From 0cd6b0fed7d3a173d6a8b4e857635b020eb4b627 Mon Sep 17 00:00:00 2001 From: beginningfan Date: Mon, 11 Dec 2023 10:34:26 +0800 Subject: [PATCH] feat(autoware_vehicle_msgs): add ControlModeCommand.srv Signed-off-by: beginningfan --- autoware_vehicle_msgs/CMakeLists.txt | 1 + autoware_vehicle_msgs/srv/ControlModeCommand.srv | 12 ++++++++++++ 2 files changed, 13 insertions(+) create mode 100644 autoware_vehicle_msgs/srv/ControlModeCommand.srv diff --git a/autoware_vehicle_msgs/CMakeLists.txt b/autoware_vehicle_msgs/CMakeLists.txt index 0b8bbf1..acf49bc 100644 --- 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 new file mode 100644 index 0000000..988a7a6 --- /dev/null +++ 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