Create ArucoHeadScanAction msgs

stretch_core/CMakeLists.txt

@@ -8,6 +8,7 @@ project(stretch_core)
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
+  genmsg
   actionlib
   actionlib_msgs
   geometry_msgs
@@ -69,17 +70,16 @@ find_package(catkin REQUIRED COMPONENTS
 # )
 
 ## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
+add_action_files(DIRECTORY action
+  FILES
+  ArucoHeadScan.action
+)
 
 ## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   actionlib_msgs#   geometry_msgs#   nav_msgs#   std_msgs
-# )
+generate_messages(
+  DEPENDENCIES
+  actionlib_msgs
+)
 
 ################################################
 ## Declare ROS dynamic reconfigure parameters ##

stretch_core/action/ArucoHeadScan.action

@@ -0,0 +1,25 @@
+# Define the goal
+
+# Specify aruco ID to look for
+uint32 aruco_id
+
+# Specify the camera tilt_angle at which to scan
+float32 tilt_angle
+
+# If robot should rotate to cover the blind spot generated by the mast
+bool fill_in_blindspot_with_second_scan 
+
+# If scan should stop as soon as a matching aruco ID is found
+bool fast_scan
+
+---
+# Define the result
+
+# Whether goal aruco ID was found
+bool aruco_found
+
+---
+# Define a feedback message
+
+# Pan angle of the camera
+float32 pan_angle