creos_messages::State Struct Reference

The state of the robot. More...

#include <creos/messages/state.hpp>

Public Types
enum class	Ready {   kUnknown = -1 , kNotReady , kPreArm , kActive ,   kWaiting , kFailsafe , kError }

Public Member Functions
auto	operator<=> (const State &other) const =default
	Compare two messages.

Public Attributes
creos::RobotClock::time_point	time
	The moment in time when the state was last updated.
Ready	ready_state = Ready::kUnknown
	The ready state of the robot.
std::string	current_action
	A textual description of the current action the robot is performing.

Detailed Description

The state of the robot.

Member Enumeration Documentation

Ready

enum class creos_messages::State::Ready

strong

Enumerator
kUnknown	The ready state is unknown.
kNotReady	The robot is not ready to perform operations. e.g. when the robot is booting.
kPreArm	The robot is in a safety state where checks are being performed. User interaction may be required.
kActive	The robot is ready to perform operations.
kWaiting	The robot is operational, but waiting for user input.
kFailsafe	A safety system has been triggered, and the robot is in a failsafe state.
kError	The robot has a platform error and is not able to perform operations. This should not be used for soft-failures like failed to plan a path, but for things like hardware failure or software crash. User interaction is probably required.

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The documentation for this struct was generated from the following file:

• creos_msgs/include/creos/messages/state.hpp