Add RPC image messages

Author: sivral

aegis_grpc/proto_aegis_grpc/v1/robot_srvs.proto

@@ -11,13 +11,27 @@ service RobotReadService {
   rpc GetTCPPose(google.protobuf.Empty) returns (Pose);
   rpc GetWrench(google.protobuf.Empty) returns (Wrench);
   rpc GetJointStates(google.protobuf.Empty) returns (JointState);
+  rpc GetCameraSceneImage(google.protobuf.Empty) returns (Image);
+  rpc GetCameraRightImage(google.protobuf.Empty) returns (Image);
+  rpc GetCameraLeftImage(google.protobuf.Empty) returns (Image);
   rpc GetAll(google.protobuf.Empty) returns (RobotState);
+  rpc GetAllVis(google.protobuf.Empty) returns (RobotStateVis);
 }
 
 message RobotState {
   Pose pose = 1;
   Wrench wrench = 2;
   JointState joint_state = 3;
+  Image image = 4;
+}
+
+message RobotStateVis {
+  Pose pose = 1;
+  Wrench wrench = 2;
+  JointState joint_state = 3;
+  Image image_scene = 4;
+  Image image_right = 5;
+  Image image_left = 6;
 }
 
 service RobotControlService {

aegis_grpc/proto_aegis_grpc/v1/sensor_msgs.proto

@@ -20,3 +20,17 @@ message JointState {
   repeated double velocity = 3;
   repeated double effort = 4;
 }
+
+// https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Image.msg
+message Image {
+  uint32 height = 1;
+  uint32 width = 2;
+  enum Encoding {
+    UNKNOWN = 0;
+    BGR8 = 1;
+    BAYER_RGGB8 = 2;
+  }
+  Encoding encoding = 3;
+  uint32 step = 4;
+  bytes data = 5;
+}