Reuse vesc_msgs package instead of creating a new one

Author: glpuga

vesc_hardware/CMakeLists.txt

@@ -13,7 +13,7 @@ find_package(pluginlib REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
 find_package(realtime_tools REQUIRED)
 find_package(vesc_driver REQUIRED)
-find_package(vesc_hardware_msgs REQUIRED)
+find_package(vesc_msgs REQUIRED)
 
 ## COMPILE
 add_library(
@@ -32,7 +32,7 @@ target_link_libraries(vesc_hardware PUBLIC
   rclcpp_lifecycle::rclcpp_lifecycle
   realtime_tools::realtime_tools
   vesc_driver::vesc_driver
-  ${vesc_hardware_msgs_TARGETS}
+  ${vesc_msgs_TARGETS}
 )
 
 # Export hardware plugins
@@ -59,7 +59,7 @@ ament_export_dependencies(
   rclcpp_lifecycle
   realtime_tools
   vesc_driver
-  vesc_hardware_msgs
+  vesc_msgs
 )
 
 if(BUILD_TESTING)

vesc_hardware/include/vesc_hardware/vesc_hardware.hpp

@@ -44,7 +44,7 @@
 #include "rclcpp_lifecycle/state.hpp"
 #include "realtime_tools/realtime_publisher.hpp"
 #include "vesc_driver/vesc_interface.hpp"
-#include "vesc_hardware_msgs/msg/vesc_hardware_values.hpp"
+#include "vesc_msgs/msg/vesc_state.hpp"
 
 namespace vesc_hardware
 {
@@ -196,9 +196,9 @@ class VescHardware : public hardware_interface::SystemInterface {
   std::unique_ptr<vesc_driver::VescInterface> vesc_interface_;
 
   // Publisher for hardware values
-  std::shared_ptr<rclcpp::Publisher<vesc_hardware_msgs::msg::VescHardwareValues>>
+  std::shared_ptr<rclcpp::Publisher<vesc_msgs::msg::VescState>>
   hardware_values_publisher_;
-  std::shared_ptr<realtime_tools::RealtimePublisher<vesc_hardware_msgs::msg::VescHardwareValues>>
+  std::shared_ptr<realtime_tools::RealtimePublisher<vesc_msgs::msg::VescState>>
   realtime_hardware_values_publisher_;
 };
 

vesc_hardware/package.xml

@@ -16,7 +16,7 @@
   <depend>rclcpp_lifecycle</depend>
   <depend>realtime_tools</depend>
   <depend>vesc_driver</depend>
-  <depend>vesc_hardware_msgs</depend>
+  <depend>vesc_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

vesc_hardware/src/vesc_hardware.cpp

@@ -188,13 +188,13 @@ hardware_interface::CallbackReturn VescHardware::on_init(
   // Create publisher for hardware values (only if enabled)
   if (publish_raw_state_) {
     hardware_values_publisher_ =
-      get_node()->create_publisher<vesc_hardware_msgs::msg::VescHardwareValues>(
+      get_node()->create_publisher<vesc_msgs::msg::VescState>(
         "~/hardware_values", 10);
 
     // Create realtime publisher wrapper
     realtime_hardware_values_publisher_ =
       std::make_shared<realtime_tools::RealtimePublisher<
-          vesc_hardware_msgs::msg::VescHardwareValues>>(
+          vesc_msgs::msg::VescState>>(
           hardware_values_publisher_);
   }
 
@@ -431,34 +431,34 @@ void VescHardware::publishVescState(
     // Temperature measurements
     msg.temp_fet = values_packet.temp_fet();
     msg.temp_motor = values_packet.temp_motor();
-    msg.temp_mos1 = values_packet.temp_mos1();
-    msg.temp_mos2 = values_packet.temp_mos2();
-    msg.temp_mos3 = values_packet.temp_mos3();
+    msg.ntc_temp_mos1 = values_packet.temp_mos1();
+    msg.ntc_temp_mos2 = values_packet.temp_mos2();
+    msg.ntc_temp_mos3 = values_packet.temp_mos3();
 
     // Current measurements
-    msg.avg_motor_current = values_packet.avg_motor_current();
-    msg.avg_input_current = values_packet.avg_input_current();
+    msg.current_motor = values_packet.avg_motor_current();
+    msg.current_input = values_packet.avg_input_current();
     msg.avg_id = values_packet.avg_id();
     msg.avg_iq = values_packet.avg_iq();
 
     // Voltage measurements
-    msg.v_in = values_packet.v_in();
+    msg.voltage_input = values_packet.v_in();
     msg.avg_vd = values_packet.avg_vd();
     msg.avg_vq = values_packet.avg_vq();
 
     // Duty cycle and speed
-    msg.duty_cycle_now = values_packet.duty_cycle_now();
-    msg.rpm = values_packet.rpm();
+    msg.duty_cycle = values_packet.duty_cycle_now();
+    msg.speed = values_packet.rpm();
 
     // Energy and charge tracking
-    msg.amp_hours = values_packet.amp_hours();
-    msg.amp_hours_charged = values_packet.amp_hours_charged();
-    msg.watt_hours = values_packet.watt_hours();
-    msg.watt_hours_charged = values_packet.watt_hours_charged();
+    msg.charge_drawn = values_packet.amp_hours();
+    msg.charge_regen = values_packet.amp_hours_charged();
+    msg.energy_drawn = values_packet.watt_hours();
+    msg.energy_regen = values_packet.watt_hours_charged();
 
     // Position and distance tracking
-    msg.tachometer = values_packet.tachometer();
-    msg.tachometer_abs = values_packet.tachometer_abs();
+    msg.displacement = values_packet.tachometer();
+    msg.distance_traveled = values_packet.tachometer_abs();
     msg.pid_pos_now = values_packet.pid_pos_now();
 
     // Status

vesc_hardware_msgs/CMakeLists.txt

@@ -1,6 +1,6 @@
 # Vedder VESC open source motor controller state (telemetry)
 
-# fault codes
+# Fault code constants
 int32 FAULT_CODE_NONE=0
 int32 FAULT_CODE_OVER_VOLTAGE=1
 int32 FAULT_CODE_UNDER_VOLTAGE=2
@@ -9,33 +9,39 @@ int32 FAULT_CODE_ABS_OVER_CURRENT=4
 int32 FAULT_CODE_OVER_TEMP_FET=5
 int32 FAULT_CODE_OVER_TEMP_MOTOR=6
 
-# follow the bledc firwmare: commands.c
-float64 temp_fet             # fet temperature 
+# Status
+int32   fault_code           # Fault code (0 = no fault, see constants above)
+int32   controller_id        # VESC controller ID
+
+# Temperature measurements (degrees Celsius)
+float64 temp_fet             # fet temperature
 float64 temp_motor           # motor temperature
+float64 ntc_temp_mos1
+float64 ntc_temp_mos2
+float64 ntc_temp_mos3
+
+# Current measurements (amperes)
 float64 current_motor        # motor current (ampere) avg_motor_current
-float64 current_input        # input current (ampere) avg_input_current          
+float64 current_input        # input current (ampere) avg_input_current
 float64 avg_id
 float64 avg_iq
+
+# Voltage measurements (volts)
+float64 voltage_input        # input voltage (volt)
+float64 avg_vd
+float64 avg_vq
+
+# Duty cycle and speed
 float64 duty_cycle           # duty cycle (0 to 1) duty_cycle_now
 float64 speed                # motor electrical speed (revolutions per minute) rpm
 
-float64 voltage_input        # input voltage (volt)
+# Energy and charge tracking
 float64 charge_drawn         # electric charge drawn from input (ampere-hours)
-float64 charge_regen         # electric charge regenerated to input (ampere-hour) amp_hours_charged    
+float64 charge_regen         # electric charge regenerated to input (ampere-hour) amp_hours_charged
 float64 energy_drawn         # energy drawn from input (watt-hour)
 float64 energy_regen         # energy regenerated to input (watt_hours_charged)
+
+# Position and distance tracking
 int32   displacement         # net tachometer (counts) tachometer
 int32   distance_traveled    # total tachnometer (counts) tachometer_abs
-int32   fault_code
-
 float64 pid_pos_now
-int32 controller_id
-
-
-float64 ntc_temp_mos1
-float64 ntc_temp_mos2
-float64 ntc_temp_mos3
-float64 avg_vd
-float64 avg_vq
-
-#float64 temperature_pcb      # temperature of printed circuit board (degrees Celsius)