connector.proto

// connector.proto
// this file contains the messages that are exchanged between the ROS connector and other systems

syntax = "proto3";

option java_package = "de.tudresden.inf.st.ceti";
option java_multiple_files = true;

message Object {

    // Position is object-center related
    message Position {
        float x = 1; // in m
        float y = 2; // in m
        float z = 3; // height in m
    }

    // 3D description of the object
    message Size {
        float length = 1; // in m
        float width = 2;  // in m
        float height = 3; // in m
    }
    message Orientation {
        float x = 1; // normalized quaternion
        float y = 2;
        float z = 3;
        float w = 4;
    }
    message Color {
        float r = 1; // 0..1
        float g = 2; // 0..1
        float b = 3; // 0..1
    }
    enum Type {
        UNKNOWN = 0;
        BOX = 1;
        BIN = 2;
        ARM = 3;
        DROP_OFF_LOCATION = 4;
    }

    string id = 1;
    Type type = 2;
    Position pos = 3;
    Size size = 4;
    Orientation orientation = 5;
    Color color = 6;
}

// the scene is stored within the ROS side and sent to the CGV framework
message Scene {
    repeated Object objects = 1;
}

// the selection is done by the CGV framework and sent to ROS
message Selection {
    string id = 1; // the id corresponds to an id of an Object in a Scene
}

// vvv from rs vvv.
// Merged message to contain both pick and place in one
message PickPlace {
    string idRobot = 1; // the id corresponds to and id of the robot Object that should execute this operation
    string idPick = 2; // the id corresponds to an id of the Object in a Scene to be picked
    string idPlace = 3; // the id corresponds to an id of the Object in a Scene where the picked object shall be placed
}
// Reachability of objects, as reported by MoveIt
message Reachability {
    message ObjectReachability {
        string idObject = 1; // the id of the object to reach
        bool reachable = 2; // whether the object can be reached
    }
    string idRobot = 1; // the id of the robot arm
    repeated ObjectReachability objects = 2; // all objects reachable
}