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3.9 Topic Descriptions

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Antoine Dangeard edited this page Sep 26, 2023 · 5 revisions

All topics

  • /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

  • /dead_reckon_report

    • 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.

  • /depth

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

  • /effort

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

  • /error_quat

    • Description: Quaternion from the body from to the desired orientation from. Used for debugging.
    • Output Package: Output from controls.

  • /global_x

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

  • /global_y

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

  • /global_z

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

  • /heave

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

  • /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).

  • /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).

  • /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).

  • /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).

  • /pitch

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

  • /pose

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

  • /propulsion/thruster_forces

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

  • /propulsion/thruster_microseconds

    • Description: PWM to send to the thrusters.
    • Input Package: Input to the power board.
    • Output Package: Output from propulsion.

  • /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).

  • /roll

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

  • /sbg/ekf_quat

    • 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.

  • /sbg/imu_data

    • Description: The AUV's acceleration, orientation, and angular velocity reported by the imu.
    • Input Package: Input to to state estimation.
    • Output Package: Output from sensors.

  • /state_theta_x

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

  • /state_theta_y

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

  • /state_theta_z

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

  • /state_x

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

  • /state_y

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

  • /state_z

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

  • /surge

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

  • /sway

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

  • /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/camera_info

    • Description: Information about the front cam (intrinsics i.e. focal length, dimensions, etc.). Used to turn the depth map into a point cloud.
    • Input Package: Input to vision (point_cloud)
    • Output Package: Output of vision (stream_front_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/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)

  • /x_setpoint

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

  • /y_setpoint

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

  • /yaw

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

  • /z_setpoint

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

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