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cs:topics_list:start [2017/09/11 15:51] James Irwin changed dev references to master |
cs:topics_list:start [2017/09/21 16:12] James Irwin [ROS Topics] |
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| ====== 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|}} | {{:cs:topics_list:node_graph.png?800|}} | ||
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| Images from our cameras. | Images from our cameras. | ||
| - | ==== /vision/buoy/(red|green|yellow) ==== | + | ==== /vision ==== |
| - | Message: [[https://github.com/PalouseRobosub/robosub/blob/master/msg/visionPosArray.msg | robosub/visionPosArray]] \\ | + | 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. |
| - | + | ||
| - | + | ||
| - | ==== /vision/start_gate ==== | + | |
| - | Message: [[https://github.com/PalouseRobosub/robosub/blob/master/msg/visionPosArray.msg | robosub/visionPosArray]] \\ | + | |
| - | Describes how many posts of the start gate can be seen and where they are located in the sub's view. | + | |
| - | + | ||
| - | ==== /vision/navigate_pass ==== | + | |
| - | Message: [[https://github.com/PalouseRobosub/robosub/blob/master/msg/visionPosArray.msg | robosub/visionPosArray]] \\ | + | |
| - | Describes where the yellow channel is in the sub's view. | + | |
| - | + | ||
| - | ==== /vision/bins ==== | + | |
| - | Message: [[https://github.com/PalouseRobosub/robosub/blob/master/msg/visionPosArray.msg | robosub/visionPosArray]] \\ | + | |
| - | Describes where the marker bins are in the sub's view. | + | |
| - | + | ||
| - | ==== /vision/torpedo_target ==== | + | |
| - | Message: [[https://github.com/PalouseRobosub/robosub/blob/master/msg/visionPosArray.msg | robosub/visionPosArray]] \\ | + | |
| - | Describes where the torpedo targets are in the sub's view. | + | |
| - | + | ||
| - | ==== /vision/octagon ==== | + | |
| - | Message: [[https://github.com/PalouseRobosub/robosub/blob/master/msg/visionPosArray.msg | robosub/visionPosArray]] \\ | + | |
| - | Describes where the octagon is in the sub's view. | + | |
| ===== Hydrophones ===== | ===== Hydrophones ===== | ||
| Line 96: | Line 75: | ||
| </code> | </code> | ||
| - | ==== /hydrophones/[Frequency]/output/direction ==== | + | ==== /hydrophones/bearing ==== |
| - | Message: [[https://github.com/PalouseRobosub/robosub/blob/master/msg/Euler.msg | robosub/Euler]] \\ | + | Message: [[http://docs.ros.org/api/geometry_msgs/html/msg/Vector3Stamped.html | geometry_msgs/Vector3Stamped]] \\ |
| - | Used for sending the angle from the forward direction to the pinger. Roll will always be zero while Pitch and Yaw should be filled out. | + | A 3-dimensional vector pointing at the pinger in $i,j,k$ notation. |
| - | ==== /hydrophones/[Frequency]/output/location ==== | ||
| - | Message: [[http://docs.ros.org/api/geometry_msgs/html/msg/Point.html | geometry_msgs/Point]] \\ | ||
| - | Used for sending the final result of the Trilaterization calculations. | ||
