Merge pull request #131 from TetsuKawa/feat/add-msg-mrm-state

feat: add msg mrm state
tier4 · Jun 27, 2024 · 6805386 · 6805386
2 parents 003f8bd + 6c42491
commit 6805386
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diff --git a/tier4_system_msgs/CMakeLists.txt b/tier4_system_msgs/CMakeLists.txt
@@ -31,6 +31,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/ServiceLog.msg"
   "msg/ModeChangeAvailable.msg"
   "msg/MrmBehaviorStatus.msg"
+  "msg/MrmState.msg"
   "srv/OperateMrm.srv"
   "srv/ChangeOperationMode.srv"
   "srv/ChangeAutowareControl.srv"

diff --git a/tier4_system_msgs/msg/MrmState.msg b/tier4_system_msgs/msg/MrmState.msg
@@ -0,0 +1,11 @@
+builtin_interfaces/Time stamp
+
+# For state
+uint16 UNKNOWN = 0
+uint16 NORMAL = 1
+uint16 MRM_OPERATING = 2
+uint16 MRM_SUCCEEDED = 3
+uint16 MRM_FAILED = 4
+
+uint16 state
+tier4_system_msgs/MrmBehavior behavior