openbrain_msgs

openbrain_msgs

Custom messages and services. This is the dashboard contract. Field shapes here must match the TypeScript declarations in openbrain-dashboard/lib/types.ts; drift breaks the UI silently because rosbridge passes through unknown keys as undefined.

For the human-friendly version of every shape, see docs/api.md.

Messages

File	Used by	Direction
SystemHealth.msg	openbrain_demos_health → dashboard	publish
MissionStatus.msg	openbrain_demos_missions → dashboard	publish
Waypoint.msg	embedded inside LoadMission.srv	request
ThermalZone.msg	embedded inside SystemHealth.msg	publish
PowerRail.msg	embedded inside SystemHealth.msg	publish

Services

File	Server	Caller
LoadMission.srv	openbrain_demos_missions	dashboard
SetSpeedProfile.srv	every RobotAdapter subclass	dashboard

Versioning

This contract is v1. Adding new fields to existing messages is non-breaking (rosbridge JSON ignores unknowns) and may land in any release. Removing or renaming fields requires a v2 package alongside v1 and a coordinated dashboard PR — see docs/api.md#versioning-policy.

Build + verify

colcon build --packages-select openbrain_msgs
colcon test  --packages-select openbrain_msgs   # rosidl schema + lint
ros2 interface show openbrain_msgs/msg/SystemHealth

Adding a new message

1. Drop the file under msg/ (or srv/ / action/).
2. Add it to the set(msg_files ...) list in CMakeLists.txt.
3. If it embeds another type from this package, prefix with the package name: openbrain_msgs/Waypoint (the rosidl generator needs the explicit reference even for same-package nesting).
4. Document the shape in docs/api.md. The dashboard maintainer should sign off on the PR if the new type is consumed there.