robotnik_msgs¶

Message types¶

• robotnik_msgs/encoders
• robotnik_msgs/Interfaces
• robotnik_msgs/MotorsStatus
• robotnik_msgs/State
• robotnik_msgs/AlarmSensor
• robotnik_msgs/inputs_outputs
• robotnik_msgs/Axis
• robotnik_msgs/Alarms
• robotnik_msgs/ptz
• robotnik_msgs/MotorStatus
• robotnik_msgs/Data

robotnik_msgs/encoders¶

Field:	type[] (string) – counts[] (int32) – vel[] (int32) –

0-> right incremental, 1-> left incremental, 2-> steer absolute

# 0-> right incremental, 1-> left incremental, 2-> steer absolute
string[] type
int32[] counts
int32[] vel

robotnik_msgs/Interfaces¶

Field:	total (robotnik_msgs/Data) – interfaces[] (robotnik_msgs/Data) –

Contains the total number of bytes and pkts

# Contains the total number of bytes and pkts
Data total
# Contains information of every interface
Data[] interfaces

robotnik_msgs/MotorsStatus¶

Field:	flwStatus (robotnik_msgs/MotorStatus) – blwStatus (robotnik_msgs/MotorStatus) – frwStatus (robotnik_msgs/MotorStatus) – brwStatus (robotnik_msgs/MotorStatus) –

MotorStatus flwStatus
MotorStatus blwStatus
MotorStatus frwStatus
MotorStatus brwStatus

robotnik_msgs/State¶

Constant:	INIT_STATE (int32):100 – STANDBY_STATE (int32):200 – READY_STATE (int32):300 – EMERGENCY_STATE (int32):400 – FAILURE_STATE (int32):500 – SHUTDOWN_STATE (int32):600 – UNKOWN_STATE (int32):700 –
Field:	state (int32) – desired_freq (float32) – real_freq (float32) – state_description (string) –

constants

# constants
int32 INIT_STATE = 100
int32 STANDBY_STATE = 200
int32 READY_STATE = 300
int32 EMERGENCY_STATE = 400
int32 FAILURE_STATE = 500
int32 SHUTDOWN_STATE = 600
int32 UNKOWN_STATE = 700

# state of the component
int32 state
# desired control loop frecuency
float32 desired_freq
# real frecuency 
float32 real_freq
# Description of the state
string state_description

robotnik_msgs/AlarmSensor¶

Field:	id (int8) – description (string) – message (string) –

int8 id
string description
string message

robotnik_msgs/inputs_outputs¶

Field:	digital_inputs[] (bool) – digital_outputs[] (bool) – analog_inputs[] (float32) – analog_outputs[] (float32) –

bool[] digital_inputs
bool[] digital_outputs
float32[] analog_inputs
float32[] analog_outputs

robotnik_msgs/Axis¶

Field:	pan (float32) – tilt (float32) – zoom (float32) – focus (float32) – brightness (float32) – iris (float32) – autofocus (bool) – autoiris (bool) –

float32 pan
float32 tilt
float32 zoom
float32 focus
float32 brightness
float32 iris
bool autofocus
bool autoiris

robotnik_msgs/Alarms¶

Field:	alarms[] (robotnik_msgs/AlarmSensor) –

AlarmSensor[] alarms

robotnik_msgs/ptz¶

Field:	pan (float32) – tilt (float32) – zoom (float32) – relative (bool) –

PAN value

# PAN value
float32 pan
# Tilt value
float32 tilt
# Zoom value
float32 zoom
# Flag for relative  movements
bool relative

robotnik_msgs/MotorStatus¶

Field:	state (string) – status (string) – statusword (string) – driveflags (string) –

string state
string status
string statusword
string driveflags

robotnik_msgs/Data¶

Field:	interface (string) – bytes_sent (float32) – bytes_received (float32) – units_sent (string) – units_received (string) – packages_sent (int32) – packages_received (int32) –

string interface
float32 bytes_sent
float32 bytes_received
string units_sent
string units_received
int32 packages_sent
int32 packages_received

Service types¶

• robotnik_msgs/enable_disable
• robotnik_msgs/set_ptz
• robotnik_msgs/set_analog_output
• robotnik_msgs/set_digital_output
• robotnik_msgs/get_digital_input
• robotnik_msgs/get_mode
• robotnik_msgs/axis_record
• robotnik_msgs/set_height
• robotnik_msgs/set_odometry
• robotnik_msgs/set_mode
• robotnik_msgs/set_float_value
• robotnik_msgs/home

robotnik_msgs/enable_disable¶

Field (Request):
	value (bool) –
Field (Response):
	ret (bool) –

bool value
---
bool ret 

robotnik_msgs/set_ptz¶

Field (Request):
	pan (float32) – tilt (float32) – zoom (float32) – relative (bool) –
Field (Response):
	ret (bool) –

PAN value

# PAN value
float32 pan
# Tilt value
float32 tilt
# Zoom value
float32 zoom
# Flag for relative  movements
bool relative
---
bool ret 

robotnik_msgs/set_analog_output¶

Field (Request):
	output (int8) – value (float32) –
Field (Response):
	ret (bool) –

int8 output
float32 value
---
bool ret 

robotnik_msgs/set_digital_output¶

Field (Request):
	output (int8) – value (bool) –
Field (Response):
	ret (bool) –

int8 output
bool value
---
bool ret 

robotnik_msgs/get_digital_input¶

Field (Request):
	input (int8) –
Field (Response):
	value (bool) –

int8 input
---
bool value

robotnik_msgs/get_mode¶

Field (Response):
	mode (int8) –

---
int8 mode

robotnik_msgs/axis_record¶

Field (Request):
	action (int8) – directory (string) – profile (string) – id (string) –
Field (Response):
	ret (bool) –

RECORD = 1, STOP = 2

# 
# RECORD = 1, STOP = 2
int8 action
# DIRECTORY TO SAVE THE VIDEO
string directory
# PROFILE TO USE DURING THE RECORDING
string profile
# id / name of the recording
string id
---
bool ret

robotnik_msgs/set_height¶

Field (Request):
	height (float32) –
Field (Response):
	ret (bool) –

New reference position (m)

# New reference position (m)
float32 height
---
bool ret 

robotnik_msgs/set_odometry¶

Field (Request):
	x (float32) – y (float32) – z (float32) – orientation (float32) –
Field (Response):
	ret (bool) –

New robot X position (m)

# New robot X position (m)
float32 x
# New robot Y position (m)
float32 y
# New robot Z position (m)
float32 z
# New robot Orientation (rads)
float32 orientation
---
bool ret 

robotnik_msgs/set_mode¶

Field (Request):
	mode (int8) –
Field (Response):
	ret (bool) –

Set control / kinematic / etc. mode

# Set control / kinematic / etc. mode
int8 mode
---
bool ret

robotnik_msgs/set_float_value¶

Field (Request):
	value (float32) –
Field (Response):
	ret (bool) – errorMessage (std_msgs/String) –

float32 value
---
bool ret
std_msgs/String errorMessage

robotnik_msgs/home¶

Field (Request):
	request (bool) –
Field (Response):
	ret (bool) –

Do home request

# Do home request
bool request
---
bool ret