feat(tier4_rtc_msgs): add new field to rtc cooperate status

tier4_rtc_msgs/CMakeLists.txt

@@ -16,6 +16,7 @@ ament_auto_find_build_dependencies()
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/Command.msg"
+  "msg/State.msg"
   "msg/CooperateCommand.msg"
   "msg/CooperateResponse.msg"
   "msg/CooperateStatus.msg"

tier4_rtc_msgs/msg/CooperateStatus.msg

@@ -1,8 +1,25 @@
 builtin_interfaces/Time stamp
+
+# Request unique id
 unique_identifier_msgs/UUID uuid
+
+# Indicate module type which makes this cooperate request.
 tier4_rtc_msgs/Module module
+
+# Indicate whether the system judges it's safe condition to execute or not.
 bool safe
+
+# Indicate RTC approval status
 tier4_rtc_msgs/Command command_status
+
+# Current execution state
+tier4_rtc_msgs/State state
+
+# RTC execution mode
+# TRUE: Auto mode (it can execute without human operator's approval.)
+# FALSE: Manual mode (it needs human operator's approval to execute.)
 bool auto_mode
+
+# Section which will be modified when this cooperate request is approved.
 float32 start_distance
 float32 finish_distance

tier4_rtc_msgs/msg/State.msg

@@ -0,0 +1,7 @@
+uint8 type
+
+uint8 WAITING_FOR_EXECUTION = 0
+uint8 RUNNING = 1
+uint8 ABORTING = 2
+uint8 SUCCEEDED = 3
+uint8 FAILED = 4