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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: Description for vision/down_cam/cropped.
    • Input Package: Input package for vision/down_cam/cropped.
    • Output Package: Output package for vision/down_cam/cropped.

  • /vision/down_cam/detection

    • Description: Description for vision/down_cam/detection.
    • Input Package: Input package for vision/down_cam/detection.
    • Output Package: Output package for vision/down_cam/detection.

  • /vision/down_cam/image_raw

    • Description: Description for vision/down_cam/image_raw.
    • Input Package: Input package for vision/down_cam/image_raw.
    • Output Package: Output package for vision/down_cam/image_raw.

  • /vision/front_cam/aligned_depth_to_color/camera_info

    • Description: Description for vision/front_cam/aligned_depth_to_color/camera_info.
    • Input Package: Input package for vision/front_cam/aligned_depth_to_color/camera_info.
    • Output Package: Output package for vision/front_cam/aligned_depth_to_color/camera_info.

  • /vision/front_cam/aligned_depth_to_color/image_raw

    • Description: Description for vision/front_cam/aligned_depth_to_color/image_raw.
    • Input Package: Input package for vision/front_cam/aligned_depth_to_color/image_raw.
    • Output Package: Output package for vision/front_cam/aligned_depth_to_color/image_raw.

  • /vision/front_cam/color/image_raw

    • Description: Description for vision/front_cam/color/image_raw.
    • Input Package: Input package for vision/front_cam/color/image_raw.
    • Output Package: Output package for vision/front_cam/color/image_raw.

  • /vision/front_cam/cropped

    • Description: Description for vision/front_cam/cropped.
    • Input Package: Input package for vision/front_cam/cropped.
    • Output Package: Output package for vision/front_cam/c

  • /vision/front_cam/detection

    • Description: Description for vision/front_cam/detection.
    • Input Package: Input package for vision/front_cam/detection.
    • Output Package: Output package for vision/front_cam/detection.

  • /vision/front_cam/point_cloud_raw

    • Description: Description for vision/front_cam/point_cloud_raw.
    • Input Package: Input package for vision/front_cam/point_cloud_raw.
    • Output Package: Output package for vision/front_cam/point_cloud_raw.

  • /vision/object_map

    • Description: Description for vision/object_map.
    • Input Package: Input package for vision/object_map.
    • Output Package: Output package for vision/object_map.

  • /vision/viewframe_detection

    • Description: Description for vision/viewframe_detection.
    • Input Package: Input package for vision/viewframe_detection.
    • Output Package: Output package for vision/viewframe_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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