From 6d301e1b550fbfb5a82b21e13a094a6a468670f8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Mon, 28 Aug 2017 00:24:09 +0200
Subject: [PATCH] Added a message with the stairs algorithm parameters. Added a
 service to set the stairs algorithm parameters. Added a service to get the
 stairs algorithm parameters. Added an action to climb stairs.

---
 humanoid_common_msgs/CMakeLists.txt           |  4 +++
 .../action/humanoid_stairs.action             |  8 ++++++
 humanoid_common_msgs/msg/stairs_params.msg    | 25 +++++++++++++++++++
 .../srv/get_stairs_params.srv                 |  2 ++
 .../srv/set_stairs_params.srv                 |  3 +++
 5 files changed, 42 insertions(+)
 create mode 100644 humanoid_common_msgs/action/humanoid_stairs.action
 create mode 100644 humanoid_common_msgs/msg/stairs_params.msg
 create mode 100644 humanoid_common_msgs/srv/get_stairs_params.srv
 create mode 100644 humanoid_common_msgs/srv/set_stairs_params.srv

diff --git a/humanoid_common_msgs/CMakeLists.txt b/humanoid_common_msgs/CMakeLists.txt
index 567e8fd..4eafbcf 100644
--- a/humanoid_common_msgs/CMakeLists.txt
+++ b/humanoid_common_msgs/CMakeLists.txt
@@ -43,6 +43,7 @@ find_package(catkin REQUIRED message_generation std_msgs actionlib_msgs sensor_m
 add_message_files(
   FILES
   walk_params.msg
+  stairs_params.msg
   tag_pose.msg
   tag_pose_array.msg
   buttons.msg
@@ -56,6 +57,8 @@ add_service_files(
   FILES
   set_walk_params.srv
   get_walk_params.srv
+  set_stairs_params.srv
+  get_stairs_params.srv
   set_servo_modules.srv
   set_pid.srv
   get_pid.srv
@@ -70,6 +73,7 @@ add_action_files(
   humanoid_motion.action
   humanoid_follow_target.action
   humanoid_gripper.action
+  humanoid_stairs.action
 )
 
 ## Generate added messages and services with any dependencies listed here
diff --git a/humanoid_common_msgs/action/humanoid_stairs.action b/humanoid_common_msgs/action/humanoid_stairs.action
new file mode 100644
index 0000000..00b69aa
--- /dev/null
+++ b/humanoid_common_msgs/action/humanoid_stairs.action
@@ -0,0 +1,8 @@
+#goal definition
+bool    up
+---
+#result definition
+bool    successful
+---
+#feedback
+int32   current_phase
diff --git a/humanoid_common_msgs/msg/stairs_params.msg b/humanoid_common_msgs/msg/stairs_params.msg
new file mode 100644
index 0000000..d1c2c7c
--- /dev/null
+++ b/humanoid_common_msgs/msg/stairs_params.msg
@@ -0,0 +1,25 @@
+float32 PHASE1_TIME          
+float32 PHASE2_TIME         
+float32 PHASE3_TIME        
+float32 PHASE4_TIME       
+float32 PHASE5_TIME      
+float32 PHASE6_TIME     
+float32 PHASE7_TIME    
+float32 PHASE8_TIME   
+float32 PHASE9_TIME  
+float32 X_OFFSET    
+float32 Y_OFFSET   
+float32 Z_OFFSET  
+float32 R_OFFSET 
+float32 P_OFFSET
+float32 A_OFFSET            
+float32 Y_SHIFT            
+float32 X_SHIFT           
+float32 Z_OVERSHOOT      
+float32 Z_HEIGHT        
+float32 HIP_PITCH_OFFSET
+float32 R_SHIFT       
+float32 P_SHIFT      
+float32 A_SHIFT     
+float32 Y_SPREAD   
+float32 X_SHIFT_BODY 
diff --git a/humanoid_common_msgs/srv/get_stairs_params.srv b/humanoid_common_msgs/srv/get_stairs_params.srv
new file mode 100644
index 0000000..faa7f11
--- /dev/null
+++ b/humanoid_common_msgs/srv/get_stairs_params.srv
@@ -0,0 +1,2 @@
+---
+humanoid_common_msgs/stairs_params params
diff --git a/humanoid_common_msgs/srv/set_stairs_params.srv b/humanoid_common_msgs/srv/set_stairs_params.srv
new file mode 100644
index 0000000..ec622f9
--- /dev/null
+++ b/humanoid_common_msgs/srv/set_stairs_params.srv
@@ -0,0 +1,3 @@
+humanoid_common_msgs/stairs_params params
+---
+bool ret
-- 
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