marti_sensor_msgs¶

Message types¶

• marti_sensor_msgs/DioRealTimeData
• marti_sensor_msgs/Exposure
• marti_sensor_msgs/WheelEncoder
• marti_sensor_msgs/Gyro
• marti_sensor_msgs/WheelEncoderSet
• marti_sensor_msgs/Altitude
• marti_sensor_msgs/DioPortState
• marti_sensor_msgs/Velocity

marti_sensor_msgs/DioRealTimeData¶

Field:	header (std_msgs/Header) – sample_frequency (float64) – latest_sample_time (uint64) – sample_states[] (uint16) – sample_times[] (uint32) –

Message for containing digital data obtained by a real-time DAQ.

# Message for containing digital data obtained by a real-time DAQ.

Header header
# header contains the timestamp of when this data was obtained from
# the device.

float64 sample_frequency
# The sampling frequency [Hz] of the DAQ.

uint64 latest_sample_time
# The most recent time (in sampling clock ticks) that the port was
# sampled.

uint16[] sample_states
uint32[] sample_times
# DAQ data filtered to only contain changes in states.  sample_times[]
# is a list of clock ticks encoded as a (negative) offset from
# latest_sample_time (ex: clock_time[i] = latest_sample_time -
# sample_times[i]).  This encoding reduces the times from uint64 to
# uint32.  sample_states[] are the port states at the corresponding
# times.

marti_sensor_msgs/Exposure¶

Field:	header (std_msgs/Header) – value (uint64) –

This message contains an an exposure value along with a message header. This message is to keep the same format that we have with Image and CameraInfo.

# This message contains an an exposure value along with a
# message header.  This message is to keep the same format
# that we have with Image and CameraInfo.

Header header                    # Header timestamp is the time when all 
                                 # images were acquired and synchronized.
                                 # Header frame_id is the count of these
                                 # messages sent since the start.
                               
uint64 value                     # Exposure value

marti_sensor_msgs/WheelEncoder¶

Field:	frequency (float64) – directional (bool) – id (uint8) –

Frequency from wheel encoder

If directional (below) is True, positive frequency means forward, and

negative frequency means backward.

If directional is False, frequency is non-negative and has no directional

information

# Frequency from wheel encoder
#  If directional (below) is True, positive frequency means forward, and
#   negative frequency means backward.
#  If directional is False, frequency is non-negative and has no directional
#   information
float64 frequency

# True if frequency sign is significant; false else
bool directional

# ID of the wheel with which this data is associated
uint8 id

marti_sensor_msgs/Gyro¶

Field:	header (std_msgs/Header) – angular_rate (float64) – variance (float64) –

Single axis gyro reading.

# Single axis gyro reading.

Header  header           # The time and location of the measurement.
                         # The x-axis in the sensor space is interpreted as the
                         # axis of rotation.
                         
float64 angular_rate     # Angular rate measurement in radians / sec
float64 variance         # 0 is interpreted as variance unknown

marti_sensor_msgs/WheelEncoderSet¶

Field:	header (std_msgs/Header) – encoders[] (marti_sensor_msgs/WheelEncoder) –

Header header

WheelEncoder[] encoders

marti_sensor_msgs/Altitude¶

Field:	header (std_msgs/Header) – altitude (float64) – sigma (float64) –

Altitude estimate for the origin of the frame specified by header.frame_id

# Altitude estimate for the origin of the frame specified by header.frame_id
Header               header      
float64						   altitude  # meters above sea level
float64						   sigma     # Uncertainty (standard deviation) of the altitude

marti_sensor_msgs/DioPortState¶

Field:	header (std_msgs/Header) – value (uint64) –

Message containing the value of a digital i/o port. This is used by the rtd_dm7820 driver to send digital input changes and accept digital output commands.

# Message containing the value of a digital i/o port.  This is used by
# the rtd_dm7820 driver to send digital input changes and accept
# digital output commands.

Header header
# header contains the time that the event occurred.

uint64 value
# The new state of the port.  The meaning of the value depends on how
# the port is configured.

marti_sensor_msgs/Velocity¶

Field:	header (std_msgs/Header) – velocity (float64) – variance (float64) –

Single axis linear velocity reading.

# Single axis linear velocity reading.

Header  header           # The time and location of the measurement.
                         # The x-axis in the sensor space is interpreted as the
                         # axis of linear motion.
                         
float64 velocity         # Velocity measurement in meters / sec
float64 variance         # 0 is interpreted as variance unknown

Service types¶

• marti_sensor_msgs/SetExposure

marti_sensor_msgs/SetExposure¶

Field (Request):
	auto_exposure (bool) – time (int64) –
Field (Response):
	auto_exposure (bool) – time (int64) –

bool auto_exposure
int64 time
----
bool auto_exposure
int64 time