init

src/rm_interfaces/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(rm_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(geometry_msgs REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/Armor.msg"
+  "msg/Armors.msg"
+  "msg/Target.msg"
+  "msg/RuneTarget.msg"
+  "msg/Point2d.msg"
+  "msg/GimbalCmd.msg"
+  "msg/ChassisCmd.msg"
+  "msg/DebugLight.msg"
+  "msg/DebugLights.msg"
+  "msg/DebugArmor.msg"
+  "msg/DebugArmors.msg"
+  "msg/DebugRuneAngle.msg"
+  "msg/Measurement.msg"
+  "msg/JudgeSystemData.msg"
+  "msg/OperatorCommand.msg"
+  "msg/SerialReceiveData.msg"
+  "srv/SetMode.srv"
+  DEPENDENCIES
+    std_msgs
+    geometry_msgs
+)
+
+
+ament_package()

src/rm_interfaces/msg/Armor.msg

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+string number
+string type
+float32 distance_to_image_center
+geometry_msgs/Pose pose

src/rm_interfaces/msg/Armors.msg

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+std_msgs/Header header
+Armor[] armors

src/rm_interfaces/msg/ChassisCmd.msg

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+std_msgs/Header header
+bool is_spining
+bool is_navigating
+geometry_msgs/Twist twist

src/rm_interfaces/msg/DebugArmor.msg

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+int32 center_x
+string type
+float32 light_ratio
+float32 center_distance
+float32 angle

src/rm_interfaces/msg/DebugArmors.msg

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+DebugArmor[] data

src/rm_interfaces/msg/DebugLight.msg

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+int32 center_x
+bool is_light
+float32 ratio
+float32 angle

src/rm_interfaces/msg/DebugLights.msg

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+DebugLight[] data

src/rm_interfaces/msg/DebugRuneAngle.msg

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+std_msgs/Header header
+float64 data

src/rm_interfaces/msg/GimbalCmd.msg

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+std_msgs/Header header
+float64 pitch
+float64 yaw
+float64 yaw_diff
+float64 pitch_diff
+float64 distance
+bool fire_advice
+uint8 shoot_rate

src/rm_interfaces/msg/JudgeSystemData.msg

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+uint8 game_status
+int16 remaining_time
+int16 blood
+int16 outpost_hp
+OperatorCommand operator_command

src/rm_interfaces/msg/Measurement.msg

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+float64 x
+float64 y
+float64 z
+float64 yaw

src/rm_interfaces/msg/OperatorCommand.msg

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+uint8 is_retreating
+uint8 is_drone_avoiding
+uint8 is_outpost_attacking

src/rm_interfaces/msg/Point2d.msg

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+float32 x
+float32 y

src/rm_interfaces/msg/RuneTarget.msg

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+std_msgs/Header header
+Point2d[5] pts
+bool is_lost
+bool is_big_rune

src/rm_interfaces/msg/SerialReceiveData.msg

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+std_msgs/Header header
+uint8 mode
+float32 bullet_speed
+float32 roll 
+float32 yaw
+float32 yaw_to_pitch_angle
+float32 pitch
+JudgeSystemData judge_system_data

src/rm_interfaces/msg/Target.msg

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+std_msgs/Header header
+bool tracking
+string id
+int32 armors_num
+geometry_msgs/Point position
+geometry_msgs/Vector3 velocity
+float64 yaw
+float64 v_yaw
+float64 radius_1
+float64 radius_2
+float64 d_za
+float64 d_zc
+float64 yaw_diff
+float64 position_diff

src/rm_interfaces/package.xml

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+<?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>rm_interfaces</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="chen.junn@outlook.com">chenjun</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <depend>geometry_msgs</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/rm_interfaces/srv/SetMode.srv

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+uint8 mode #0:自瞄红 1:自瞄蓝 2:小符红 3:小符蓝 4：大符红 5：大符蓝
+---
+bool success   # indicate successful run of triggered service
+string message # informational, e.g. for error messages