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Add vda5050 safety state msg #266

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Add vda5050 safety state msg #266

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9245049
add VDA5050SafetyState msg
Oct 8, 2025
b398006
add msg
Oct 8, 2025
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1 change: 1 addition & 0 deletions control_msgs/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -45,6 +45,7 @@ set(msg_files
msg/SteeringControllerStatus.msg
msg/SteeringControllerCommand.msg
msg/SpeedScalingFactor.msg
msg/VDA5050SafetyState.msg
msg/VDA5050State.msg
msg/WrenchFramed.msg
)
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12 changes: 12 additions & 0 deletions control_msgs/msg/VDA5050SafetyState.msg
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Original file line number Diff line number Diff line change
@@ -0,0 +1,12 @@
string e_stop # Enum {autoAck, manual, remote, none} Acknowledge-Type of eStop:
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@saikishor saikishor Nov 15, 2025

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Suggested change
string e_stop # Enum {autoAck, manual, remote, none} Acknowledge-Type of eStop:
uint8 e_stop # Enum {autoAck, manual, remote, none} Acknowledge-Type of eStop:
Suggested change
string e_stop # Enum {autoAck, manual, remote, none} Acknowledge-Type of eStop:
uint8 e_stop # Enum {autoAck, manual, remote, none} Acknowledge-Type of eStop:

# autoAck: autoacknowledgeable e-stop is activated e.g. by bumper or protective field
# manual: e-stop has to be acknowledged manually at the vehicle
# remote: facility estop has to be acknowledged remotely
# none: no e-stop activated
bool field_violation # Protective field violation. True: field is violated False: field is not violated

# Enums for eStop
string AUTO_ACK="autoAck"
string MANUAL="manual"
string REMOTE="remote"
string NONE="none"
Comment on lines +8 to +12
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@saikishor saikishor Nov 15, 2025 •
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Suggested change
# Enums for eStop
string AUTO_ACK="autoAck"
string MANUAL="manual"
string REMOTE="remote"
string NONE="none"
# Enums for eStop
uint8 AUTO_ACK=0
uint8 MANUAL=1
uint8 REMOTE=2
uint8 NONE=3

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@christophfroehlich christophfroehlich Nov 18, 2025

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this will not work: the constants need to be integer, right?

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@saikishor saikishor Nov 18, 2025

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Ahh yes. You are right.

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@saikishor saikishor Nov 18, 2025 •
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I just updated it. What do you think about it? I mean the change in general? Or is it better to have it as strings