underwater_sensor_msgs¶

Message types¶

• underwater_sensor_msgs/DVL
• underwater_sensor_msgs/Pressure

underwater_sensor_msgs/DVL¶

Field:

header (std_msgs/Header) – header_dvl (string) – date (string) – salinity (float64) – temperature (float64) – depth (float64) – sound_speed (float64) – test (int32) – wi_x_axis (float64) – wi_y_axis (float64) – wi_z_axis (float64) – wi_error (float64) – wi_status (string) – bi_x_axis (float64) – bi_y_axis (float64) – bi_z_axis (float64) – bi_error (float64) – bi_status (string) – ws_transverse (float64) – ws_longitudinal (float64) – ws_normal (float64) – ws_status (string) – bs_transverse (float64) – bs_longitudinal (float64) – bs_normal (float64) – bs_status (string) – we_east (float64) – we_north (float64) – we_upwards (float64) – we_status (string) – be_east (float64) – be_north (float64) – be_upwards (float64) – be_status (string) – wd_east (float64) – wd_north (float64) – wd_upwards (float64) – wd_range (float64) – wd_time (float64) – bd_east (float64) – bd_north (float64) – bd_upwards (float64) – bd_range (float64) – bd_time (float64) – raw_data (string) –

Header header
string header_dvl
string date 
float64 salinity 
float64 temperature   	# TODO::ARNAU ha de ser generic ?
float64 depth  		# TODO::ARNAU ha de ser generic
float64 sound_speed 
int32 test
#WATER-MASS, INSTRUMENT-REFERENCED VELOCITY DATA
float64 wi_x_axis 
float64 wi_y_axis 
float64 wi_z_axis 
float64 wi_error 
string wi_status 
#BOTTOM-TRACK, INSTRUMENT-REFERENCED VELOCITY DATA
float64 bi_x_axis 
float64 bi_y_axis 
float64 bi_z_axis 
float64 bi_error 
string bi_status 
#WATER-MASS, SHIP-REFERENCED VELOCITY DATA
float64 ws_transverse 
float64 ws_longitudinal 
float64 ws_normal 
string ws_status 
#BOTTOM-TRACK, SHIP-REFERENCED VELOCITY DATA
float64 bs_transverse 
float64 bs_longitudinal 
float64 bs_normal 
string bs_status 
#WATER-MASS, EARTH-REFERENCED VELOCITY DATA
float64 we_east 
float64 we_north 
float64 we_upwards 
string  we_status 
#BOTTOM-TRACK, EARTH-REFERENCED VELOCITY DATA
float64 be_east 
float64 be_north 
float64 be_upwards 
string  be_status 
#  WATER-MASS, EARTH-REFERENCED DISTANCE DATA
float64 wd_east 
float64 wd_north 
float64 wd_upwards 
float64 wd_range 
float64 wd_time 
#BOTTOM-TRACK, EARTH-REFERENCED DISTANCE DATA
float64 bd_east 
float64 bd_north 
float64 bd_upwards 
float64 bd_range 
float64 bd_time
#RAW DATA 
string raw_data

underwater_sensor_msgs/Pressure¶

Field:	header (std_msgs/Header) – pressure (float32) –

Header header
float32 pressure 

Service types¶

• underwater_sensor_msgs/SpawnMarker

underwater_sensor_msgs/SpawnMarker¶

Field (Request):
	marker (visualization_msgs/Marker) –
Field (Response):
	success (bool) – status_message (string) –

visualization_msgs/Marker marker	# Marker to spawn/modify/delete
---
bool success				# Returns True if the request was successfull
string status_message			# Comments on the request