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unitree_msgs/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(unitree_msgs)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+        "msg/BmsState.msg"
+        "msg/IMUState.msg"
+        "msg/LowStateStamped.msg"
+        "msg/MotorState.msg"
+  DEPENDENCIES builtin_interfaces std_msgs
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

unitree_msgs/msg/BmsState.msg

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+uint8 version_high
+uint8 version_low
+uint8 status
+uint8 soc
+int32 current
+uint16 cycle
+int8[2] bq_ntc
+int8[2] mcu_ntc
+uint16[15] cell_vol

unitree_msgs/msg/IMUState.msg

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+float32[4] quaternion
+float32[3] gyroscope
+float32[3] accelerometer
+float32[3] rpy
+int8 temperature

unitree_msgs/msg/LowStateStamped.msg

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+std_msgs/Header header
+uint8[2] head
+uint8 level_flag
+uint8 frame_reserve
+uint32[2] sn
+uint32[2] version
+uint16 bandwidth
+IMUState imu_state
+MotorState[20] motor_state
+BmsState bms_state
+int16[4] foot_force
+int16[4] foot_force_est
+uint32 tick
+uint8[40] wireless_remote
+uint8 bit_flag
+float32 adc_reel
+int8 temperature_ntc1
+int8 temperature_ntc2
+float32 power_v
+float32 power_a
+uint16[4] fan_frequency
+uint32 reserve
+uint32 crc

unitree_msgs/msg/MotorState.msg

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+uint8 mode
+float32 q
+float32 dq
+float32 ddq
+float32 tau_est
+float32 q_raw
+float32 dq_raw
+float32 ddq_raw
+int8 temperature
+uint32 lost
+uint32[2] reserve

unitree_msgs/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>unitree_msgs</name>
+  <version>0.0.1</version>
+  <description>custom lowstate msg</description>
+  <maintainer email="ziyu.cao@liu.se">Ziyu Cao</maintainer>
+  <license>GPLv3</license>
+
+  <depend>std_msgs</depend>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+  
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>