cob_msgs

Summary

cob_msgs
Version:

0.6.4
Description:

This package is a copy of former pr2_msgs - ported to ROS Indigo Messages for representing PR2 state, such as battery information and the PR2 fingertip sensors.
Maintainers:
  • Felix Messmer <fxm AT ipa DOT fhg DOT de>
  • Florian Weisshardt <fmw AT ipa DOT fhg DOT de>
Licenses:
  • BSD
Authors:
  • Eric Berger and many others
  • Austin Hendrix
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:

Types

Message types

cob_msgs/Network
Field:
  • macattr (string) –
  • essid (string) –
  • channel (int32) –
  • rssi (int32) –
  • noise (int32) –
  • beacon (int32) – 
string macattr
string essid
int32 channel
int32 rssi
int32 noise
int32 beacon
cob_msgs/DashboardState
Field:

This message communicates state information that might be used by a dashboard application.

# This message communicates state information that might be used by a
# dashboard application.
std_msgs/Bool motors_halted
bool motors_halted_valid

cob_msgs/PowerBoardState power_board_state
bool power_board_state_valid

cob_msgs/PowerState power_state
bool power_state_valid

cob_msgs/AccessPoint access_point
bool access_point_valid
cob_msgs/PowerState
Field:
  • header (std_msgs/Header) –
  • power_consumption (float64) –
  • time_remaining (duration) –
  • prediction_method (string) –
  • relative_capacity (int8) –
  • AC_present (int8) –

This message communicates the state of the PR2’s power system.

# This message communicates the state of the PR2's power system.
Header header
float64 power_consumption ## Watts
duration time_remaining ## estimated time to empty or full
string prediction_method ## how time_remaining is being calculated
int8  relative_capacity ## percent of capacity
int8  AC_present ## number of packs detecting AC power, > 0 means plugged in
cob_msgs/BatteryState2
Field:
  • present (bool) –
  • charging (bool) –
  • discharging (bool) –
  • power_present (bool) –
  • power_no_good (bool) –
  • inhibited (bool) –
  • last_battery_update (time) –
  • battery_register[48] (int16) –
  • battery_update_flag[48] (bool) –
  • battery_register_update[48] (time) –

This message communicates the state of a single battery. Battery Controller Flags, one per battery

# This message communicates the state of a single battery.
# Battery Controller Flags, one per battery
bool present       # is this pack present
bool charging      # is this pack charging
bool discharging   # is this pack discharging
bool power_present # is there an input voltage
bool power_no_good # is there a fault (No Good)
bool inhibited     # is this pack disabled for some reason
# These registers are per battery
time      last_battery_update     # last time any battery update occurred
int16[48] battery_register        # value of this register in the battery
bool[48]  battery_update_flag     # Has this register ever been updated
time[48]  battery_register_update # last time this specific register was updated
cob_msgs/AccessPoint
Field:
  • header (std_msgs/Header) –
  • essid (string) –
  • macaddr (string) –
  • signal (int32) –
  • noise (int32) –
  • snr (int32) –
  • channel (int32) –
  • rate (string) –
  • tx_power (string) –
  • quality (int32) –

This message communicates the state of the PR2’s wifi access point.

# This message communicates the state of the PR2's wifi access point.
Header header
string essid
string macaddr
int32 signal
int32 noise
int32 snr
int32 channel
string rate
string tx_power
int32 quality
cob_msgs/EmergencyStopState
Constant:
  • EMFREE (int16):0 –
  • EMSTOP (int16):1 –
  • EMCONFIRMED (int16):2 –
Field:
  • emergency_button_stop (bool) –
  • scanner_stop (bool) –
  • emergency_state (int16) –

This message holds the emergency stop (EMStop) status of the robot. It detects wether an EMStop is caused by the safety laserscanner or the emergency stop buttons. Moreover, it gives signalizes wether the EMStop was confirmed (after Button press stop) and the system is free again.

Possible EMStop States

# This message holds the emergency stop (EMStop) status of the robot. It detects wether an EMStop is caused by the safety laserscanner or the emergency stop buttons. Moreover, it gives signalizes wether the EMStop was confirmed (after Button press stop) and the system is free again.

# Possible EMStop States
int16 EMFREE = 0 		# system operatign normal
int16 EMSTOP = 1 		# emergency stop is active (Button pressed; obstacle in safety field of scanner)
int16 EMCONFIRMED = 2 	# emergency stop was confirmed system is reinitializing and going back to normal

bool emergency_button_stop	# true = emergency stop signal is issued by button pressed
bool scanner_stop			# true = emergency stop signal is issued by scanner
int16 emergency_state		# state (including confimation by key-switch), values see above
cob_msgs/BatteryServer
Field:
  • header (std_msgs/Header) –
  • id (int32) –
  • lastTimeSystem (int32) –
  • timeLeft (uint16) –
  • averageCharge (uint16) –
  • message (string) –
  • lastTimeController (int32) –
  • present (uint16) –
  • charging (uint16) –
  • discharging (uint16) –
  • reserved (uint16) –
  • powerPresent (uint16) –
  • powerNG (uint16) –
  • inhibited (uint16) –
  • battery[] (cob_msgs/BatteryState) –
Constant:
  • MAX_BAT_COUNT (uint32):4 –
  • MAX_BAT_REG (uint32):48 –

DEPRECATED. Use cob_msgs/BatteryServer2 instead.

# DEPRECATED. Use cob_msgs/BatteryServer2 instead.
Header header
uint32 MAX_BAT_COUNT=4
uint32 MAX_BAT_REG=48
int32 id  # unique ID for each battery server
# Battery System Stats
int32 lastTimeSystem #epoch time
uint16 timeLeft      # in minutes
uint16 averageCharge # in percent
string message
# Battery Controller Flags
int32 lastTimeController #epoch time
uint16 present
uint16 charging
uint16 discharging
uint16 reserved
uint16 powerPresent
uint16 powerNG
uint16 inhibited
# for each battery
cob_msgs/BatteryState[] battery
cob_msgs/BatteryServer2
Field:
  • header (std_msgs/Header) –
  • id (int32) –
  • last_system_update (time) –
  • time_left (duration) –
  • average_charge (int32) –
  • message (string) –
  • last_controller_update (time) –
  • battery[] (cob_msgs/BatteryState2) –
Constant:
  • MAX_BAT_COUNT (int32):4 –
  • MAX_BAT_REG (int32):48 –

This message communicates the state of a battery server, which controls multiple batteries.

# This message communicates the state of a battery server, which controls
# multiple batteries.
Header header
int32 MAX_BAT_COUNT=4
int32 MAX_BAT_REG=48
int32 id  # unique ID for each battery server
# Battery System Stats
time last_system_update  # last time the system stats where updated
duration time_left       # in seconds (hardware resolution is 1 minute)
int32 average_charge     # in percent
string message           # message from the ocean server
time last_controller_update # last time a battery status flag was updated
# for each battery
cob_msgs/BatteryState2[] battery
cob_msgs/BatteryState
Field:
  • lastTimeBattery (int32) –
  • batReg[48] (uint16) –
  • batRegFlag[48] (uint16) –
  • batRegTime[48] (int32) –

DEPRECATED. Use cob_msgs/BatteryState2 instead. Each batteries registers

# DEPRECATED.  Use cob_msgs/BatteryState2 instead.
# Each batteries registers
int32 lastTimeBattery #epoch time
uint16[48] batReg
uint16[48] batRegFlag
int32[48] batRegTime
cob_msgs/PowerBoardState
Constant:
  • STATE_NOPOWER (int8):0 –
  • STATE_STANDBY (int8):1 –
  • STATE_PUMPING (int8):2 –
  • STATE_ON (int8):3 –
  • STATE_ENABLED (int8):3 –
  • STATE_DISABLED (int8):4 –
  • MASTER_NOPOWER (int8):0 –
  • MASTER_STANDBY (int8):1 –
  • MASTER_ON (int8):2 –
  • MASTER_OFF (int8):3 –
  • MASTER_SHUTDOWN (int8):4 –
Field:
  • header (std_msgs/Header) –
  • name (string) –
  • serial_num (uint32) –
  • input_voltage (float64) –
  • master_state (int8) –
  • circuit_state[3] (int8) –
  • circuit_voltage[3] (float64) –
  • run_stop (bool) –
  • wireless_stop (bool) –

This message communicates the state of the PR2’s power board.

# This message communicates the state of the PR2's power board.
int8 STATE_NOPOWER=0
int8 STATE_STANDBY=1
int8 STATE_PUMPING=2
int8 STATE_ON=3
int8 STATE_ENABLED=3  # Preferred over STATE_ON, keeping STATE_ON for backcompat
int8 STATE_DISABLED=4

int8 MASTER_NOPOWER=0
int8 MASTER_STANDBY=1
int8 MASTER_ON=2
int8 MASTER_OFF=3
int8 MASTER_SHUTDOWN=4

Header header
string name # Name with serial number
uint32 serial_num # Serial number for this board's message
float64 input_voltage # Input voltage to power board

# Master States:
#  MASTER_NOPOWER, MASTER_STANDBY, MASTER_ON, MASTER_OFF, MASTER_SHUTDOWN
int8 master_state  # The master state machine's state in the powerboard

# Circuit States:
#  STATE_NOPOWER, STATE_STANDBY, STATE_PUMPING, STATE_ON, STATE_DISABLED
int8[3] circuit_state # One of the above states
float64[3] circuit_voltage  # Output voltage of each circuit

# True if robot should be enabled
bool run_stop           #Note - if the wireless run-stop is hit, this will be unobservable
bool wireless_stop
cob_msgs/SiteSurvey
Field: 
Header header
Network[] networks