pr2_msgs¶

Message types¶

• pr2_msgs/LaserTrajCmd
• pr2_msgs/BatteryState2
• pr2_msgs/GPUStatus
• pr2_msgs/PressureState
• pr2_msgs/BatteryState
• pr2_msgs/DashboardState
• pr2_msgs/PowerBoardState
• pr2_msgs/BatteryServer2
• pr2_msgs/AccessPoint
• pr2_msgs/LaserScannerSignal
• pr2_msgs/PowerState
• pr2_msgs/PeriodicCmd
• pr2_msgs/BatteryServer
• pr2_msgs/AccelerometerState

pr2_msgs/LaserTrajCmd¶

Field:	header (std_msgs/Header) – profile (string) – position[] (float64) – time_from_start[] (duration) – max_velocity (float64) – max_acceleration (float64) –

This message is used to set the profile that the tilt laser controller executes.

# This message is used to set the profile that the tilt laser controller
# executes.
Header header
string profile              # options are currently "linear" or "linear_blended"
float64[] position          # Laser positions
duration[] time_from_start  # Times to reach laser positions in seconds
float64 max_velocity        # Set <= 0 to use default
float64 max_acceleration    # Set <= 0 to use default

pr2_msgs/BatteryState2¶

Field:	present (bool) – charging (bool) – discharging (bool) – power_present (bool) – power_no_good (bool) – inhibited (bool) – last_battery_update (time) – battery_register[48] (int16) – battery_update_flag[48] (bool) – battery_register_update[48] (time) –

This message communicates the state of a single battery. Battery Controller Flags, one per battery

# This message communicates the state of a single battery.
# Battery Controller Flags, one per battery
bool present       # is this pack present
bool charging      # is this pack charging
bool discharging   # is this pack discharging
bool power_present # is there an input voltage
bool power_no_good # is there a fault (No Good)
bool inhibited     # is this pack disabled for some reason
# These registers are per battery
time      last_battery_update     # last time any battery update occurred
int16[48] battery_register        # value of this register in the battery
bool[48]  battery_update_flag     # Has this register ever been updated
time[48]  battery_register_update # last time this specific register was updated

pr2_msgs/GPUStatus¶

Field:	header (std_msgs/Header) – product_name (string) – pci_device_id (string) – pci_location (string) – display (string) – driver_version (string) – temperature (float32) – fan_speed (float32) – gpu_usage (float32) – memory_usage (float32) –

Header header
string product_name
string pci_device_id
string pci_location
string display
string driver_version
float32 temperature # Temperature in Celcius
float32 fan_speed # Fan speed in rad/s
float32 gpu_usage # Usage in percent
float32 memory_usage # Usage in percent

pr2_msgs/PressureState¶

Field:	header (std_msgs/Header) – l_finger_tip[] (int16) – r_finger_tip[] (int16) –

Output from finger-tip pressure sensors on PR2 Higher number correspond to more pressure, but there is no explicit unit and you will have to calibrate for offset The numbers reported are the raw values from the I2C hardware

#Output from finger-tip pressure sensors on PR2
#Higher number correspond to more pressure, but there is no explicit unit and you will have to calibrate for offset
#The numbers reported are the raw values from the I2C hardware

Header header
int16[] l_finger_tip
int16[] r_finger_tip

pr2_msgs/BatteryState¶

Field:	lastTimeBattery (int32) – batReg[48] (uint16) – batRegFlag[48] (uint16) – batRegTime[48] (int32) –

DEPRECATED. Use pr2_msgs/BatteryState2 instead. Each batteries registers

# DEPRECATED.  Use pr2_msgs/BatteryState2 instead.
# Each batteries registers
int32 lastTimeBattery #epoch time
uint16[48] batReg
uint16[48] batRegFlag
int32[48] batRegTime

pr2_msgs/DashboardState¶

Field:	motors_halted (std_msgs/Bool) – motors_halted_valid (bool) – power_board_state (pr2_msgs/PowerBoardState) – power_board_state_valid (bool) – power_state (pr2_msgs/PowerState) – power_state_valid (bool) – access_point (pr2_msgs/AccessPoint) – access_point_valid (bool) –

This message communicates state information that might be used by a dashboard application.

# This message communicates state information that might be used by a
# dashboard application.
std_msgs/Bool motors_halted
bool motors_halted_valid

pr2_msgs/PowerBoardState power_board_state
bool power_board_state_valid

pr2_msgs/PowerState power_state
bool power_state_valid

pr2_msgs/AccessPoint access_point
bool access_point_valid

pr2_msgs/PowerBoardState¶

Constant:	STATE_NOPOWER (int8):0 – STATE_STANDBY (int8):1 – STATE_PUMPING (int8):2 – STATE_ON (int8):3 – STATE_ENABLED (int8):3 – STATE_DISABLED (int8):4 – MASTER_NOPOWER (int8):0 – MASTER_STANDBY (int8):1 – MASTER_ON (int8):2 – MASTER_OFF (int8):3 – MASTER_SHUTDOWN (int8):4 –
Field:	header (std_msgs/Header) – name (string) – serial_num (uint32) – input_voltage (float64) – master_state (int8) – circuit_state[3] (int8) – circuit_voltage[3] (float64) – run_stop (bool) – wireless_stop (bool) –

This message communicates the state of the PR2’s power board.

# This message communicates the state of the PR2's power board.
int8 STATE_NOPOWER=0
int8 STATE_STANDBY=1
int8 STATE_PUMPING=2
int8 STATE_ON=3
int8 STATE_ENABLED=3  # Preferred over STATE_ON, keeping STATE_ON for backcompat
int8 STATE_DISABLED=4

int8 MASTER_NOPOWER=0
int8 MASTER_STANDBY=1
int8 MASTER_ON=2
int8 MASTER_OFF=3
int8 MASTER_SHUTDOWN=4

Header header
string name # Name with serial number
uint32 serial_num # Serial number for this board's message
float64 input_voltage # Input voltage to power board

# Master States:
#  MASTER_NOPOWER, MASTER_STANDBY, MASTER_ON, MASTER_OFF, MASTER_SHUTDOWN 
int8 master_state  # The master state machine's state in the powerboard

# Circuit States:
#  STATE_NOPOWER, STATE_STANDBY, STATE_PUMPING, STATE_ON, STATE_DISABLED
int8[3] circuit_state # One of the above states
float64[3] circuit_voltage  # Output voltage of each circuit

# True if robot should be enabled
bool run_stop           #Note - if the wireless run-stop is hit, this will be unobservable
bool wireless_stop 

pr2_msgs/BatteryServer2¶

Field:	header (std_msgs/Header) – id (int32) – last_system_update (time) – time_left (duration) – average_charge (int32) – message (string) – last_controller_update (time) – battery[] (pr2_msgs/BatteryState2) –
Constant:	MAX_BAT_COUNT (int32):4 – MAX_BAT_REG (int32):48 –

This message communicates the state of a battery server, which controls multiple batteries.

# This message communicates the state of a battery server, which controls
# multiple batteries.
Header header
int32 MAX_BAT_COUNT=4
int32 MAX_BAT_REG=48
int32 id  # unique ID for each battery server
# Battery System Stats
time last_system_update  # last time the system stats where updated
duration time_left       # in seconds (hardware resolution is 1 minute)
int32 average_charge     # in percent
string message           # message from the ocean server
time last_controller_update # last time a battery status flag was updated
# for each battery
pr2_msgs/BatteryState2[] battery

pr2_msgs/AccessPoint¶

Field:	header (std_msgs/Header) – essid (string) – macaddr (string) – signal (int32) – noise (int32) – snr (int32) – channel (int32) – rate (string) – tx_power (string) – quality (int32) –

This message communicates the state of the PR2’s wifi access point.

# This message communicates the state of the PR2's wifi access point.
Header header
string essid
string macaddr
int32 signal
int32 noise
int32 snr
int32 channel
string rate
string tx_power
int32 quality

pr2_msgs/LaserScannerSignal¶

Field:	header (std_msgs/Header) – signal (int32) –

This message is emitted by the laser tilt controller when the laser hits one limit of its profile.

# This message is emitted by the laser tilt controller when the laser hits
# one limit of its profile.
Header header

# signal == 0 => Half profile complete
# signal == 1 => Full Profile Complete
int32 signal

pr2_msgs/PowerState¶

Field:	header (std_msgs/Header) – power_consumption (float64) – time_remaining (duration) – prediction_method (string) – relative_capacity (int8) – AC_present (int8) –

This message communicates the state of the PR2’s power system.

# This message communicates the state of the PR2's power system.
Header header
float64 power_consumption ## Watts
duration time_remaining ## estimated time to empty or full
string prediction_method ## how time_remaining is being calculated
int8  relative_capacity ## percent of capacity
int8  AC_present ## number of packs detecting AC power, > 0 means plugged in

pr2_msgs/PeriodicCmd¶

Field:	header (std_msgs/Header) – profile (string) – period (float64) – amplitude (float64) – offset (float64) –

This message is used to set the parameters of a profile executed by the laser tilt controller.

# This message is used to set the parameters of a profile executed by the
# laser tilt controller.
Header header
string profile
float64 period
float64 amplitude
float64 offset

pr2_msgs/BatteryServer¶

Field:	header (std_msgs/Header) – id (int32) – lastTimeSystem (int32) – timeLeft (uint16) – averageCharge (uint16) – message (string) – lastTimeController (int32) – present (uint16) – charging (uint16) – discharging (uint16) – reserved (uint16) – powerPresent (uint16) – powerNG (uint16) – inhibited (uint16) – battery[] (pr2_msgs/BatteryState) –
Constant:	MAX_BAT_COUNT (uint32):4 – MAX_BAT_REG (uint32):48 –

DEPRECATED. Use pr2_msgs/BatteryServer2 instead.

# DEPRECATED. Use pr2_msgs/BatteryServer2 instead.
Header header
uint32 MAX_BAT_COUNT=4
uint32 MAX_BAT_REG=48
int32 id  # unique ID for each battery server
# Battery System Stats
int32 lastTimeSystem #epoch time
uint16 timeLeft      # in minutes
uint16 averageCharge # in percent
string message
# Battery Controller Flags
int32 lastTimeController #epoch time
uint16 present
uint16 charging
uint16 discharging
uint16 reserved
uint16 powerPresent
uint16 powerNG
uint16 inhibited
# for each battery
pr2_msgs/BatteryState[] battery

pr2_msgs/AccelerometerState¶

Field:	header (std_msgs/Header) – samples[] (geometry_msgs/Vector3) –

This captures acceleration measurements from the 3-dof accelerometer in the hand of the PR2 Units are meters / second / second Vectors should be <X, Y, Z> in the frame of the gripper

The communication with the accelerometer is at approximately 3khz, but there is only good timestamping every 1ms This means the samples should be interpreted as all having come from the 1 ms before the time in the header

#This captures acceleration measurements from the 3-dof accelerometer in the hand of the PR2
#Units are meters / second / second
#Vectors should be <X, Y, Z> in the frame of the gripper

#The communication with the accelerometer is at approximately 3khz, but there is only good timestamping every 1ms
#This means the samples should be interpreted as all having come from the 1 ms before the time in the header

Header header
geometry_msgs/Vector3[] samples

Service types¶

• pr2_msgs/SetLaserTrajCmd
• pr2_msgs/SetPeriodicCmd

pr2_msgs/SetLaserTrajCmd¶

Field (Request):
	command (pr2_msgs/LaserTrajCmd) –
Field (Response):
	start_time (time) –

pr2_msgs/LaserTrajCmd command
---
time start_time

pr2_msgs/SetPeriodicCmd¶

Field (Request):
	command (pr2_msgs/PeriodicCmd) –
Field (Response):
	start_time (time) –

pr2_msgs/PeriodicCmd command
---
time start_time