This page is stale and should be updated. ====== ROS Topics ====== 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 ===== ==== /orientation ==== Message: [[http://docs.ros.org/api/geometry_msgs/html/msg/Quaternion.html | geometry_msgs/Quaternion ]] \\ 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. ==== /pretty/orientation ==== 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. ==== /depth ==== Message: [[ http://docs.ros.org/jade/api/std_msgs/html/msg/Float32.html | std_msgs/Float32 ]] \\ The current depth of the sub. ===== Movement ===== ==== /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. ==== /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. ==== /joystick_driver ==== 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. ==== /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 ===== ==== /camera/(left|right|bottom)/image ==== Message: [[https://github.com/ros-drivers/pointgrey_camera_driver/blob/master/wfov_camera_msgs/msg/WFOVImage.msg | wfov_camera_msgs/WFOVImage]] \\ Images from our cameras. ==== /vision ==== Message: [[https://github.com/PalouseRobosub/rs_yolo/blob/master/msg/DetectionArray.msg | rs_yolo/DetectionArray]] \\ Results of the deep vision processing system. It's a list detailing all the objects it sees. ===== Hydrophones ===== ==== /hydrophones/[Frequency]/deltas ==== Message: Duplicated for all frequencies in the pool. Contains the latest time deltas between the reference and other 3 hydrophones. Header header duration d1 duration d2 duration d3 ==== /hydrophones/[Frequency]/timestamps ==== Message: Duplicated for all frequencies in the pool. Contains the latest timestamps recorded by the system. Header header Time ref Time t1 Time t2 Time t3 ==== /hydrophones/[Frequency]/debug ==== Message: Used for debugging the hydrophone system. Header header Int64 frequency Int64 avg_sig_strength Float64 approx_angle ==== /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.