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This page is a description of all the topics we are using (or plan to use) on the sub.
Message: 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.
Message: 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.
Message: std_msgs/Float32
The current depth of the sub.
Message: robosub/thruster
Dynamic array of commands going to the thrusters. Order of the thrusters is dependent on their order in the settings file.
Message: robosub/control
Send messages to this topic to move the sub around, the control system subscribes to this topic.
Message: 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.
Message: wfov_camera_msgs/WFOVImage
Images from our cameras.
Message: robosub/visionPos
Describes where the buoy is in the sub's view.
Message: robosub/visionPos
Describes how many posts of the start gate can be seen and where they are located in the sub's view.
Message: Duplicated for all frequencies in the pool. Contains the latest time deltas between the reference and other 3 hydrophones.
Header header Time d1 Time d2 Time d3
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
Header header Int64 frequency Int64 avg_sig_strength Float64 approx_angle