kingfisher_msgs

Summary

kingfisher_msgs
Version:

0.1.0
Description:

Provides standard messages specific to Kingfisher, especially for the microcontroller’s rosserial interface.
Maintainers:
  • Mike Purvis <mpurvis AT clearpathrobotics DOT com>
Licenses:
  • BSD
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:

Types

Message types

kingfisher_msgs/Sense
Field:
  • battery (float32) –
  • current_left (float32) –
  • current_right (float32) –
  • pcb_temperature (float32) –
  • fan_on (bool) –
  • rc (uint8) –
  • rc_throttle (uint16) –
  • rc_rotation (uint16) –
  • rc_enable (uint16) –
Constant:
  • RC_INRANGE (uint8):1 –
  • RC_INUSE (uint8):2 –

General MCU status for Kingfisher transmitted from the MCU to higher-level software on the /sense topic.

Voltage level of battery, in volts

# General MCU status for Kingfisher transmitted from the MCU
# to higher-level software on the /sense topic.

# Voltage level of battery, in volts
float32 battery

# Instantaneous current drawn by each motor, in amps.
float32 current_left
float32 current_right

# Temperature of PCB as measured by internal AVR thermometer,
# reported in degrees centigrade.
float32 pcb_temperature
bool fan_on

# Bitfield represents status of hobby R/C override.
uint8 RC_INRANGE=1
uint8 RC_INUSE=2
uint8 rc

# Pulse lengths received from the three R/C channels.
uint16 rc_throttle
uint16 rc_rotation
uint16 rc_enable
kingfisher_msgs/Helm
Field:
  • thrust (float32) –
  • yaw_rate (float32) –

Command a percentage amount of total thrust capacity, and an turn rate. On a conventional craft, turn rate would map to rudder.

Thrust amount ranges from [-1.0..1.0], where 1.0 pushes Kingfisher forward.

# Command a percentage amount of total thrust capacity, and an turn rate.
# On a conventional craft, turn rate would map to rudder.

# Thrust amount ranges from [-1.0..1.0], where 1.0 pushes Kingfisher forward.
float32 thrust

# Yaw rate specified in radians/sec, where positive values cause Kingfisher
# to turn toward the port deck. The controller will use feedback from the
# IMU's gyroscopes to attempt to match the command rate.
float32 yaw_rate
kingfisher_msgs/Drive
Field:
  • left (float32) –
  • right (float32) –

Command thrust amount to Kingfisher thruster, transmitted from higher-level software to the MCU on the /cmd_drive topic.

Thrust amount ranges from [-1.0..1.0], where 1.0 pushes Kingfisher forward.

# Command thrust amount to Kingfisher thruster,
# transmitted from higher-level software to the MCU 
# on the /cmd_drive topic.

# Thrust amount ranges from [-1.0..1.0], where 1.0 pushes Kingfisher forward.
float32 left
float32 right
kingfisher_msgs/Course
Field:
  • yaw (float32) –
  • speed (float32) –

Command an absolute yaw and rate of speed.

Yaw is specified in radians counter-clockwise from true east.

# Command an absolute yaw and rate of speed.

# Yaw is specified in radians counter-clockwise from true east.
float32 yaw

# Speed is specified in meters/s. Negative values correspond to Kingfisher
# reversing.
float32 speed