added and modified the msgs of TB3

msg/MotorPower.msg

@@ -1,10 +0,0 @@
-########################################
-# CONSTANTS
-########################################
-uint8 OFF = 0
-uint8 ON  = 1
-
-########################################
-# Messages
-########################################
-uint8 state

msg/SensorState.msg

@@ -23,7 +23,7 @@ uint8 ERROR_RIGHT_MOTOR = 2
 ########################################
 # Messages
 ########################################
-time stamp
+Header header
 uint8  bumper
 uint8  cliff
 uint8  button

msg/Sound.msg

@@ -1,10 +1,10 @@
 ########################################
 # CONSTANTS
 ########################################
-uint8 ON            = 0
-uint8 OFF           = 1
-uint8 ERROR         = 2
-uint8 LOW_BATTERY   = 3
+uint8 OFF           = 0
+uint8 ON            = 1
+uint8 LOW_BATTERY   = 2
+uint8 ERROR         = 3
 uint8 BUTTON1       = 4
 uint8 BUTTON2       = 5
 

srv/SetFollowState.srv

@@ -1,12 +1,15 @@
+########################################
+# CONSTANTS
+########################################
 uint8 STOPPED = 0
 uint8 FOLLOW  = 1
 
-# Following running/stopped
-uint8 state
+uint8 OK      = 0
+uint8 ERROR   = 1
 
+########################################
+# Messages
+########################################
+uint8 state     # STOPPED or FOLLOW
 ---
-
-uint8 OK    = 0
-uint8 ERROR = 1
-
-uint8 result
+uint8 result    # OK or ERROR

srv/TakePanorama.srv

@@ -1,21 +1,20 @@
-# mode for taking the pictures
-uint8 mode
-# rotate, stop, snapshot, rotate, stop, snapshot, ...
-uint8 SNAPANDROTATE=0
-# keep rotating while taking snapshots
-uint8 CONTINUOUS=1
-# stop an ongoing panorama creation
-uint8 STOP=2
-# total angle of panorama picture
-float32 pano_angle
-# angle interval when creating the panorama picture in snap&rotate mode, time interval otherwise 
-float32 snap_interval
-# rotating velocity
-float32 rot_vel
+########################################
+# CONSTANTS
+########################################
+uint8 SNAPANDROTATE=0 # mode: rotate, stop, snapshot, rotate, stop, snapshot, ...
+uint8 CONTINUOUS=1    # mode: keep rotating while taking snapshots
+uint8 STOP=2          # mode: stop an ongoing panorama creation
 
+uint8 STARTED=0       # status
+uint8 IN_PROGRESS=1   # status
+uint8 STOPPED=2       # status
+
+########################################
+# Messages
+########################################
+uint8 mode            # mode for taking the pictures
+float32 pano_angle    # total angle of panorama picture
+float32 snap_interval # angle interval when creating the panorama picture in snap&rotate mode, time interval otherwise 
+float32 rot_vel       # rotating velocity
 ---
-
 uint8 status
-uint8 STARTED=0
-uint8 IN_PROGRESS=1
-uint8 STOPPED=2