RobotnikAutomation · luceharris · Jan 20, 2025 · Jan 20, 2025 · Feb 3, 2025 · Feb 7, 2025
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -25,6 +25,11 @@ set(SRV_FILES
   FindLaneEdge.srv
   FindPothole.srv
   ChangeRobotMode.srv
+  TransformPose.srv
+  GetDepositSeq.srv
+  FindOffset.srv
+  GetSynchedImages.srv
+  SendImageToKafka.srv
 )
 
 set(ACT_FILES

diff --git a/srv/FindOffset.srv b/srv/FindOffset.srv
@@ -0,0 +1,7 @@
+geometry_msgs/PoseStamped defect_pose
+string defect_type
+bool broadcast_to_tf
+string broadcast_frame
+---
+bool success
+geometry_msgs/PoseStamped offset_pose
diff --git a/srv/FindPothole.srv b/srv/FindPothole.srv
@@ -2,6 +2,6 @@ sensor_msgs/Image image_rgb
 sensor_msgs/Image image_depth
 sensor_msgs/CameraInfo camera_info
 ---
-geometry_msgs/PoseStamped center_of_mass
+geometry_msgs/PoseStamped center_of_mass # orientation from camera to pothole
 float64 surface_area_m
 bool success
diff --git a/srv/GetDepositSeq.srv b/srv/GetDepositSeq.srv
@@ -0,0 +1,3 @@
+float64 surface_area_m
+---
+string deposit_sequence
diff --git a/srv/GetSynchedImages.srv b/srv/GetSynchedImages.srv
@@ -0,0 +1,6 @@
+string camera_ns 
+---
+sensor_msgs/Image image_rgb
+sensor_msgs/Image image_depth
+sensor_msgs/CameraInfo camera_info
+bool success
diff --git a/srv/SendImageToKafka.srv b/srv/SendImageToKafka.srv
@@ -0,0 +1,4 @@
+sensor_msgs/Image image
+string message 
+---
+bool success
diff --git a/srv/TransformPose.srv b/srv/TransformPose.srv
@@ -0,0 +1,5 @@
+geometry_msgs/PoseStamped pose_in
+string target_frame
+---
+bool success
+geometry_msgs/PoseStamped pose_out