grizzly_msgs¶

Message types¶

• grizzly_msgs/Ambience
• grizzly_msgs/RawStatus
• grizzly_msgs/Drive

grizzly_msgs/Ambience¶

Constant:	PATTERN_ON (uint8):255 – PATTERN_FLASH (uint8):15 – PATTERN_DFLASH (uint8):9 – PATTERN_QUICKFLASH (uint8):1 – PATTERN_OFF (uint8):0 –
Field:	position_light (uint8) – autopilot_light (uint8) – beacon (uint8) – headlight (uint8) – taillight (uint8) – beep (uint8) –

uint8 PATTERN_ON=255
uint8 PATTERN_FLASH=15
uint8 PATTERN_DFLASH=9
uint8 PATTERN_QUICKFLASH=1
uint8 PATTERN_OFF=0

uint8 position_light    # Signal the status of the GPS system
uint8 autopilot_light   # Signal if the system is under automatic or manual control
uint8 beacon     # Overhead beacon flash pattern
uint8 headlight  # Headlight flash pattern
uint8 taillight  # Taillight flash pattern
uint8 beep   # Noisemaker sound pattern

grizzly_msgs/RawStatus¶

Field:	header (std_msgs/Header) – voltage (float32) – user_current (float32) – body_temp_adc (float32) – fans_on (bool) – rc_override (int16) – rc_velocity (uint16) – rc_rotation (uint16) – error (uint8) –
Constant:	ERROR_COMMAND_TIMEOUT (uint8):1 – ERROR_UNDERVOLT (uint8):2 – ERROR_ESTOP (uint8):4 – ERROR_ESTOP_RESET (uint8):8 – ERROR_BRK_DET (uint8):16 –

Header header

float32 voltage       # [V] Main 48V bus voltage
float32 user_current  # [A] Total power draw from regulated rails
float32 body_temp_adc # [C] Temperature adc reading of enclosure
bool fans_on        # TRUE when fans on

int16 rc_override   # [us] Pulse length of this channel
uint16 rc_velocity  # [us] Pulse length of this channel
uint16 rc_rotation  # [us] Pulse length of this channel

uint8 error
uint8 ERROR_COMMAND_TIMEOUT=1
uint8 ERROR_UNDERVOLT=2
uint8 ERROR_ESTOP=4
uint8 ERROR_ESTOP_RESET=8
uint8 ERROR_BRK_DET=16

grizzly_msgs/Drive¶

Field:	header (std_msgs/Header) – front_left (float32) – front_right (float32) – rear_left (float32) – rear_right (float32) –

Header header

# Desired wheel speed, in rad/s.
# Positive is rotation which propels Grizzly forward.
float32 front_left
float32 front_right
float32 rear_left
float32 rear_right