Added Switch Obstacle Avoidance Interface & Small fixes

CMakeLists.txt

@@ -21,12 +21,14 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/GetSpeedLevel.srv"
   "srv/GetState.srv"
   "srv/GetSwitch.srv"
+  "srv/GetSwitchObstaclesAvoidance.srv"
   "srv/GetVolume.srv"
   "srv/Mode.srv"
   "srv/Pose.srv"
   "srv/Say.srv"
   "srv/SetBrightness.srv"
   "srv/SetSwitch.srv"
+  "srv/SetSwitchObstaclesAvoidance.srv"
   "srv/SetVolume.srv"
   "srv/SpeedLevel.srv"
   "srv/SwitchGait.srv"

srv/GetSwitchObstaclesAvoidance.srv

@@ -0,0 +1,6 @@
+# Get switch obstacle avoidance
+
+---
+bool success
+string message
+int32 enable

srv/Mode.srv

@@ -1,3 +1,55 @@
+# The robot do something according to the mode
+# The robot can:
+# - Damp
+# - BalanceStand
+# - StopMove
+# - StandUp
+# - StandDown
+# - RecoveryStand
+# - Euler
+# - Move
+# - Sit
+# - RiseSit
+# - SwitchGait
+# - Trigger
+# - BodyHeight
+# - FootRaiseHeight
+# - SpeedLevel
+# - Hello
+# - Stretch
+# - TrajectoryFollow
+# - ContinuousGait
+# - Content
+# - Wallow
+# - Dance1
+# - Dance2
+# - GetBodyHeight
+# - GetFootRaiseHeight
+# - GetSpeedLevel
+# - SwitchJoystick
+# - Pose
+# - Scrape
+# - FrontFlip
+# - FrontJump
+# - FrontPounce
+# - WiggleHips
+# - GetState
+# - EconomicGait
+# - FingerHeart
+# - Dance3
+# - Dance4
+# - HopSpinLeft
+# - HopSpinRight
+# - LeftFlip
+# - BackFlip
+# - FreeWalk
+# - FreeBound
+# - FreeJump
+# - FreeAvoid
+# - WalkStair
+# - WalkUpRight
+# - CrossStep
+
 string mode
 
 ---

srv/SetSwitch.srv

@@ -1,4 +1,4 @@
-# Get switch.
+# Set switch.
 
 int32 enable
 

srv/SetSwitchObstaclesAvoidance.srv

@@ -0,0 +1,7 @@
+# Set switch obstacle avoidance
+
+int32 enable
+
+---
+bool success
+string message