From 1fb1804a308efcd73d94109f56b366729c048a6a Mon Sep 17 00:00:00 2001 From: Vincent Rabaud Date: Thu, 20 Aug 2015 14:46:17 +0200 Subject: [PATCH 1/2] add a message concerning the robot information --- msg/RobotInfo.msg | 30 ++++++++++++++++++++++++++++++ 1 file changed, 30 insertions(+) create mode 100644 msg/RobotInfo.msg diff --git a/msg/RobotInfo.msg b/msg/RobotInfo.msg new file mode 100644 index 0000000..3efdf77 --- /dev/null +++ b/msg/RobotInfo.msg @@ -0,0 +1,30 @@ +# info here is inspired by http://doc.aldebaran.com/2-1/naoqi/motion/tools-general-api.html?highlight=getrobotconfig#ALMotionProxy::getRobotConfig + +# enums describing the robot type +uint8 NAO=0 +uint8 ROMEO=1 +uint8 PEPPER=2 + +# one of NAO, ROMEO, PEPPER +uint8 type + +# "Model Type" : "naoH25", "naoH21", "naoT14" or "naoT2". +string model +# "Head Version" : "VERSION_32" or "VERSION_33" or "VERSION_40". +string head_version +# "Body Version" : "VERSION_32" or "VERSION_33" or "VERSION_40". +string body_version +# "Arm Version" : "VERSION_32" or "VERSION_33" or "VERSION_40". +string arm_version + +# "Laser" : True or False. +bool has_laser +# "Extended Arms": True or False. +bool has_extended_arms + +# Number of Legs : 0 or 2 +int32 number_of_legs +# Number of Arms : 0 or 2 +int32 number_of_arms +# Number of Hands: 0 or 2 +int32 number_of_hands From d48761126e7ce8fa27aa3da470088f55f7744390 Mon Sep 17 00:00:00 2001 From: Vincent Rabaud Date: Tue, 25 Aug 2015 18:35:51 +0200 Subject: [PATCH 2/2] add a service to get robot info --- srv/GetRobotInfo.srv | 3 +++ 1 file changed, 3 insertions(+) create mode 100644 srv/GetRobotInfo.srv diff --git a/srv/GetRobotInfo.srv b/srv/GetRobotInfo.srv new file mode 100644 index 0000000..a8c4a38 --- /dev/null +++ b/srv/GetRobotInfo.srv @@ -0,0 +1,3 @@ +# Get several pieces of info about the robot +--- +naoqi_bridge_msgs/RobotInfo info