add latent data message and tweak incwaveheight

Signed-off-by: Michael Anderson <[email protected]>
osrf · Aug 24, 2023 · 7d87e1f · 7d87e1f
1 parent 00f25ad
commit 7d87e1f
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Showing 4 changed files with 16 additions and 4 deletions.
diff --git a/buoy_interfaces/CMakeLists.txt b/buoy_interfaces/CMakeLists.txt
@@ -14,13 +14,15 @@ find_package(std_msgs REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/BCRecord.msg"
+  "msg/IncWaveHeight.msg"
+  "msg/LatentData.msg"
   "msg/PBCommandResponse.msg"
   "msg/PBRecord.msg"
+  "msg/PBWatch.msg"
   "msg/PCRecord.msg"
   "msg/SCRecord.msg"
   "msg/TFRecord.msg"
   "msg/XBRecord.msg"
-  "msg/PBWatch.msg"
   "srv/BCResetCommand.srv"
   "srv/BenderCommand.srv"
   "srv/BusCommand.srv"

diff --git a/buoy_interfaces/msg/IncWaveHeight.msg b/buoy_interfaces/msg/IncWaveHeight.msg
@@ -0,0 +1,6 @@
+# x, y is relative to buoy origin; otherwise world origin
+bool use_buoy_origin
+
+# position = x, y, height
+# orientation = normal vector (slope of wave) at position
+geometry_msgs/Pose pose
diff --git a/buoy_interfaces/msg/LatentData.msg b/buoy_interfaces/msg/LatentData.msg
@@ -0,0 +1,5 @@
+std_msgs/Header header
+
+IncWaveHeight[] inc_wave_heights
+
+# TODO(andermi) fill in other stuff
diff --git a/buoy_interfaces/srv/IncWaveHeight.srv b/buoy_interfaces/srv/IncWaveHeight.srv
@@ -10,7 +10,6 @@ bool use_buoy_origin
 
 # IncWaveHeight Response
 
-# position = x, y, height
-# orientation = normal vector (slope of wave) at position
-geometry_msgs/Pose[] poses
+builtin_interfaces/Time stamp
+IncWaveHeight[] heights
 bool valid