Add ID to RobotCommand, add header to RobotState

- Some robots require DO commands to be tagged with a unique ID. Add id
  field and information about this field to the README.
- RobotState now has a header (will make logs of RobotState messages
  better, and will make pulling these messages out of rosbags easier)
- Increase version to 2.0.0

README.md

@@ -5,13 +5,22 @@ robots.
 
 ## RobotCommand
 
-The RobotCommand message definition includes constants for the different
-commands that can be sent to a robot. Some commands must be accompanied by a
-set of properties, such as a string containing text for the robot to say and
-actions/behaviors for the robot to do.
+The RobotCommand message definition includes a standard ROS message header and
+the command to send. Some commands, such as DO, must be accompanied by a set of
+properties, such as a string containing text for the robot to say and
+actions/behaviors for the robot to do. 
+
+For some robots, DO commands must be also tagged with a unique ID, which should
+be put in the "id" field. Note that RobotCommand messages do not check nor
+ensure that anything placed in the "id" field is in fact unique.
+
+If a command does not require properties or an ID, set these fields as empty strings.
+
+A list of constants is included for the different commands
+that can be sent to a robot. These are: 
 
 - 0 SLEEP
-    - no properties (properties = null)
+    - no properties (properties = empty string)
 
 - 1 WAKEUP
     - no properties
@@ -21,6 +30,7 @@ actions/behaviors for the robot to do.
       the robot to do before, during, or after speaking (or instead of
       speaking)
 
+
 ### Details about the DO command
 
 The exact format of this command's argument is yet to be determined, but may be

msg/RobotCommand.msg

@@ -4,9 +4,13 @@ Header header
 # which command will be sent
 int8 command 
 
+# some robots require DO commands to be tagged with a unique ID 
+# leave empty if no unique ID is needed
+string id
+
 # properties of command, such as:
 #   string containing speech to play and actions to do
-#   null if no extra properties needed
+#   empty if no extra properties needed
 string properties
 
 # Commands

msg/RobotState.msg

@@ -1,4 +1,5 @@
 # Message for receiving information about the robot's status
+Header header
 
 # True when the robot is currently performing an animation or behavior
 bool doing_action

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>sar_robot_command_msgs</name>
-  <version>0.1.0</version>
+  <version>2.0.0</version>
   <description>Command messages for telling SAR robots what to do</description>
 
   <maintainer email="[email protected]">jakory</maintainer>