Add missing messages and services#25
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YoheiHayamizu wants to merge 2 commits into
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Defines DoubleIMUState.msg for dual-IMU data with fields: - quaternion (float32[4]) - gyroscope (float32[3]) - accelerometer (float32[3]) - rpy (float32[3]) - temperature (int16) - tick (uint32) Includes CMakeLists.txt with rosidl_generate_interfaces and DDS IDL generation, and package.xml with geometry_msgs dependency.
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This pull request adds new message and service definitions to the
unitree_api,unitree_go, andunitree_hgpackages, expanding their ROS interface capabilities. The main changes include the addition of a generic service interface, new status and state messages, and updates to the build configuration to include these files.API and Interface Additions:
srv/Generic.srvtounitree_api, which defines a generic request/response service interface (CMakeLists.txt,Generic.srv). [1] [2]msg/ConfigChangeStatus.msgtounitree_gofor reporting configuration change status, includingnameandcontentfields (CMakeLists.txt,ConfigChangeStatus.msg). [1] [2]msg/SportModeState.msgtounitree_hgfor reporting sport mode state, with fields for FSM ID, FSM mode, task ID, and task time (CMakeLists.txt,SportModeState.msg). [1] [2]