Add old tactile sensor messages (#166)

shadow-robot · May 15, 2023 · a2c2845 · a2c2845
1 parent 8fcf8a8
commit a2c2845
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Showing 5 changed files with 24 additions and 0 deletions.
diff --git a/sr_robot_msgs/CMakeLists.txt b/sr_robot_msgs/CMakeLists.txt
@@ -41,6 +41,10 @@ add_message_files(
   MotorSystemControls.msg
   MST.msg
   MSTAll.msg
+  MSTReading.msg
+  MSTSensor.msg
+  MSTFinger.msg
+  MSTPalm.msg
   reverseKinematics.msg
   sendupdate.msg
   ShadowContactStateStamped.msg

diff --git a/sr_robot_msgs/msg/MSTFinger.msg b/sr_robot_msgs/msg/MSTFinger.msg
@@ -0,0 +1,2 @@
+# Each finger has 7 sensors
+MSTSensor[7] sensors
diff --git a/sr_robot_msgs/msg/MSTPalm.msg b/sr_robot_msgs/msg/MSTPalm.msg
@@ -0,0 +1,2 @@
+Header header
+MSTFinger[5] fingers
diff --git a/sr_robot_msgs/msg/MSTReading.msg b/sr_robot_msgs/msg/MSTReading.msg
@@ -0,0 +1,5 @@
+# Stamp when sent
+time timestamp
+# Fields gathering the different kind of data collected by the sensor
+geometry_msgs/Point[] magnetic_data
+float32[] temperature_data
diff --git a/sr_robot_msgs/msg/MSTSensor.msg b/sr_robot_msgs/msg/MSTSensor.msg
@@ -0,0 +1,11 @@
+# Magnetic induction along x axis in gauss
+int16 magnetic_induction_x
+
+# Magnetic induction along y axis in gauss
+int16 magnetic_induction_y
+
+# Magnetic induction along z axis in gauss
+int16 magnetic_induction_z
+
+# PCB temperature in 1/100 degrees Celsius (100 = 1 degree Celsius)
+int16 temperature
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		# Each finger has 7 sensors
		MSTSensor[7] sensors