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# AUTOMATICALLY GENERATED BY PROTO CONVERSION | ||
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# Common request header. | ||
bosdyn_msgs/RequestHeader header | ||
bool header_is_set | ||
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# Define the unique action that all data should be saved with. | ||
bosdyn_msgs/CaptureActionId action_id | ||
bool action_id_is_set | ||
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# Metadata to store with the data capture. The main DAQ service saves it in the DataBuffer. | ||
bosdyn_msgs/Metadata metadata | ||
bool metadata_is_set | ||
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# List of capability requests that should be collected as part of this capture action. | ||
bosdyn_msgs/AcquisitionRequestList acquisition_requests | ||
bool acquisition_requests_is_set | ||
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# Optional duration used to extend the amount of time that the data request may take, in | ||
# the event that a plugin is incorrectly specifying its timeout. | ||
# The amount of time allowed will be the maximum of this duration and any requests | ||
# made to plugins or other capture sources. | ||
builtin_interfaces/Duration min_timeout | ||
bool min_timeout_is_set |
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# AUTOMATICALLY GENERATED BY PROTO CONVERSION | ||
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# Common response header | ||
bosdyn_msgs/ResponseHeader header | ||
bool header_is_set | ||
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# Result of the AcquirePluginData RPC call. Further monitoring on the success of the | ||
# acquisition request can be done using the GetStatus RPC. | ||
bosdyn_msgs/AcquireDataResponseStatus status | ||
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# Identifier which can be used to check the status of or cancel the acquisition action.. | ||
uint32 request_id |
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# AUTOMATICALLY GENERATED BY PROTO CONVERSION | ||
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int8 STATUS_UNKNOWN=0 | ||
int8 STATUS_OK=1 # The capture action has successfully started acquiring the data. | ||
int8 STATUS_UNKNOWN_CAPTURE_TYPE=2 # One of the capability requests in the AcquisitionRequestList is unknown. | ||
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int8 value |
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# AUTOMATICALLY GENERATED BY PROTO CONVERSION | ||
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# The AcquireLease request message which sends which resource the lease should be for. | ||
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# Common request header. | ||
bosdyn_msgs/RequestHeader header | ||
bool header_is_set | ||
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# The resource to obtain a Lease for. | ||
string resource |
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# AUTOMATICALLY GENERATED BY PROTO CONVERSION | ||
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# The AcquireLease response returns the lease for the desired resource if it could be obtained. | ||
# If a client is returned a new lease, the client should initiate a | ||
# RetainLease bidirectional streaming request immediately after completion | ||
# of AcquireLease. | ||
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# Common response Header. | ||
bosdyn_msgs/ResponseHeader header | ||
bool header_is_set | ||
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# Return status for the request. | ||
bosdyn_msgs/AcquireLeaseResponseStatus status | ||
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# The lease for the resource. Only set if status field == STATUS_OK. | ||
bosdyn_msgs/Lease lease | ||
bool lease_is_set | ||
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# The owner for the lease. Set if status field == OK or status field == RESOURCE_ALREADY_CLAIMED. | ||
bosdyn_msgs/LeaseOwner lease_owner | ||
bool lease_owner_is_set |
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# AUTOMATICALLY GENERATED BY PROTO CONVERSION | ||
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# UNKNOWN should never be used. An internal LeaseService issue has happened | ||
# if UNKNOWN is set. | ||
int8 STATUS_UNKNOWN=0 | ||
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# AcquireLease was successful.The lease field will be populated with the new | ||
# lease for the resource. The client is expected to call the RetainLease method | ||
# immediately after. | ||
int8 STATUS_OK=1 | ||
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# AcquireLease failed since the resource has already been claimed. | ||
# The TakeLease method may be used to forcefully grab the lease. | ||
int8 STATUS_RESOURCE_ALREADY_CLAIMED=2 | ||
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# AcquireLease failed since the resource is not known to LeaseService. | ||
# The ListLeaseResources method may be used to list all known | ||
# resources. | ||
int8 STATUS_INVALID_RESOURCE=3 | ||
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# The LeaseService is not authoritative - so Acquire should not work. | ||
int8 STATUS_NOT_AUTHORITATIVE_SERVICE=4 | ||
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int8 value |
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# AUTOMATICALLY GENERATED BY PROTO CONVERSION | ||
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# Message sent by main DAQ service to all data acquisition plugin services. | ||
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# Common request header | ||
bosdyn_msgs/RequestHeader header | ||
bool header_is_set | ||
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# Metadata acquirers use these DataIdentifier objects to associate them with the acquired | ||
# metadata when storing them in the DataBuffer. | ||
# Data acquirers simply get the timestamp from these DataIdentifier objects to use when | ||
# storing the data in the DataBuffer. | ||
bosdyn_msgs/DataIdentifier[] data_id | ||
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# Metadata specified by the requestor. | ||
bosdyn_msgs/Metadata metadata | ||
bool metadata_is_set | ||
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# Id to be associated with all the data buffered for this request. It will be stored | ||
# in the DataIdentifier field of each piece of data buffered from this request. | ||
bosdyn_msgs/CaptureActionId action_id | ||
bool action_id_is_set | ||
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# List of capability requests specific for this DAQ plugin. | ||
bosdyn_msgs/AcquisitionRequestList acquisition_requests | ||
bool acquisition_requests_is_set |
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# AUTOMATICALLY GENERATED BY PROTO CONVERSION | ||
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# Common response header | ||
bosdyn_msgs/ResponseHeader header | ||
bool header_is_set | ||
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# Result of the AcquirePluginData RPC call. Further monitoring on the success of the | ||
# acquisition request can be done using the GetStatus RPC. | ||
bosdyn_msgs/AcquirePluginDataResponseStatus status | ||
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# Identifier which can be used to check the status of or cancel the acquisition action.. | ||
uint32 request_id | ||
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# Time (in the robot's clock) by which this capture should definitely be complete. | ||
# If it is not complete by this time, something has gone wrong. | ||
builtin_interfaces/Time timeout_deadline | ||
bool timeout_deadline_is_set |
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# AUTOMATICALLY GENERATED BY PROTO CONVERSION | ||
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int8 STATUS_UNKNOWN=0 | ||
int8 STATUS_OK=1 # The capture action has successfully started acquiring the data. | ||
int8 STATUS_UNKNOWN_CAPTURE_TYPE=2 # One of the capability requests in the AcquisitionRequestList is unknown. | ||
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int8 value |
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# AUTOMATICALLY GENERATED BY PROTO CONVERSION | ||
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# A list of all capabilities (data and images) that a specific data acquisition plugin service can successfully | ||
# acquire and save the data specified in each capability. | ||
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# List of non-image data acquisition capabilities. | ||
bosdyn_msgs/DataAcquisitionCapability[] data_sources | ||
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# List of image data acquisition capabilities. | ||
bosdyn_msgs/ImageAcquisitionCapability[] image_sources | ||
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# List of network compute capabilities. | ||
bosdyn_msgs/NetworkComputeCapability[] network_compute_sources |
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# AUTOMATICALLY GENERATED BY PROTO CONVERSION | ||
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# The grouping of all individual image and data captures for a given capture action. | ||
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# List of image requests. | ||
bosdyn_msgs/ImageSourceCapture[] image_captures | ||
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# List of non-image data and metadata requests. | ||
bosdyn_msgs/DataCapture[] data_captures | ||
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# List of Network Compute Bridge requests | ||
bosdyn_msgs/NetworkComputeCapture[] network_compute_captures |
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# AUTOMATICALLY GENERATED BY PROTO CONVERSION | ||
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# An Action is what the robot should do at a location. For example, the user | ||
# may desire that the robot perform a laser scan at a given waypoint. | ||
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# The robot does nothing but wait while | ||
# also performing its ActionWrapper(s). For example, if the user | ||
# wants the robot to pose for some amount of time (while doing | ||
# nothing else), they would populate an ActionWrapper with Pose | ||
# and set the desired duration here accordingly. | ||
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# For actions associated with the Data Acquisition Service (DAQ). | ||
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bosdyn_msgs/ActionOneOfAction action |
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# AUTOMATICALLY GENERATED BY PROTO CONVERSION | ||
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bosdyn_msgs/AcquireDataRequest acquire_data_request | ||
bool acquire_data_request_is_set | ||
bosdyn_msgs/DataAcquisitionCompletionBehavior completion_behavior |
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# AUTOMATICALLY GENERATED BY PROTO CONVERSION | ||
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# A query parameter which filters the possible set of data identifiters to those | ||
# which contain the same action/group names matching any of the names in the | ||
# set of CaptureActionIds. | ||
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# The action ids to filter with. | ||
bosdyn_msgs/CaptureActionId[] action_ids |
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# AUTOMATICALLY GENERATED BY PROTO CONVERSION | ||
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# ONEOF MESSAGE Only one of the following can be set | ||
bosdyn_msgs/ActionSleep sleep | ||
bosdyn_msgs/ActionDataAcquisition data_acquisition | ||
bosdyn_msgs/ActionRemoteGrpc remote_grpc | ||
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# This field can be used to specify a behavior tree as an action. If the user had | ||
# two callbacks they would like to run simultaneously at the waypoint this action | ||
# is associated with, they could use create a behavior tree inside Node with both | ||
# callbacks embedded in a simple parallel. | ||
# The downside of using node, is that editors might not support editing parameters | ||
# directly. | ||
bosdyn_msgs/Node node | ||
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int8 ACTION_NOT_SET=0 | ||
int8 ACTION_SLEEP_SET=1 | ||
int8 ACTION_DATA_ACQUISITION_SET=2 | ||
int8 ACTION_REMOTE_GRPC_SET=3 | ||
int8 ACTION_NODE_SET=4 | ||
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# Only one of the above can be filled in. Use the enum to choose which. | ||
int8 action_choice |
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# AUTOMATICALLY GENERATED BY PROTO CONVERSION | ||
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# Name of the service in the directory. | ||
string service_name | ||
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# Timeout of any single RPC. If the timeout is exceeded, the RPC will fail. The mission | ||
# service treats each failed RPC differently: | ||
# - EstablishSession: An error is returned in LoadMission. | ||
# - Tick: The RPC is retried. | ||
# - Stop: The error is ignored, and the RPC is not retried. | ||
# Omit for a default of 60 seconds. | ||
builtin_interfaces/Duration rpc_timeout | ||
bool rpc_timeout_is_set | ||
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# Resources that we will need leases on. | ||
string[] lease_resources | ||
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# The list of variables the remote host should receive. | ||
# Variables given can be available at either run-time or compile-time. | ||
# The "key" in KeyValue is the name of the variable as used by the remote system. | ||
bosdyn_msgs/KeyValue[] inputs |
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# AUTOMATICALLY GENERATED BY PROTO CONVERSION | ||
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builtin_interfaces/Duration duration | ||
bool duration_is_set |
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# AUTOMATICALLY GENERATED BY PROTO CONVERSION | ||
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# An ActionWrapper is what the robot should do prior to and during an action. | ||
# For example, the user may desire that the robot stand in such a way that its | ||
# z-axis is aligned with the gravity vector, even though it is standing on an | ||
# incline. | ||
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# Sit the robot prior to performing the action | ||
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# Pose the robot prior to performing the action | ||
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# Set the brightness of the LEDs on the SpotCam. | ||
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# Set the pan, tilt, and zoom of the SpotCam. | ||
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# Position the body and perform a joint move and cartesian command in target frame | ||
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# Set the camera params of the gripper camera | ||
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bosdyn_msgs/ActionWrapperRobotBodySit robot_body_sit | ||
bool robot_body_sit_is_set | ||
bosdyn_msgs/ActionWrapperRobotBodyPose robot_body_pose | ||
bool robot_body_pose_is_set | ||
bosdyn_msgs/ActionWrapperSpotCamLed spot_cam_led | ||
bool spot_cam_led_is_set | ||
bosdyn_msgs/ActionWrapperSpotCamPtz spot_cam_ptz | ||
bool spot_cam_ptz_is_set | ||
bosdyn_msgs/ActionWrapperArmSensorPointing arm_sensor_pointing | ||
bool arm_sensor_pointing_is_set | ||
bosdyn_msgs/ActionWrapperGripperCameraParams gripper_camera_params | ||
bool gripper_camera_params_is_set | ||
bosdyn_msgs/ActionWrapperGripperCommand gripper_command | ||
bool gripper_command_is_set |
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# AUTOMATICALLY GENERATED BY PROTO CONVERSION | ||
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# Arm Joint Move Command | ||
# The joint trajectory to execute in the initial rough pointing joint move. | ||
bosdyn_msgs/ArmJointTrajectory joint_trajectory | ||
bool joint_trajectory_is_set | ||
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# Arm Cartesian Command | ||
# The tool pose relative to the parent link (wrist). | ||
# Defaults to a frame with it's origin slightly in front of the gripper's palm plate | ||
# aligned with the wrist's orientation. | ||
geometry_msgs/Pose wrist_tform_tool | ||
bool wrist_tform_tool_is_set | ||
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# A 3D pose trajectory for the tool expressed in target frame, | ||
bosdyn_msgs/SE3Trajectory pose_trajectory_rt_target | ||
bool pose_trajectory_rt_target_is_set | ||
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# Robot desired stance relative to waypoint | ||
# This is taken by measuring the average of the footprints | ||
# in body frame at the time of waypoint creation. | ||
# This is used to generate the stance command. | ||
# Target == waypoint. | ||
# This assumes the waypoint is gravity aligned. | ||
bosdyn_msgs/SE2Pose target_tform_measured_offset | ||
bool target_tform_measured_offset_is_set | ||
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# Body mobility params during cartesian move | ||
bosdyn_msgs/BodyControlParamsBodyAssistForManipulation body_assist_params | ||
bool body_assist_params_is_set | ||
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bool force_stow_override |
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# AUTOMATICALLY GENERATED BY PROTO CONVERSION | ||
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bosdyn_msgs/GripperCameraParams params | ||
bool params_is_set |
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# AUTOMATICALLY GENERATED BY PROTO CONVERSION | ||
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bosdyn_msgs/GripperCommandRequest request | ||
bool request_is_set |
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# AUTOMATICALLY GENERATED BY PROTO CONVERSION | ||
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# If your Target is a graph_nav waypoint, this pose will be relative | ||
# to the waypoint you are navigating to. If no target was specified, | ||
# this parameter will be ignored and the robot will stand in a generic | ||
# pose. | ||
geometry_msgs/Pose target_tform_body | ||
bool target_tform_body_is_set |
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# AUTOMATICALLY GENERATED BY PROTO CONVERSION | ||
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# AUTOMATICALLY GENERATED BY PROTO CONVERSION | ||
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# There are four LEDs at indices [0, 3]. The brightness for each LED | ||
# may be set between [0.0, 1.0], where 0 is off and 1 is full | ||
# brightness. | ||
bosdyn_msgs/KeyInt32ValueFloat32[] brightnesses |
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# AUTOMATICALLY GENERATED BY PROTO CONVERSION | ||
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# See bosdyn/api/spot_cam | ||
bosdyn_msgs/PtzPosition ptz_position | ||
bool ptz_position_is_set |
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# AUTOMATICALLY GENERATED BY PROTO CONVERSION | ||
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# DEPRECATED as of 2.1.0: Please use the DataBufferService instead of the LogAnnotationService. | ||
# The AddLogAnnotation request sends the information that should be added into the log. | ||
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# Common request/response header. | ||
bosdyn_msgs/RequestHeader header | ||
bool header_is_set | ||
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# The annotations to be aded into the log (can be text messages, blobs or robot operator messages). | ||
bosdyn_msgs/LogAnnotations annotations | ||
bool annotations_is_set |
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# AUTOMATICALLY GENERATED BY PROTO CONVERSION | ||
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# DEPRECATED as of 2.1.0: Please use the DataBufferService instead of the LogAnnotationService. | ||
# The AddLogAnnotation response message, which is empty except for any potential header errors/warnings. | ||
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# Common request/response header. | ||
bosdyn_msgs/ResponseHeader header | ||
bool header_is_set | ||
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# The status field from before version 2.0 is deprecated. |
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