Arm Cartesian Command
+# The tool pose relative to the parent link (wrist).
+# Defaults to a frame with it's origin slightly in front of the gripper's palm plate
+# aligned with the wrist's orientation.
+geometry_msgs/Pose wrist_tform_tool
+bool wrist_tform_tool_is_set
+
+# A 3D pose trajectory for the tool expressed in target frame,
+bosdyn_msgs/SE3Trajectory pose_trajectory_rt_target
+bool pose_trajectory_rt_target_is_set
+
+# Robot desired stance relative to waypoint
+# This is taken by measuring the average of the footprints
+# in body frame at the time of waypoint creation.
+# This is used to generate the stance command.
+# Target == waypoint.
+# This assumes the waypoint is gravity aligned.
+bosdyn_msgs/SE2Pose target_tform_measured_offset
+bool target_tform_measured_offset_is_set
+
+# Body mobility params during cartesian move
+bosdyn_msgs/BodyControlParamsBodyAssistForManipulation body_assist_params
+bool body_assist_params_is_set
+
+bool force_stow_override

msg/ActionWrapperArmSensorPointing.msg

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+# AUTOMATICALLY GENERATED BY PROTO CONVERSION
+
+bosdyn_msgs/GripperCameraParams params
+bool params_is_set

msg/ActionWrapperGripperCameraParams.msg

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+# AUTOMATICALLY GENERATED BY PROTO CONVERSION
+
+bosdyn_msgs/GripperCommandRequest request
+bool request_is_set

msg/ActionWrapperGripperCommand.msg

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+# AUTOMATICALLY GENERATED BY PROTO CONVERSION
+
+# If your Target is a graph_nav waypoint, this pose will be relative
+# to the waypoint you are navigating to. If no target was specified,
+# this parameter will be ignored and the robot will stand in a generic
+# pose.
+geometry_msgs/Pose target_tform_body
+bool target_tform_body_is_set

msg/ActionWrapperRobotBodyPose.msg

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+# AUTOMATICALLY GENERATED BY PROTO CONVERSION
+
+

msg/ActionWrapperRobotBodySit.msg

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+# AUTOMATICALLY GENERATED BY PROTO CONVERSION
+
+# There are four LEDs at indices [0, 3]. The brightness for each LED
+# may be set between [0.0, 1.0], where 0 is off and 1 is full
+# brightness.
+bosdyn_msgs/KeyInt32ValueFloat32[] brightnesses

msg/ActionWrapperSpotCamLed.msg

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+# AUTOMATICALLY GENERATED BY PROTO CONVERSION
+
+# See bosdyn/api/spot_cam
+bosdyn_msgs/PtzPosition ptz_position
+bool ptz_position_is_set

msg/ActionWrapperSpotCamPtz.msg

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+# AUTOMATICALLY GENERATED BY PROTO CONVERSION
+
+# DEPRECATED as of 2.1.0: Please use the DataBufferService instead of the LogAnnotationService.
+# The AddLogAnnotation request sends the information that should be added into the log.
+
+# Common request/response header.
+bosdyn_msgs/RequestHeader header
+bool header_is_set
+
+# The annotations to be aded into the log (can be text messages, blobs or robot operator messages).
+bosdyn_msgs/LogAnnotations annotations
+bool annotations_is_set

msg/AddLogAnnotationRequest.msg

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+# AUTOMATICALLY GENERATED BY PROTO CONVERSION
+
+# DEPRECATED as of 2.1.0: Please use the DataBufferService instead of the LogAnnotationService.
+# The AddLogAnnotation response message, which is empty except for any potential header errors/warnings.
+
+# Common request/response header.
+bosdyn_msgs/ResponseHeader header
+bool header_is_set
+
+# The status field from before version 2.0 is deprecated.