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cs:topics_list:start [2016/11/08 11:33] Brandon Kallaher |
cs:topics_list:start [2017/08/15 15:01] James Irwin [ROS Topics] |
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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. | ||
+ | {{:cs:topics_list:node_graph.png|}} | ||
===== Sensors ===== | ===== Sensors ===== | ||
==== /orientation ==== | ==== /orientation ==== | ||
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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/dev/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. | ||
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==== /joystick_driver ==== | ==== /joystick_driver ==== | ||
- | Message: [[ | robosub/joystick]] | + | Message: [[ https://github.com/PalouseRobosub/robosub/blob/dev/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/dev/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 ===== | ||
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Images from our cameras. | Images from our cameras. | ||
- | ==== /vision/buoy/(red|green|blue) ==== | + | ==== /vision/buoy/(red|green|yellow) ==== |
- | Message: [[https://github.com/PalouseRobosub/robosub/blob/dev/msg/visionPos.msg | robosub/visionPos]] \\ | + | Message: [[https://github.com/PalouseRobosub/robosub/blob/dev/msg/visionPosArray.msg | robosub/visionPosArray]] \\ |
Describes where the buoy is in the sub's view. | Describes where the buoy is in the sub's view. | ||
==== /vision/start_gate ==== | ==== /vision/start_gate ==== | ||
- | Message: [[https://github.com/PalouseRobosub/robosub/blob/dev/msg/visionPos.msg | robosub/visionPos]] \\ | + | Message: [[https://github.com/PalouseRobosub/robosub/blob/dev/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. | 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/dev/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/dev/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/dev/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/dev/msg/visionPosArray.msg | robosub/visionPosArray]] \\ | ||
+ | Describes where the octagon is in the sub's view. | ||
===== Hydrophones ===== | ===== Hydrophones ===== | ||
- | ==== /hydrophone/[Frequency]/deltas ==== | + | ==== /hydrophones/[Frequency]/deltas ==== |
Message: Duplicated for all frequencies in the pool. Contains the latest time deltas between the reference and other 3 hydrophones. | Message: Duplicated for all frequencies in the pool. Contains the latest time deltas between the reference and other 3 hydrophones. | ||
<code> | <code> | ||
Header header | Header header | ||
- | Time d1 | + | duration d1 |
- | Time d2 | + | duration d2 |
- | Time d3 | + | duration d3 |
</code> | </code> | ||
- | ==== /hydrophone/[Frequency]/timestamps ==== | + | ==== /hydrophones/[Frequency]/timestamps ==== |
Message: Duplicated for all frequencies in the pool. Contains the latest timestamps recorded by the system. | Message: Duplicated for all frequencies in the pool. Contains the latest timestamps recorded by the system. | ||
<code> | <code> | ||
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</code> | </code> | ||
- | ==== /hydrophone/[Frequency]/debug ==== | + | ==== /hydrophones/[Frequency]/debug ==== |
+ | Message: Used for debugging the hydrophone system. | ||
<code> | <code> | ||
Header header | Header header | ||
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Float64 approx_angle | Float64 approx_angle | ||
</code> | </code> | ||
+ | |||
+ | ==== /hydrophones/[Frequency]/output/direction ==== | ||
+ | Message: [[https://github.com/PalouseRobosub/robosub/blob/dev/msg/Euler.msg | robosub/Euler]] \\ | ||
+ | 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. | ||
+ | |||
+ | ==== /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. |