From 74c5bc77cc4c16c4ceba806a235b47ac92199226 Mon Sep 17 00:00:00 2001
From: Pimpest <82343504+Pimpest@users.noreply.github.com>
Date: Wed, 26 Feb 2025 16:26:35 +0100
Subject: [PATCH] Added rotate action

---
 mg_msgs/CMakeLists.txt       |  1 +
 mg_msgs/action/Rotate.action | 25 +++++++++++++++++++++++++
 2 files changed, 26 insertions(+)
 create mode 100644 mg_msgs/action/Rotate.action

diff --git a/mg_msgs/CMakeLists.txt b/mg_msgs/CMakeLists.txt
index ff4e808..9000f71 100644
--- a/mg_msgs/CMakeLists.txt
+++ b/mg_msgs/CMakeLists.txt
@@ -14,6 +14,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "action/MoveStraight.action"
   "action/MovePoint.action"
   "action/LookAt.action"
+  "action/Rotate.action"
   "srv/SetWidth.srv"
 )
 
diff --git a/mg_msgs/action/Rotate.action b/mg_msgs/action/Rotate.action
new file mode 100644
index 0000000..3948fa3
--- /dev/null
+++ b/mg_msgs/action/Rotate.action
@@ -0,0 +1,25 @@
+
+float64 angle
+
+float64 step 0.01
+float64 tolerance 0.001
+float64 max_wheel_speed 3
+float64 max_angular 3.14
+float64 max_vel 2
+float64 pos_mult 15
+float64 ornt_mult 4
+float64 t_ornt_mult 0.1
+float64 obst_mult_a -5
+float64 obst_mult_b -30
+float64 obst_mult_c -9
+string[] ignore_tags []
+---
+uint8 SUCCESS=0
+uint8 BLOCKED=1
+uint8 TIMEOUT=2
+uint8 MISALIGNED=3
+uint8 UNKNOWN=254
+
+uint8 error
+---
+float64 distance_passed
\ No newline at end of file