ridgeback_msgs¶

Message types¶

• ridgeback_msgs/Status
• ridgeback_msgs/RGB
• ridgeback_msgs/Lights
• ridgeback_msgs/Fans

ridgeback_msgs/Status¶

Field:

header (std_msgs/Header) – hardware_id (string) – mcu_uptime (duration) – connection_uptime (duration) – pcb_temperature (float32) – mcu_temperature (float32) – stop_power_status (bool) – stop_engaged (bool) – drivers_active (bool) – external_stop_present (bool) – charger_connected (bool) – charging_complete (bool) – measured_battery (float32) – measured_12v (float32) – measured_5v (float32) – measured_inverter (float32) – measured_front_axle (float32) – measured_rear_axle (float32) – measured_light (float32) – total_current (float32) – total_current_peak (float32) – total_power_consumed (float64) –

This message represents Ridgeback’s lower-frequency status updates from the MCU Default publish frequency is 1Hz.

# This message represents Ridgeback's lower-frequency status updates from the MCU
# Default publish frequency is 1Hz.

Header header

# Commit of firmware source.
string hardware_id

# Times since MCU power-on and MCU rosserial connection, respectively.
duration mcu_uptime
duration connection_uptime

# Temperature of MCU's PCB in Celsius.
float32 pcb_temperature
float32 mcu_temperature

# Monitoring the run/stop loop. Changes in these values trigger an immediate
# publish, outside the ordinarily-scheduled 1Hz updates.
bool stop_power_status  # True indicates the stop loop is operational (ie. it is powered).
bool stop_engaged  # True when a stop has been pressed on the robot.
bool drivers_active  # False when a stop is asserted to the motor drivers.
bool external_stop_present  # True indicates a external stop has been plugged in.

# Indicates if AC power is connected.
bool charger_connected
bool charging_complete

# Voltage rails, in volts
# Averaged over the message period
float32 measured_battery
float32 measured_12v
float32 measured_5v
float32 measured_inverter
float32 measured_front_axle
float32 measured_rear_axle
float32 measured_light

# Current senses available on platform, in amps.
# Averaged over the message period
float32 total_current

# Highest total system current peak as measured in a 1ms window.
float32 total_current_peak

# Integration of all power consumption since MCU power-on, in watt-hours.
float64 total_power_consumed

ridgeback_msgs/RGB¶

Field:	red (float32) – green (float32) – blue (float32) –

Represents the intensity of a single RGB LED, either reported or commanded.

# Represents the intensity of a single RGB LED, either reported or commanded.

float32 red
float32 green
float32 blue

ridgeback_msgs/Lights¶

Constant:	LIGHTS_FRONT_LEFT_UPPER (uint8):0 – LIGHTS_FRONT_LEFT_LOWER (uint8):1 – LIGHTS_FRONT_RIGHT_UPPER (uint8):2 – LIGHTS_FRONT_RIGHT_LOWER (uint8):3 – LIGHTS_REAR_LEFT_UPPER (uint8):4 – LIGHTS_REAR_LEFT_LOWER (uint8):5 – LIGHTS_REAR_RIGHT_UPPER (uint8):6 – LIGHTS_REAR_RIGHT_LOWER (uint8):7 –
Field:	lights[8] (ridgeback_msgs/RGB) –

Represents a command for the 8 RGB body lights on Ridgeback.

# Represents a command for the 8 RGB body lights on Ridgeback.

uint8 LIGHTS_FRONT_LEFT_UPPER=0
uint8 LIGHTS_FRONT_LEFT_LOWER=1
uint8 LIGHTS_FRONT_RIGHT_UPPER=2
uint8 LIGHTS_FRONT_RIGHT_LOWER=3
uint8 LIGHTS_REAR_LEFT_UPPER=4
uint8 LIGHTS_REAR_LEFT_LOWER=5
uint8 LIGHTS_REAR_RIGHT_UPPER=6
uint8 LIGHTS_REAR_RIGHT_LOWER=7

ridgeback_msgs/RGB[8] lights

ridgeback_msgs/Fans¶

Constant:	EQUIPMENT_BAY_INTAKE (uint8):0 – EQUIPMENT_BAY_EXHAUST (uint8):1 – CHARGER_BAY_INTAKE (uint8):2 – CHARGER_BAY_EXHAUST (uint8):3 – USER_BAY_INTAKE (uint8):4 – USER_BAY_EXHAUST (uint8):5 – FAN_OFF (uint8):0 – FAN_ON_HIGH (uint8):1 – FAN_ON_LOW (uint8):2 –
Field:	fans[6] (uint8) –

Location of fans.

# Location of fans.
uint8 EQUIPMENT_BAY_INTAKE=0
uint8 EQUIPMENT_BAY_EXHAUST=1
uint8 CHARGER_BAY_INTAKE=2
uint8 CHARGER_BAY_EXHAUST=3
uint8 USER_BAY_INTAKE=4
uint8 USER_BAY_EXHAUST=5

uint8 FAN_OFF=0
uint8 FAN_ON_HIGH=1
uint8 FAN_ON_LOW=2
uint8[6] fans