turtle1.lc 1.28 KB
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/* Topic types */
sample struct {
	string turtle_name;
	float linear;
	float angular;
} velocity;

sample struct {
	string turtle_name;
	float x;
	float y;
	float theta;
	float linear_velocity;
	float angular_velocity;
} pose;

sample struct {
	string turtle_name;
	float r;
	float g;
	float b;
} color;

/* Srv types */
sample void clear;		/* Empty. */
sample void clear_resp;		/* Empty. */

sample void reset;		/* Empty. */
sample void reset_resp;		/* Empty. */

sample string kill;		/* Name of turtle. */
sample void kill_resp;		/* Empty. */

sample struct {
	string name;
	float x;
	float y;
	float theta;
} spawn;			/* Coordinates and direction. */
sample string spawn_resp;	/* Returns name of turtle */

sample struct {
	string turtle_name;
	byte r;
	byte g;
	byte b;
	byte width;
	byte off;
} set_pen;			/* Pen properties. */
sample void set_pen_resp;	/* Empty. */

/* TODO: The following two are duplicates. Change to typedefs when working. */

sample struct {
	string turtle_name;
	float x;
	float y;
	float theta;
} teleport_absolute;		/* Coordinates and direction. */
sample void teleport_absolute_resp; /* Empty. */

sample struct {
	string turtle_name;
	float linear;
	float angular;
} teleport_relative;		/* Similar to velocity but instant. */
sample void teleport_relative_resp; /* Empty. */