3.9 Topic Descriptions

All topics

• /clock

  • Description: The current time in the simulation
  • Input Package: Input to all packages that use rospy.get_time()`.
  • Output Package: Output from the sim

• /controls/effort

  • Description: The net force and torque being applied to the AUV by the thrusters.
  • Input Package: Input to propulsion.
  • Output Package: Output from effort.

• /controls/force/global/x

  • Description: A force to be applied to the AUV by the thrusters in the global x direction.
  • Input Package: Input to controls (superimposer)
  • Output Package: Output of controls (pid).

• /controls/force/global/y

  • Description: A force to be applied to the AUV by the thrusters in the global y direction.
  • Input Package: Input to controls (superimposer)
  • Output Package: Output of controls (pid).

• /controls/force/global/z

  • Description: A force to be applied to the AUV by the thrusters in the global z direction.
  • Input Package: Input to controls (superimposer)
  • Output Package: Output of controls (pid).

• /controls/force/heave

  • Description: A force to be applied to the AUV by the thrusters in the body frame heave direction.
  • Input Package: Input to controls (superimposer)
  • Output Package: Output of controls (effort server).

• /controls/force/surge

  • Description: A force to be applied to the AUV by the thrusters in the body frame surge direction.
  • Input Package: Input to controls (superimposer)
  • Output Package: Output of controls (effort server).

• /controls/force/sway

  • Description: A force to be applied to the AUV by the thrusters in the body frame sway direction.
  • Input Package: Input to controls (superimposer)
  • Output Package: Output of controls (effort server).

• /controls/pid/quat/enable

  • Description: Enables or disables pid controls for orientation.
  • Input Package: Input to controls (quaternion pid).
  • Output Package: Output of controls (state server/effort server).

• /controls/pid/quat/setpoint

  • Description: The desired orientation. Represented as a quaternion from NWU.
  • Input Package: Input to controls (quaternion pid).
  • Output Package: Output from controls (state server).

• /controls/pid/x/enable

  • Description: Enables or disables pid controls for the global x axis.
  • Input Package: Input to controls (x pid).
  • Output Package: Output of controls (state server/effort server).

• /controls/pid/x/setpoint

  • Description: The desired x position.
  • Input Package: Input to controls (x pid).
  • Output Package: Output from controls (state server).

• /controls/pid/y/enable

  • Description: Enables or disables pid controls for the global y-axis.
  • Input Package: Input to controls (y pid).
  • Output Package: Output of controls (state server/effort server).

• /controls/pid/y/setpoint

  • Description: The desired y position.
  • Input Package: Input to controls (y pid).
  • Output Package: Output from controls (state server).

• /controls/pid/z/enable

  • Description: Enables or disables pid controls for the global z axis.
  • Input Package: Input to controls (z pid).
  • Output Package: Output of controls (state server/effort server).

• /controls/pid/z/setpoint

  • Description: The desired z position.
  • Input Package: Input to controls (z pid).
  • Output Package: Output from controls (state server).

• /controls/torque/pitch

  • Description: A torque to be applied to the AUV by the thrusters in the body frame pitch direction.
  • Input Package: Input to controls (superimposer)
  • Output Package: Output of controls (effort server).

• /controls/torque/roll

  • Description: A torque to be applied to the AUV by the thrusters in the body frame roll direction.
  • Input Package: Input to controls (superimposer)
  • Output Package: Output of controls (effort server).

• /controls/torque/yaw

  • Description: A torque to be applied to the AUV by the thrusters in the body frame yaw direction.
  • Input Package: Input to controls (superimposer)
  • Output Package: Output of controls (effort server).

• /propulsion/forces

  • Description: Forces being exerted by each thruster.
  • Input Package: Input to the simulation.
  • Output Package: Output from propulsion.

• /propulsion/microseconds Description: PWM to send to the thrusters.

  • Input Package: Input to the power board.
  • Output Package: Output from propulsion.

• /sensors/depth/status

  • Description: The status of the depth sensor.
  • Input Package: Input to the sensors (screen display).
  • Output Package: Output from state estimation or unity bridge.

• /sensors/depth/z

  • Description: The depth sensor's readings in NWU.
  • Input Package: Input to state estimation.
  • Output Package: Output from sensors.

• /sensors/dvl/pose

  • Description: The dvl's report of the AUV's x,y,z roll,pitch,yaw, and measures of confidence.
  • Input Package: Input to state estimation.
  • Output Package: Output from sensors.

• /sensors/dvl/status

  • Description: The status of the dvl sensor.
  • Input Package: Input to the sensors (screen display).
  • Output Package: Output from state estimation or unity bridge.

• /sensors/hydrophones/pinger_time_difference

  • Description: The time difference pinger signal is received between hydrophones 2 and 1 and hydrophones 3 and 1.
  • Input Package: Input to pinger bearing calculation.
  • Output Package: Output from Unity Sim script.

• /sensors/hydrophones/pinger_bearing

  • Description: 3D vector (z = 0) representing the pinger bearing.
  • Input Package: State estimation (? - not implemented yet) and Unity Sim for visualisation.
  • Output Package: Output from pinger bearing calculations in hydrophones file.

• /sensors/imu/angular_velocity

  • Description: The imu's report of the angular velocity in its frame.
  • Input Package: Input to the controls.
  • Output Package: Output from sensors.

• /sensors/imu/quaternion

  • Description: The orientation of the AUV as reported by the imu post extended kalman filtering. Measure as a quaternion from NED.
  • Input Package: Input to to state estimation.
  • Output Package: Output from sensors.

• /sensors/imu/status

  • Description: The status of the imu sensor.
  • Input Package: Input to the sensors (screen display).
  • Output Package: Output from state estimation or unity bridge.

• /state/angular_velocity

  • Description: The angular velocity of the AUV. Reported in the body frame.
  • Input Package: Input to controls.
  • Output Package: Output from state estimation

• /state/linear_velocity

  • Description: The linear velocity of the AUV. (not implemented yet)
  • Input Package: Input to controls. (not implemented yet)
  • Output Package: Output from state estimation

• /state/pose

  • Description: The AUV's position and orientation.
  • Input Package: Input to controls and planner
  • Output Package: Output from state estimation.

• /state/theta/x

  • Description: The AUV's roll euler angle.
  • Input Package: Input to planner and vision
  • Output Package: Output from state estimation.

• /state/theta/y

  • Description: The AUV's pitch euler angle.
  • Input Package: Input to planner and vision
  • Output Package: Output from state estimation.

• /state/theta/z

  • Description: The AUV's yaw euler angle.
  • Input Package: Input to planner and vision
  • Output Package: Output from state estimation.

• /state/x

  • Description: The AUV's x position in NWU.
  • Input Package: Input to planner and controls
  • Output Package: Output from state estimation.

• /state/y

  • Description: The AUV's y position in NWU.
  • Input Package: Input to planner and controls
  • Output Package: Output from state estimation.

• /state/z

  • Description: The AUV's z position in NWU.
  • Input Package: Input to planner and controls
  • Output Package: Output from state estimation.

• /unity/state

  • Description: Data from the unity sim.
  • Input Package: Input to unity bridge.
  • Output Package: Output from the simulation.

• /vision/down_cam/camera_info

  • Description: Information about the down cam (intrinsic i.e. focal length, dimensions, etc.). Used to turn the depth map into a point cloud.
  • Input Package: Input to vision
  • Output Package: Output of vision (stream_front_cam.launch)

• /vision/down_cam/cropped

  • Description: Used to display the down cam feed cropped to a detected lane marker
  • Input Package: Input to vision (debug_thresholding). For debugging purposes.
  • Output Package: Output of vision (object_detection, measureLaneMarker function)

• /vision/down_cam/detection

  • Description: Used to visualize the bounding box detections made by the down cam CV model
  • Input Package: Not used as an input. For debugging purposes.
  • Output Package: Output of vision (object_detection)

• /vision/down_cam/image_raw

  • Description: The raw image feed streamed from the down cam.
  • Input Package: Input to vision (object_detection)
  • Output Package: Output of vision (stream_down_cam.launch)

• /vision/front_cam/aligned_depth_to_color/image_raw

  • Description: The depth map feed streamed from the front cam, aligned to the image feed of the front cam.
  • Input Package: Input to vision (object_detection)
  • Output Package: Output of vision (stream_front_cam.launch)

• /vision/front_cam/camera_info

  • Description: Information about the down cam (intrinsic i.e. focal length, dimensions, etc.). Used to turn the depth map into a point cloud.
  • Input Package: Input to vision
  • Output Package: Output of vision (stream_front_cam.launch)

• /vision/front_cam/color/image_raw

  • Description: The raw image feed streamed from the front cam.
  • Input Package: Input to vision (object_detection)
  • Output Package: Output of vision (stream_front_cam.launch)

• /vision/front_cam/cropped

  • Description: Used to display the front cam feed cropped to a detected lane marker
  • Input Package: Input to vision (debug_thresholding). For debugging purposes.
  • Output Package: Output of vision (object_detection, measureLaneMarker function)

• /vision/front_cam/detection

  • Description: Used to visualize the bounding box detections made by the front cam CV model
  • Input Package: Not used as an input. For debugging purposes.
  • Output Package: Output of vision (object_detection)

• /vision/front_cam/point_cloud_raw

  • Description: The point cloud computed from the front cam's intrinsics and depth map.
  • Input Package: Input of vision (object_detection_utils)
  • Output Package: Output of vision (point_cloud)

• /vision/object_map

  • Description: Contains information on the objects currently mapped by the AUV vision package.
  • Input Package: Input of planner (utils/vision.py)
  • Output Package: Output of vision (object_mapping)

• /vision/viewframe_detection

  • Description: Contains information on the detections made on the front/down cams, on a frame-by-frame basis.
  • Input Package: Input of vision (object_mapping).
  • Output Package: Output of vision (object_detection)