AGV/message.proto

syntax = "proto3";

message AGVStatu {
  float x=1;
  float y=2;
  float theta=3;
  float v=4;
  float vth=5;
}

message ChangeSpeedCmd {
  float v=1;
  float vth=2;
}


message Pose2dMsg
{
    float x=1;
    float y=2;
    float theta=3;
}

message TrajectoryMsg
{
    repeated Pose2dMsg points=1;
}

message NavCmd
{
  int32 action=1;  //  0 开始导航，1 pause， 2 continue ，3 cancel
  repeated TrajectoryMsg trajs=2;
}

message NavStatu
{
    bool isrunning=1;
    repeated TrajectoryMsg trajs=2;
    int32 action_type=3;
    float angular=4;
    float velocity=5;
    TrajectoryMsg select_traj=6;
    TrajectoryMsg predict_traj=7;
}