Msgs

Overview#

micipsa_msgs is a ROS 2 interface package that defines the custom message types used to exchange custom data across the Micipsa stack. It contains no nodes, no launch files, and no source code beyond the message, service, and action definitions themselves, its only responsibility is to provide a shared, versioned interface contract between the packages that produce and consume custom Micipsa data.

Message Definitions#

`AprilTagPose.msg`#

Describes a single AprilTag detection.

Field	Type	Description
`header`	`std_msgs/Header`	Timestamp and frame ID the pose is expressed in
`tag_id`	`int32`	Numeric ID encoded in the detected AprilTag
`frame`	`string`	Semantic name associated with this tag (e.g. a dock or waypoint identifier)
`pose`	`geometry_msgs/Pose`	Position and orientation of the detected tag relative to `header.frame_id`

`AprilTagPoseArray.msg`#

Bundles all tags detected in a single perception cycle.

Field	Type	Description
`header`	`std_msgs/Header`	Timestamp and frame ID common to the detection batch
`tag_poses`	`AprilTagPose[]`	List of individual tag detections for this cycle

Native Install#

Source the ROS 2 installation:

source /opt/ros/jazzy/setup.bash

Install ROS dependencies:

cd ~/ros2_ws
rosdep update
rosdep install --from-paths src --ignore-src -r -y

Build the package:

colcon build --packages-select micipsa_msgs

Source the workspace:

source install/setup.bash

Tip

Add source /opt/ros/jazzy/setup.bash and source ~/ros2_ws/install/setup.bash to your ~/.bashrc to avoid repeating these steps in every new terminal.

Additional Information#

Dependencies#

Build Dependencies#

These dependencies are required when building the package.

Package	Role
`ament_cmake`	Build system
`rosidl_default_generators`	Generates language-specific bindings (C++, Python) from the `.msg` definitions
`std_msgs`	Provides `Header`, used in both message definitions
`geometry_msgs`	Provides `Pose`, used in `AprilTagPose`

Runtime Dependencies#

These dependencies are not required to build the package but are required when running it.

Package	Role
`rosidl_default_runtime`	Runtime support for the generated message bindings

Test Dependencies#

Used only when running the package test suite.

Package	Role
`ament_lint_auto`	Runs the standard suite of linters configured for the workspace
`ament_lint_common`	Provides the common lint configurations used by `ament_lint_auto`