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cs:topics_list:start [2016/11/08 11:27] Brandon Kallaher [Hydrophones] |
cs:topics_list:start [2018/10/20 16:06] Sean Kallaher |
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| + | <WRAP center round important 60%> | ||
| + | This page is stale and should be updated. | ||
| + | </WRAP> | ||
| + | |||
| ====== ROS Topics ====== | ====== ROS Topics ====== | ||
| - | This page is a description of all the topics we are using (or plan to use) on the sub. | + | This page is a description of all the topics we are using (or plan to use) on the sub. Below is a symbolic representation of data flow on the sub (with sensors as we have right now). |
| + | {{:cs:topics_list:node_graph.png?800|}} | ||
| ===== Sensors ===== | ===== Sensors ===== | ||
| ==== /orientation ==== | ==== /orientation ==== | ||
| Line 7: | Line 12: | ||
| The current orientation of the sub, given as a quaternion. Any code wanting to know the sub's orientation should use this topic, not /orientation/rpy. | The current orientation of the sub, given as a quaternion. Any code wanting to know the sub's orientation should use this topic, not /orientation/rpy. | ||
| - | ==== /orientation/rpy ==== | + | ==== /pretty/orientation ==== |
| - | Message: [[https://github.com/PalouseRobosub/robosub/blob/dev/msg/Euler.msg | robosub/Euler ]] \\ | + | Message: [[https://github.com/PalouseRobosub/robosub/blob/master/msg/Euler.msg | robosub/Euler ]] \\ |
| The current orientation of the sub, given in roll, pitch, yaw. This is meant just for human readability of the sub's orientation, code should use the /orientation topic. | The current orientation of the sub, given in roll, pitch, yaw. This is meant just for human readability of the sub's orientation, code should use the /orientation topic. | ||
| Line 17: | Line 22: | ||
| ===== Movement ===== | ===== Movement ===== | ||
| ==== /thruster ==== | ==== /thruster ==== | ||
| - | Message: [[https://github.com/PalouseRobosub/robosub/blob/dev/msg/thruster.msg|robosub/thruster]] \\ | + | Message: [[https://github.com/PalouseRobosub/robosub/blob/master/msg/thruster.msg|robosub/thruster]] \\ |
| Dynamic array of commands going to the thrusters. Order of the thrusters is dependent on their order in the settings file. | Dynamic array of commands going to the thrusters. Order of the thrusters is dependent on their order in the settings file. | ||
| ==== /control ==== | ==== /control ==== | ||
| - | Message: [[ https://github.com/PalouseRobosub/robosub/blob/dev/msg/control.msg | robosub/control ]] \\ | + | Message: [[ https://github.com/PalouseRobosub/robosub/blob/master/msg/control.msg | robosub/control ]] \\ |
| Send messages to this topic to move the sub around, the control system subscribes to this topic. | Send messages to this topic to move the sub around, the control system subscribes to this topic. | ||
| ==== /joystick_driver ==== | ==== /joystick_driver ==== | ||
| - | Message: [[ | robosub/joystick]] | + | Message: [[ https://github.com/PalouseRobosub/robosub/blob/master/msg/joystick.msg| robosub/joystick]] |
| This is the raw joystick state, published by the joystick driver. Shows the current state of all axes and buttons on the joystick. | This is the raw joystick state, published by the joystick driver. Shows the current state of all axes and buttons on the joystick. | ||
| + | |||
| + | ==== /gamepad_driver ==== | ||
| + | Message: [[https://github.com/PalouseRobosub/robosub/blob/master/msg/gamepad.msg | robosub/gamepad]] | ||
| + | This is the raw gamepad state, published by the gamepad driver. Shows the current state of all axes and buttons on the gamepad. | ||
| ===== Vision ===== | ===== Vision ===== | ||
| Line 36: | Line 45: | ||
| Images from our cameras. | Images from our cameras. | ||
| - | ==== /vision/buoy/(red|green|blue) ==== | + | ==== /vision ==== |
| - | Message: [[https://github.com/PalouseRobosub/robosub/blob/dev/msg/visionPos.msg | robosub/visionPos]] \\ | + | Message: [[https://github.com/PalouseRobosub/rs_yolo/blob/master/msg/DetectionArray.msg | rs_yolo/DetectionArray]] \\ |
| - | Describes where the buoy is in the sub's view. | + | Results of the deep vision processing system. It's a list detailing all the objects it sees. |
| + | ===== Hydrophones ===== | ||
| - | ==== /vision/start_gate ==== | + | ==== /hydrophones/[Frequency]/deltas ==== |
| - | Message: [[https://github.com/PalouseRobosub/robosub/blob/dev/msg/visionPos.msg | robosub/visionPos]] \\ | + | Message: Duplicated for all frequencies in the pool. Contains the latest time deltas between the reference and other 3 hydrophones. |
| - | Describes how many posts of the start gate can be seen and where they are located in the sub's view. | + | <code> |
| + | Header header | ||
| + | duration d1 | ||
| + | duration d2 | ||
| + | duration d3 | ||
| + | </code> | ||
| - | ===== Hydrophones ===== | + | ==== /hydrophones/[Frequency]/timestamps ==== |
| + | Message: Duplicated for all frequencies in the pool. Contains the latest timestamps recorded by the system. | ||
| + | <code> | ||
| + | Header header | ||
| + | Time ref | ||
| + | Time t1 | ||
| + | Time t2 | ||
| + | Time t3 | ||
| + | </code> | ||
| + | |||
| + | ==== /hydrophones/[Frequency]/debug ==== | ||
| + | Message: Used for debugging the hydrophone system. | ||
| + | <code> | ||
| + | Header header | ||
| + | Int64 frequency | ||
| + | Int64 avg_sig_strength | ||
| + | Float64 approx_angle | ||
| + | </code> | ||
| - | ==== hydrophone/deltas ==== | + | ==== /hydrophones/bearing ==== |
| + | Message: [[http://docs.ros.org/api/geometry_msgs/html/msg/Vector3Stamped.html | geometry_msgs/Vector3Stamped]] \\ | ||
| + | A 3-dimensional vector pointing at the pinger in $i,j,k$ notation. | ||
