feat(autoware_vehicle_msgs): add ControlModeCommand.srv

Signed-off-by: beginningfan <[email protected]>
autowarefoundation · Dec 11, 2023 · 0cd6b0f · 0cd6b0f
1 parent a7b7489
commit 0cd6b0f
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diff --git a/autoware_vehicle_msgs/CMakeLists.txt b/autoware_vehicle_msgs/CMakeLists.txt
@@ -36,6 +36,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
     "msg/WheelEncoder.msg"
     "msg/WipersCommand.msg"
     "msg/WipersReport.msg"
+    "srv/ControlModeCommand.srv"
   DEPENDENCIES
     "autoware_planning_msgs"
     "builtin_interfaces"

diff --git a/autoware_vehicle_msgs/srv/ControlModeCommand.srv b/autoware_vehicle_msgs/srv/ControlModeCommand.srv
@@ -0,0 +1,12 @@
+uint8 NO_COMMAND = 0
+uint8 AUTONOMOUS = 1
+uint8 AUTONOMOUS_STEER_ONLY = 2
+uint8 AUTONOMOUS_VELOCITY_ONLY = 3
+uint8 MANUAL = 4
+
+builtin_interfaces/Time stamp
+uint8 mode
+
+---
+
+bool success