From 47ece3c0d494f111eef78d52672b3d768ea30db8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jos=C3=A9=20Mastrangelo?= Date: Wed, 2 Jul 2025 15:05:54 -0400 Subject: [PATCH 01/10] first pass at adding ROS-like api to the documentaion --- .../version-2.0.0/api/autonomy_api.mdx | 54 ++++++ package-lock.json | 3 +- .../html/builtin_interfaces/index-msg.html | 18 ++ .../html/builtin_interfaces/msg/Duration.html | 34 ++++ .../api/html/builtin_interfaces/msg/Time.html | 33 ++++ .../clearpath_control_msgs/index-msg.html | 23 +++ .../msg/ControlMode.html | 34 ++++ .../msg/ControlSelectionState.html | 29 +++ .../msg/ControlState.html | 29 +++ .../srv/SetControlMode.html | 29 +++ .../html/clearpath_dock_msgs/action/Dock.html | 46 +++++ .../action/NetworkDock.html | 53 ++++++ .../clearpath_dock_msgs/action/Undock.html | 46 +++++ .../html/clearpath_dock_msgs/index-msg.html | 43 +++++ .../clearpath_dock_msgs/msg/DockDatabase.html | 31 ++++ .../clearpath_dock_msgs/msg/DockInfo.html | 59 +++++++ 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static/api/html/std_srvs/srv/Trigger.html | 29 +++ static/api/html/styles.css | 60 +++++++ 288 files changed, 11446 insertions(+), 1 deletion(-) create mode 100644 outdoornav_user_manual_versioned_docs/version-2.0.0/api/autonomy_api.mdx create mode 100644 static/api/html/builtin_interfaces/index-msg.html create mode 100644 static/api/html/builtin_interfaces/msg/Duration.html create mode 100644 static/api/html/builtin_interfaces/msg/Time.html create mode 100644 static/api/html/clearpath_control_msgs/index-msg.html create mode 100644 static/api/html/clearpath_control_msgs/msg/ControlMode.html create mode 100644 static/api/html/clearpath_control_msgs/msg/ControlSelectionState.html create mode 100644 static/api/html/clearpath_control_msgs/msg/ControlState.html create mode 100644 static/api/html/clearpath_control_msgs/srv/SetControlMode.html create mode 100644 static/api/html/clearpath_dock_msgs/action/Dock.html create mode 100644 static/api/html/clearpath_dock_msgs/action/NetworkDock.html 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static/api/html/clearpath_safety_msgs/srv/AddHeartbeatWatchdog.html create mode 100644 static/api/html/clearpath_safety_msgs/srv/AddInclinationWatchdog.html create mode 100644 static/api/html/clearpath_safety_msgs/srv/AddNodeStatusWatchdog.html create mode 100644 static/api/html/clearpath_safety_msgs/srv/AddNodeletStatusWatchdog.html create mode 100644 static/api/html/clearpath_safety_msgs/srv/AddNumPointsWatchdog.html create mode 100644 static/api/html/clearpath_safety_msgs/srv/AddOdomCovarianceWatchdog.html create mode 100644 static/api/html/clearpath_safety_msgs/srv/AddRtkFixWatchdog.html create mode 100644 static/api/html/clearpath_safety_msgs/srv/AddTopicDataWatchdog.html create mode 100644 static/api/html/clearpath_safety_msgs/srv/AddTriggerWatchdog.html create mode 100644 static/api/html/clearpath_safety_msgs/srv/RemoveWatchdog.html create mode 100644 static/api/html/clearpath_safety_msgs/srv/UpdateCommunicationWatchdog.html create mode 100644 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static/api/html/std_srvs/srv/Empty.html create mode 100644 static/api/html/std_srvs/srv/SetBool.html create mode 100644 static/api/html/std_srvs/srv/Trigger.html create mode 100644 static/api/html/styles.css diff --git a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/autonomy_api.mdx b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/autonomy_api.mdx new file mode 100644 index 00000000..59231e66 --- /dev/null +++ b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/autonomy_api.mdx @@ -0,0 +1,54 @@ +--- +title: Autonomy API +sidebar_label: Autonomy API +sidebar_position: 2 +toc_min_heading_level: 2 +toc_max_heading_level: 4 +--- + +:::note + +All nodes, topics, and services are namespace prefixed with the robot + +::: + + +# Topic Subscribers + +| Topic | Message type | Description | QoS | +| :---------------------- | :----------------------------------------------------------------------------------------------------------- | :-------------- | :-------------------------------------------- | +| platform/cmd_vel_out | [geometry_msgs/msg/TwistStamped](https://github.com/ros2/common_interfaces/blob/jazzy/geometry_msgs/msg/TwistStamped.msg) | | [System Default](/docs/ros/api/overview#system-default) | +| platform/odom | [nav_msgs/msg/Odometry](https://github.com/ros2/common_interfaces/blob/jazzy/nav_msgs/msg/Odometry.msg) | Platform wheel odometry | [System Default](/docs/ros/api/overview#system-default) | +| joy_teleop/cmd_vel | [geometry_msgs/msg/TwistStamped](https://github.com/ros2/common_interfaces/blob/jazzy/geometry_msgs/msg/TwistStamped.msg) | Velocity commands from joystick inputs | [System Default](/docs/ros/api/overview#system-default) | + + +# Topic Publishers + + +| Topic | Message type | Description | QoS | +| :---------------------- | :----------------------------------------------------------------------------------------------------------- | :-------------- | :-------------------------------------------- | +| autonomy/config | [clearpath_navigation_msgs/msg/AutonomyConfig](pathname:///api/html/clearpath_navigation_msgs/msg/AutonomyConfig.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | +| autonomy/initial_path | [nav_msgs/msg/Path](https://github.com/ros2/common_interfaces/blob/jazzy/nav_msgs/msg/Path.msg) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | +| autonomy/status | [clearpath_navigation_msgs/msg/AutonomyStatus](pathname:///api/html/clearpath_navigation_msgs/msg/AutonomyStatus.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | +| control_selection/current_mode | [clearpath_control_msgs/msg/ControlMode](pathname:///api/html/clearpath_control_msgs/msg/ControlMode.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | +| control_selection/current_state | [clearpath_control_msgs/msg/ControlSelectionState](pathname:///api/html/clearpath_control_msgs/msg/ControlSelectionState.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | +| goto/preview | [clearpath_navigation_msgs/msg/GoToPreview](pathname:///api/html/clearpath_navigation_msgs/msg/GoToPreview.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | +| localization/datum | [sensor_msgs/msg/NavSatFix](https://github.com/ros2/common_interfaces/blob/jazzy/sensor_msgs/msg/NavSatFix.msg) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | +| localization/fix | [sensor_msgs/msg/NavSatFix](https://github.com/ros2/common_interfaces/blob/jazzy/sensor_msgs/msg/NavSatFix.msg) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | +| localization/odom | [nav_msgs/msg/Odometry](https://github.com/ros2/common_interfaces/blob/jazzy/nav_msgs/msg/Odometry.msg) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | +| mission/preview | [clearpath_navigation_msgs/msg/MissionPreview](pathname:///api/html/clearpath_navigation_msgs/msg/MissionPreview.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | +| mission_manager/state | [clearpath_mission_manager_msgs/msg/StorageState](pathname:///api/html/clearpath_navigation_msgs/msg/StorageState.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | +| mission_manager/network_maps_validity | [clearpath_mission_manager_msgs/msg/NetworkMapValidityState](pathname:///api/html/clearpath_navigation_msgs/msg/NetworkMapValidityState.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | + +[change to navigation/speed_limit]: # +| speed_limit | [clearpath_navigation_msgs/msg/GoToPreview](pathname:///api/html/clearpath_navigation_msgs/msg/GoToPreview.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | + + + + +| Topic | Message type | Description | QoS | +| :---------------------- | :----------------------------------------------------------------------------------------------------------- | :-------------- | :-------------------------------------------- | +| ui/heartbeat | [geometry_msgs/msg/TwistStamped](https://github.com/ros2/common_interfaces/blob/jazzy/geometry_msgs/msg/TwistStamped.msg) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | +| ui_teleop/cmd_vel | [geometry_msgs/msg/TwistStamped](https://github.com/ros2/common_interfaces/blob/jazzy/geometry_msgs/msg/TwistStamped.msg) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | + + diff --git a/package-lock.json b/package-lock.json index 1667ba3b..8537fbdb 100644 --- a/package-lock.json +++ b/package-lock.json @@ -5393,7 +5393,8 @@ "type": "github", "url": "https://github.com/sponsors/ai" } - ] + ], + "license": "CC-BY-4.0" }, "node_modules/ccount": { "version": "2.0.1", diff --git a/static/api/html/builtin_interfaces/index-msg.html b/static/api/html/builtin_interfaces/index-msg.html new file mode 100644 index 00000000..e2217e0b --- /dev/null +++ b/static/api/html/builtin_interfaces/index-msg.html @@ -0,0 +1,18 @@ + + + + + builtin_interfaces Message / Service / Action Documentation + + + +
+

builtin_interfaces Message Documentation

+ +

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/builtin_interfaces/msg/Duration.html b/static/api/html/builtin_interfaces/msg/Duration.html new file mode 100644 index 00000000..1f4dfe51 --- /dev/null +++ b/static/api/html/builtin_interfaces/msg/Duration.html @@ -0,0 +1,34 @@ + + + + + msg/Duration Documentation + + + +
+

builtin_interfaces/msg/Duration Message

+
+

File: builtin_interfaces/msg/Duration.msg

+

Raw Message Definition

+
+
# Duration defines a period between two time points.

+
# Messages of this datatype are of ROS Time following this design:

+
# https://design.ros2.org/articles/clock_and_time.html

+
+
# Seconds component, range is valid over any possible int32 value.

+ int32 sec
+
+
# Nanoseconds component in the range of [0, 1e9).

+ uint32 nanosec
+
+

Compact Message Definition

+
+ int32 sec
+ uint32 nanosec
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/builtin_interfaces/msg/Time.html b/static/api/html/builtin_interfaces/msg/Time.html new file mode 100644 index 00000000..7d90919d --- /dev/null +++ b/static/api/html/builtin_interfaces/msg/Time.html @@ -0,0 +1,33 @@ + + + + + msg/Time Documentation + + + +
+

builtin_interfaces/msg/Time Message

+
+

File: builtin_interfaces/msg/Time.msg

+

Raw Message Definition

+
+
# This message communicates ROS Time defined here:

+
# https://design.ros2.org/articles/clock_and_time.html

+
+
# The seconds component, valid over all int32 values.

+ int32 sec
+
+
# The nanoseconds component, valid in the range [0, 1e9).

+ uint32 nanosec
+
+

Compact Message Definition

+
+ int32 sec
+ uint32 nanosec
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_control_msgs/index-msg.html b/static/api/html/clearpath_control_msgs/index-msg.html new file mode 100644 index 00000000..855091e1 --- /dev/null +++ b/static/api/html/clearpath_control_msgs/index-msg.html @@ -0,0 +1,23 @@ + + + + + clearpath_control_msgs Message / Service / Action Documentation + + + +
+

clearpath_control_msgs Message Documentation

+ +

clearpath_control_msgs Service Documentation

+ +

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_control_msgs/msg/ControlMode.html b/static/api/html/clearpath_control_msgs/msg/ControlMode.html new file mode 100644 index 00000000..c043778c --- /dev/null +++ b/static/api/html/clearpath_control_msgs/msg/ControlMode.html @@ -0,0 +1,34 @@ + + + + + msg/ControlMode Documentation + + + +
+

clearpath_control_msgs/msg/ControlMode Message

+
+

File: clearpath_control_msgs/msg/ControlMode.msg

+

Raw Message Definition

+
+
# Control mode message

+
+ int8 NEUTRAL=0
+ int8 MANUAL=1
+ int8 AUTONOMY=2
+
+ int8 mode
+
+

Compact Message Definition

+
+ int8 NEUTRAL=0
+ int8 MANUAL=1
+ int8 AUTONOMY=2
+ int8 mode
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_control_msgs/msg/ControlSelectionState.html b/static/api/html/clearpath_control_msgs/msg/ControlSelectionState.html new file mode 100644 index 00000000..667e8011 --- /dev/null +++ b/static/api/html/clearpath_control_msgs/msg/ControlSelectionState.html @@ -0,0 +1,29 @@ + + + + + msg/ControlSelectionState Documentation + + + +
+

clearpath_control_msgs/msg/ControlSelectionState Message

+
+

File: clearpath_control_msgs/msg/ControlSelectionState.msg

+

Raw Message Definition

+
+
# The complete state of the control selection module. This message includes the autonomy state as well as the navigation mode.

+
+ ControlState autonomy
+ ControlMode mode
+
+

Compact Message Definition

+
+ clearpath_control_msgs/msg/ControlState autonomy
+ clearpath_control_msgs/msg/ControlMode mode
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_control_msgs/msg/ControlState.html b/static/api/html/clearpath_control_msgs/msg/ControlState.html new file mode 100644 index 00000000..17547bbb --- /dev/null +++ b/static/api/html/clearpath_control_msgs/msg/ControlState.html @@ -0,0 +1,29 @@ + + + + + msg/ControlState Documentation + + + +
+

clearpath_control_msgs/msg/ControlState Message

+
+

File: clearpath_control_msgs/msg/ControlState.msg

+

Raw Message Definition

+
+
# The autonomy state message, The autonomy can be either enabled/disabled and active/paused.

+
+ bool enabled
+ bool paused
+
+

Compact Message Definition

+
+ boolean enabled
+ boolean paused
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_control_msgs/srv/SetControlMode.html b/static/api/html/clearpath_control_msgs/srv/SetControlMode.html new file mode 100644 index 00000000..4e36c467 --- /dev/null +++ b/static/api/html/clearpath_control_msgs/srv/SetControlMode.html @@ -0,0 +1,29 @@ + + + + + srv/SetControlMode Documentation + + + +
+

clearpath_control_msgs/srv/SetControlMode Service

+
+

File: clearpath_control_msgs/srv/SetControlMode.msg

+

Raw Message Definition

+
+
# Service definition to set the control mode

+
+ clearpath_control_msgs/ControlMode mode
+ ---
+
+

Compact Message Definition

+
+
+ clearpath_control_msgs/msg/ControlMode mode
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_dock_msgs/action/Dock.html b/static/api/html/clearpath_dock_msgs/action/Dock.html new file mode 100644 index 00000000..f6e327d2 --- /dev/null +++ b/static/api/html/clearpath_dock_msgs/action/Dock.html @@ -0,0 +1,46 @@ + + + + + action/Dock Documentation + + + +
+

clearpath_dock_msgs/action/Dock Action

+
+

File: clearpath_dock_msgs/action/Dock.action

+

Raw Message Definition

+
+
# Request

+ string dock_name
+ ---
+
# Result

+ uint16 error_code
+ bool success
+ float32 elapsed_time
+ string message
+ ---
+
# Feedback

+ uint16 state
+ float32 elapsed_time
+ string message
+
+

Compact Message Definition

+
+ string dock_name
+
+ uint16 state
+ float elapsed_time
+ string message
+
+ uint16 error_code
+ boolean success
+ float elapsed_time
+ string message
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_dock_msgs/action/NetworkDock.html b/static/api/html/clearpath_dock_msgs/action/NetworkDock.html new file mode 100644 index 00000000..f6b55200 --- /dev/null +++ b/static/api/html/clearpath_dock_msgs/action/NetworkDock.html @@ -0,0 +1,53 @@ + + + + + action/NetworkDock Documentation + + + +
+

clearpath_dock_msgs/action/NetworkDock Action

+
+

File: clearpath_dock_msgs/action/NetworkDock.action

+

Raw Message Definition

+
+
# Action definition for undocking a Clearpath UGV from one of its charging docks.

+
+
# goal

+ string dock_name
+ string network_uuid
+
+ ---
+
# result

+ bool success
+ string message
+ uint16 NONE=0
+ uint16 error_code
+ string error_msg
+ ---
+
# feedback

+ string message
+ clearpath_navigation_msgs/NetworkMissionSegment network_plan
+ float32 elapsed_time
+
+

Compact Message Definition

+
+ string dock_name
+ string network_uuid
+
+ string message
+ clearpath_navigation_msgs/msg/NetworkMissionSegment network_plan
+ float elapsed_time
+
+ uint16 NONE=0
+ boolean success
+ string message
+ uint16 error_code
+ string error_msg
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_dock_msgs/action/Undock.html b/static/api/html/clearpath_dock_msgs/action/Undock.html new file mode 100644 index 00000000..0a75a813 --- /dev/null +++ b/static/api/html/clearpath_dock_msgs/action/Undock.html @@ -0,0 +1,46 @@ + + + + + action/Undock Documentation + + + +
+

clearpath_dock_msgs/action/Undock Action

+
+

File: clearpath_dock_msgs/action/Undock.action

+

Raw Message Definition

+
+
# Request

+ string dock_name
+ ---
+
# Result

+ uint16 error_code
+ bool success
+ float32 elapsed_time
+ string message
+ ---
+
# Feedback

+ uint16 state
+ float32 elapsed_time
+ string message
+
+

Compact Message Definition

+
+ string dock_name
+
+ uint16 state
+ float elapsed_time
+ string message
+
+ uint16 error_code
+ boolean success
+ float elapsed_time
+ string message
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_dock_msgs/index-msg.html b/static/api/html/clearpath_dock_msgs/index-msg.html new file mode 100644 index 00000000..1f366ae7 --- /dev/null +++ b/static/api/html/clearpath_dock_msgs/index-msg.html @@ -0,0 +1,43 @@ + + + + + clearpath_dock_msgs Message / Service / Action Documentation + + + +
+

clearpath_dock_msgs Message Documentation

+ +

clearpath_dock_msgs Service Documentation

+ +

clearpath_dock_msgs Action Documentation

+ +

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_dock_msgs/msg/DockDatabase.html b/static/api/html/clearpath_dock_msgs/msg/DockDatabase.html new file mode 100644 index 00000000..448cf133 --- /dev/null +++ b/static/api/html/clearpath_dock_msgs/msg/DockDatabase.html @@ -0,0 +1,31 @@ + + + + + msg/DockDatabase Documentation + + + +
+

clearpath_dock_msgs/msg/DockDatabase Message

+
+

File: clearpath_dock_msgs/msg/DockDatabase.msg

+

Raw Message Definition

+
+
# Message definition containing the properties for each of the docks available.

+
+ std_msgs/Header header
+ clearpath_dock_msgs/DockInfo[] docks
+ clearpath_dock_msgs/DockTemplate[] templates
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ clearpath_dock_msgs/msg/DockInfo[] docks
+ clearpath_dock_msgs/msg/DockTemplate[] templates
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_dock_msgs/msg/DockInfo.html b/static/api/html/clearpath_dock_msgs/msg/DockInfo.html new file mode 100644 index 00000000..159841f0 --- /dev/null +++ b/static/api/html/clearpath_dock_msgs/msg/DockInfo.html @@ -0,0 +1,59 @@ + + + + + msg/DockInfo Documentation + + + +
+

clearpath_dock_msgs/msg/DockInfo Message

+
+

File: clearpath_dock_msgs/msg/DockInfo.msg

+

Raw Message Definition

+
+
# Message definition containing the information of a single dock. This includes identifiers, lat/lon and orientation of the dock.

+
+
# Message definition containing the information of a single dock. This includes identifiers, lat/lon and orientation of the dock.

+
+ string name
+ string dock_template
+
+
# location of the dock frame

+ float64 latitude
+ float64 longitude
+ geometry_msgs/Quaternion orientation
+
+
+
+
# string name

+
# string uuid

+
# string frame

+
# string target_template

+
+
# ISO 8601 date/time format of last successfull dock location setting

+
# string last_location_set_time

+
+
# maximum allowable distance to allow for predocking. (ie. the distance within which the dock waypoint must be located)

+
# float32 max_predock_distance

+
# the distance from the dock that the robot will navigate to prior to start docking

+
# float32 predock_distance

+
+
# location of the dock

+
# float64 latitude

+
# float64 longitude

+
# float64 heading

+
+

Compact Message Definition

+
+ string name
+ string dock_template
+ double latitude
+ double longitude
+ geometry_msgs/msg/Quaternion orientation
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_dock_msgs/msg/DockInfoArray.html b/static/api/html/clearpath_dock_msgs/msg/DockInfoArray.html new file mode 100644 index 00000000..0cefe68d --- /dev/null +++ b/static/api/html/clearpath_dock_msgs/msg/DockInfoArray.html @@ -0,0 +1,29 @@ + + + + + msg/DockInfoArray Documentation + + + +
+

clearpath_dock_msgs/msg/DockInfoArray Message

+
+

File: clearpath_dock_msgs/msg/DockInfoArray.msg

+

Raw Message Definition

+
+
# Message definition containing the properties for each of the docks available.

+
+ std_msgs/Header header
+ clearpath_dock_msgs/DockInfo[] docks
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ clearpath_dock_msgs/msg/DockInfo[] docks
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_dock_msgs/msg/DockState.html b/static/api/html/clearpath_dock_msgs/msg/DockState.html new file mode 100644 index 00000000..74cfb0fb --- /dev/null +++ b/static/api/html/clearpath_dock_msgs/msg/DockState.html @@ -0,0 +1,38 @@ + + + + + msg/DockState Documentation + + + +
+

clearpath_dock_msgs/msg/DockState Message

+
+

File: clearpath_dock_msgs/msg/DockState.msg

+

Raw Message Definition

+
+
# Message definition containing information on what state the docking process is in.

+
+ uint8 UNDOCKED = 0
+ uint8 DOCKED = 1
+ uint8 IN_PROGRESS = 2
+ uint8 FAILED = 3
+ uint8 CANCELLED = 4
+
+ uint8 state
+
+

Compact Message Definition

+
+ uint8 UNDOCKED=0
+ uint8 DOCKED=1
+ uint8 IN_PROGRESS=2
+ uint8 FAILED=3
+ uint8 CANCELLED=4
+ uint8 state
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_dock_msgs/msg/DockTemplate.html b/static/api/html/clearpath_dock_msgs/msg/DockTemplate.html new file mode 100644 index 00000000..834bcb77 --- /dev/null +++ b/static/api/html/clearpath_dock_msgs/msg/DockTemplate.html @@ -0,0 +1,41 @@ + + + + + msg/DockTemplate Documentation + + + +
+

clearpath_dock_msgs/msg/DockTemplate Message

+
+

File: clearpath_dock_msgs/msg/DockTemplate.msg

+

Raw Message Definition

+
+
# Message definition containing the information of a single dock. This includes identifiers, lat/lon and orientation of the dock.

+
+
# Message definition containing the information of a single dock. This includes identifiers, lat/lon and orientation of the dock.

+
+ string name
+ string target_name
+ geometry_msgs/Pose2D t_target_dock
+ geometry_msgs/Pose2D t_dock_predock
+ geometry_msgs/Pose2D t_dock_undock
+
# a300_side_dock:

+
# target_name: 'side_dock_target'

+
# T_target_dock: {x: -0.5, y: 0.0, yaw: 0.4}

+
# T_dock_predock: {x: -1.0, y: 0.3, yaw: 0.8}

+
+

Compact Message Definition

+
+ string name
+ string target_name
+ geometry_msgs/msg/Pose2D t_target_dock
+ geometry_msgs/msg/Pose2D t_dock_predock
+ geometry_msgs/msg/Pose2D t_dock_undock
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_dock_msgs/msg/TargetTrackerState.html b/static/api/html/clearpath_dock_msgs/msg/TargetTrackerState.html new file mode 100644 index 00000000..35abec0a --- /dev/null +++ b/static/api/html/clearpath_dock_msgs/msg/TargetTrackerState.html @@ -0,0 +1,41 @@ + + + + + msg/TargetTrackerState Documentation + + + +
+

clearpath_dock_msgs/msg/TargetTrackerState Message

+
+

File: clearpath_dock_msgs/msg/TargetTrackerState.msg

+

Raw Message Definition

+
+
# Message definition containing the state information of the target tracker.

+
# This includes whether or not the tracker is active, whether the target is visible/lost, and the target pose and score of that pose.

+
+ bool active
+
+
# flag indicates if the target is visible or not

+ bool target_locked
+
+ geometry_msgs/PoseWithCovarianceStamped target_pose
+ float32 score
+
+
# the distance of the sensor_link to the dock target

+ float64 distance_to_target
+
+

Compact Message Definition

+
+ boolean active
+ boolean target_locked
+ geometry_msgs/msg/PoseWithCovarianceStamped target_pose
+ float score
+ double distance_to_target
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_dock_msgs/srv/AddDock.html b/static/api/html/clearpath_dock_msgs/srv/AddDock.html new file mode 100644 index 00000000..a2664c32 --- /dev/null +++ b/static/api/html/clearpath_dock_msgs/srv/AddDock.html @@ -0,0 +1,35 @@ + + + + + srv/AddDock Documentation + + + +
+

clearpath_dock_msgs/srv/AddDock Service

+
+

File: clearpath_dock_msgs/srv/AddDock.msg

+

Raw Message Definition

+
+
# Service definition to add a dock to the list of available docks

+
+
# A dock information message for the dock to be added

+ clearpath_dock_msgs/DockInfo dock
+ ---
+
# True if the dock has been added successfully, otherwise False

+ bool success
+ string message
+
+

Compact Message Definition

+
+ boolean success
+ string message
+
+ clearpath_dock_msgs/msg/DockInfo dock
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_dock_msgs/srv/AddDockCurrentPose.html b/static/api/html/clearpath_dock_msgs/srv/AddDockCurrentPose.html new file mode 100644 index 00000000..6f6188f3 --- /dev/null +++ b/static/api/html/clearpath_dock_msgs/srv/AddDockCurrentPose.html @@ -0,0 +1,36 @@ + + + + + srv/AddDockCurrentPose Documentation + + + +
+

clearpath_dock_msgs/srv/AddDockCurrentPose Service

+
+

File: clearpath_dock_msgs/srv/AddDockCurrentPose.msg

+

Raw Message Definition

+
+
+ string dock_name
+ string dock_template
+ ---
+ bool success
+ string message
+ clearpath_dock_msgs/DockInfo dock
+
+

Compact Message Definition

+
+ boolean success
+ string message
+ clearpath_dock_msgs/msg/DockInfo dock
+
+ string dock_name
+ string dock_template
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_dock_msgs/srv/ExportData.html b/static/api/html/clearpath_dock_msgs/srv/ExportData.html new file mode 100644 index 00000000..3d7f8b98 --- /dev/null +++ b/static/api/html/clearpath_dock_msgs/srv/ExportData.html @@ -0,0 +1,30 @@ + + + + + srv/ExportData Documentation + + + +
+

clearpath_dock_msgs/srv/ExportData Service

+
+

File: clearpath_dock_msgs/srv/ExportData.msg

+

Raw Message Definition

+
+ ---
+
# A JSON string representing the database contents.

+
# This can be written to a file or used with the ImportData.srv

+
# to back-up/restore the database contents

+ string data
+
+

Compact Message Definition

+
+ string data
+
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_dock_msgs/srv/GetDock.html b/static/api/html/clearpath_dock_msgs/srv/GetDock.html new file mode 100644 index 00000000..92abe1d9 --- /dev/null +++ b/static/api/html/clearpath_dock_msgs/srv/GetDock.html @@ -0,0 +1,35 @@ + + + + + srv/GetDock Documentation + + + +
+

clearpath_dock_msgs/srv/GetDock Service

+
+

File: clearpath_dock_msgs/srv/GetDock.msg

+

Raw Message Definition

+
+
# Service definition to get dock related into for dock specified by UUID

+
+
#string name # dock_uuid

+ ---
+
# geometry_msgs/Pose dock_pose

+
# geometry_msgs/Pose predock_pose

+ clearpath_dock_msgs/DockInfo dock
+ bool success
+
+

Compact Message Definition

+
+ clearpath_dock_msgs/msg/DockInfo dock
+ boolean success
+
+ string name
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_dock_msgs/srv/GetDockDatabase.html b/static/api/html/clearpath_dock_msgs/srv/GetDockDatabase.html new file mode 100644 index 00000000..3f34fed5 --- /dev/null +++ b/static/api/html/clearpath_dock_msgs/srv/GetDockDatabase.html @@ -0,0 +1,31 @@ + + + + + srv/GetDockDatabase Documentation + + + +
+

clearpath_dock_msgs/srv/GetDockDatabase Service

+
+

File: clearpath_dock_msgs/srv/GetDockDatabase.msg

+

Raw Message Definition

+
+
# Service definition to get dock related into for dock specified by UUID

+
+ ---
+ clearpath_dock_msgs/DockDatabase database
+ bool success
+
+

Compact Message Definition

+
+ clearpath_dock_msgs/msg/DockDatabase database
+ boolean success
+
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_dock_msgs/srv/GetDockPoses.html b/static/api/html/clearpath_dock_msgs/srv/GetDockPoses.html new file mode 100644 index 00000000..fe272cb9 --- /dev/null +++ b/static/api/html/clearpath_dock_msgs/srv/GetDockPoses.html @@ -0,0 +1,37 @@ + + + + + srv/GetDockPoses Documentation + + + +
+

clearpath_dock_msgs/srv/GetDockPoses Service

+
+

File: clearpath_dock_msgs/srv/GetDockPoses.msg

+

Raw Message Definition

+
+
# Service definition to get dock related into for dock specified by UUID

+
+ string name
+ ---
+ geometry_msgs/Pose dock_pose
+ geometry_msgs/Pose predock_pose
+ clearpath_dock_msgs/DockInfo dock
+ bool success
+
+

Compact Message Definition

+
+ geometry_msgs/msg/Pose dock_pose
+ geometry_msgs/msg/Pose predock_pose
+ clearpath_dock_msgs/msg/DockInfo dock
+ boolean success
+
+ string name
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_dock_msgs/srv/ImportData.html b/static/api/html/clearpath_dock_msgs/srv/ImportData.html new file mode 100644 index 00000000..fcb20401 --- /dev/null +++ b/static/api/html/clearpath_dock_msgs/srv/ImportData.html @@ -0,0 +1,33 @@ + + + + + srv/ImportData Documentation + + + +
+

clearpath_dock_msgs/srv/ImportData Service

+
+

File: clearpath_dock_msgs/srv/ImportData.msg

+

Raw Message Definition

+
+
# A JSON string representing the database contents.

+
# This is the same as the data output by the ExportData service, and is intended

+
# to be used to restore the database to a previous state

+ string data
+ ---
+
# The state of the database after importing the data

+ clearpath_dock_msgs/DockInfoArray dock_storage
+
+

Compact Message Definition

+
+ clearpath_dock_msgs/msg/DockInfoArray dock_storage
+
+ string data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_dock_msgs/srv/RemoveDock.html b/static/api/html/clearpath_dock_msgs/srv/RemoveDock.html new file mode 100644 index 00000000..24916b7a --- /dev/null +++ b/static/api/html/clearpath_dock_msgs/srv/RemoveDock.html @@ -0,0 +1,36 @@ + + + + + srv/RemoveDock Documentation + + + +
+

clearpath_dock_msgs/srv/RemoveDock Service

+
+

File: clearpath_dock_msgs/srv/RemoveDock.msg

+

Raw Message Definition

+
+
# Service definition to remove a dock from the list of available docks

+
+
# The uuid or the semantic name of the dock to be removed

+
# string uuid

+ string name
+ ---
+
# True if the dock has been removed successfully, otherwise False

+ bool success
+ string message
+
+

Compact Message Definition

+
+ boolean success
+ string message
+
+ string name
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_dock_msgs/srv/RunDocking.html b/static/api/html/clearpath_dock_msgs/srv/RunDocking.html new file mode 100644 index 00000000..3daed210 --- /dev/null +++ b/static/api/html/clearpath_dock_msgs/srv/RunDocking.html @@ -0,0 +1,31 @@ + + + + + srv/RunDocking Documentation + + + +
+

clearpath_dock_msgs/srv/RunDocking Service

+
+

File: clearpath_dock_msgs/srv/RunDocking.msg

+

Raw Message Definition

+
+ string name
+ ---
+ bool success
+ string message
+
+

Compact Message Definition

+
+ boolean success
+ string message
+
+ string name
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_dock_msgs/srv/RunUndocking.html b/static/api/html/clearpath_dock_msgs/srv/RunUndocking.html new file mode 100644 index 00000000..c0d42776 --- /dev/null +++ b/static/api/html/clearpath_dock_msgs/srv/RunUndocking.html @@ -0,0 +1,32 @@ + + + + + srv/RunUndocking Documentation + + + +
+

clearpath_dock_msgs/srv/RunUndocking Service

+
+

File: clearpath_dock_msgs/srv/RunUndocking.msg

+

Raw Message Definition

+
+
+ string name
+ ---
+ bool success
+ string message
+
+

Compact Message Definition

+
+ boolean success
+ string message
+
+ string name
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_dock_msgs/srv/SurveyDock.html b/static/api/html/clearpath_dock_msgs/srv/SurveyDock.html new file mode 100644 index 00000000..c2d34ffb --- /dev/null +++ b/static/api/html/clearpath_dock_msgs/srv/SurveyDock.html @@ -0,0 +1,33 @@ + + + + + srv/SurveyDock Documentation + + + +
+

clearpath_dock_msgs/srv/SurveyDock Service

+
+

File: clearpath_dock_msgs/srv/SurveyDock.msg

+

Raw Message Definition

+
+ string dock_name
+ float32 timeout
+ ---
+ bool success
+ string message
+
+

Compact Message Definition

+
+ boolean success
+ string message
+
+ string dock_name
+ float timeout
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_dock_msgs/srv/UpdateDock.html b/static/api/html/clearpath_dock_msgs/srv/UpdateDock.html new file mode 100644 index 00000000..7f27a521 --- /dev/null +++ b/static/api/html/clearpath_dock_msgs/srv/UpdateDock.html @@ -0,0 +1,35 @@ + + + + + srv/UpdateDock Documentation + + + +
+

clearpath_dock_msgs/srv/UpdateDock Service

+
+

File: clearpath_dock_msgs/srv/UpdateDock.msg

+

Raw Message Definition

+
+
# Service definition to either create a new dock or update an existing dock.

+ string name
+ clearpath_dock_msgs/DockInfo dock
+ ---
+
# True if the location was updated/added successfully, otherwise False

+ bool success
+ string message
+
+

Compact Message Definition

+
+ boolean success
+ string message
+
+ string name
+ clearpath_dock_msgs/msg/DockInfo dock
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_localization_msgs/action/SurveyBaseStation.html b/static/api/html/clearpath_localization_msgs/action/SurveyBaseStation.html new file mode 100644 index 00000000..dcfe421c --- /dev/null +++ b/static/api/html/clearpath_localization_msgs/action/SurveyBaseStation.html @@ -0,0 +1,40 @@ + + + + + action/SurveyBaseStation Documentation + + + +
+

clearpath_localization_msgs/action/SurveyBaseStation Action

+
+

File: clearpath_localization_msgs/action/SurveyBaseStation.action

+

Raw Message Definition

+
+
# Action definition for surveying the base station

+
+
# goal

+
# the number of GPS fixes that will be used to compute to surveyed position

+ uint32 number_of_desired_fixes
+ ---
+
# result

+ bool success
+ ---
+
# feedback

+
# current progress, as a percentage, of the surveying

+ float32 percent_complete
+
+

Compact Message Definition

+
+ uint32 number_of_desired_fixes
+
+ float percent_complete
+
+ boolean success
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_localization_msgs/index-msg.html b/static/api/html/clearpath_localization_msgs/index-msg.html new file mode 100644 index 00000000..ac06a1a0 --- /dev/null +++ b/static/api/html/clearpath_localization_msgs/index-msg.html @@ -0,0 +1,33 @@ + + + + + clearpath_localization_msgs Message / Service / Action Documentation + + + +
+

clearpath_localization_msgs Message Documentation

+ +

clearpath_localization_msgs Service Documentation

+ +

clearpath_localization_msgs Action Documentation

+ +

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_localization_msgs/msg/GNSSStatus.html b/static/api/html/clearpath_localization_msgs/msg/GNSSStatus.html new file mode 100644 index 00000000..6bd23874 --- /dev/null +++ b/static/api/html/clearpath_localization_msgs/msg/GNSSStatus.html @@ -0,0 +1,66 @@ + + + + + msg/GNSSStatus Documentation + + + +
+

clearpath_localization_msgs/msg/GNSSStatus Message

+
+

File: clearpath_localization_msgs/msg/GNSSStatus.msg

+

Raw Message Definition

+
+
# Message definition containing the GNSS receiver status information.

+
+ uint8 POSITION_RECEIVER = 0
+ uint8 HEADING_RECEIVER = 1
+ uint8 BASE_STATION_RECEIVER = 2
+ uint8 receiver_type
+
+ uint8 POSITION_NO_FIX = 0
+ uint8 POSITION_SPP = 1
+ uint8 POSITION_SBAS = 2
+ uint8 POSITION_RTK_FLOAT = 3
+ uint8 POSITION_RTK_FIXED = 4
+ uint8 position_fix_type
+
+ uint8 HEADING_NOT_APPLICABLE = 0
+ uint8 HEADING_NO_SOLUTION = 1
+ uint8 HEADING_RTK_FLOAT = 2
+ uint8 HEADING_RTK_FIXED = 3
+ uint8 heading_fix_type
+
+
#uint8 num_connected_sats # Number of satellites connected to the antenna/receiver

+
#uint8 num_sats_solution # Number of sats used in solution

+
#float32[] cn0 # The carrier-to-noise ratio of each connected satellite

+
#float64 correction_age # Age of RTK corrections. -1 indicates none received

+
+

Compact Message Definition

+
+ uint8 POSITION_RECEIVER=0
+ uint8 HEADING_RECEIVER=1
+ uint8 BASE_STATION_RECEIVER=2
+ uint8 POSITION_NO_FIX=0
+ uint8 POSITION_SPP=1
+ uint8 POSITION_SBAS=2
+ uint8 POSITION_RTK_FLOAT=3
+ uint8 POSITION_RTK_FIXED=4
+ uint8 HEADING_NOT_APPLICABLE=0
+ uint8 HEADING_NO_SOLUTION=1
+ uint8 HEADING_RTK_FLOAT=2
+ uint8 HEADING_RTK_FIXED=3
+ uint8 receiver_type
+ uint8 position_fix_type
+ uint8 heading_fix_type
+ uint8 num_connected_sats
+ uint8 num_sats_solution
+ float[] cn0
+ double correction_age
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_localization_msgs/msg/LocalizationStatus.html b/static/api/html/clearpath_localization_msgs/msg/LocalizationStatus.html new file mode 100644 index 00000000..dd24a41e --- /dev/null +++ b/static/api/html/clearpath_localization_msgs/msg/LocalizationStatus.html @@ -0,0 +1,41 @@ + + + + + msg/LocalizationStatus Documentation + + + +
+

clearpath_localization_msgs/msg/LocalizationStatus Message

+
+

File: clearpath_localization_msgs/msg/LocalizationStatus.msg

+

Raw Message Definition

+
+
# # Message definition containing localization status information for all sources of localization

+
+ std_msgs/Header header
+
# the localization accuracy as a percentage value (covariance?)

+
#float32 accuracy # in development

+
+
# status information related to the GPS receiver units

+ GNSSStatus position_gnss
+ GNSSStatus heading_gnss
+ GNSSStatus base_station_gnss
+
+ bool dead_reckoning
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ float accuracy
+ clearpath_localization_msgs/msg/GNSSStatus position_gnss
+ clearpath_localization_msgs/msg/GNSSStatus heading_gnss
+ clearpath_localization_msgs/msg/GNSSStatus base_station_gnss
+ boolean dead_reckoning
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_localization_msgs/msg/SurveyProperties.html b/static/api/html/clearpath_localization_msgs/msg/SurveyProperties.html new file mode 100644 index 00000000..1d34f61c --- /dev/null +++ b/static/api/html/clearpath_localization_msgs/msg/SurveyProperties.html @@ -0,0 +1,40 @@ + + + + + msg/SurveyProperties Documentation + + + +
+

clearpath_localization_msgs/msg/SurveyProperties Message

+
+

File: clearpath_localization_msgs/msg/SurveyProperties.msg

+

Raw Message Definition

+
+
# Message definition containing the base station survey properties

+
+
# ISO 8601 date/time format of last successfull base station survey

+ string last_survey_time
+
+
# Number of samples used in survey

+ uint32 num_samples
+
+
# GPS location of the base station

+ sensor_msgs/NavSatFix base_location
+
+
# denotes a successfull base station survey

+ bool success
+
+

Compact Message Definition

+
+ string last_survey_time
+ uint32 num_samples
+ sensor_msgs/msg/NavSatFix base_location
+ boolean success
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_localization_msgs/msg/XvnStatus.html b/static/api/html/clearpath_localization_msgs/msg/XvnStatus.html new file mode 100644 index 00000000..c7919f5f --- /dev/null +++ b/static/api/html/clearpath_localization_msgs/msg/XvnStatus.html @@ -0,0 +1,101 @@ + + + + + msg/XvnStatus Documentation + + + +
+

clearpath_localization_msgs/msg/XvnStatus Message

+
+

File: clearpath_localization_msgs/msg/XvnStatus.msg

+

Raw Message Definition

+
+ std_msgs/Header header
+ float64 latitude
+ float64 longitude
+ float32 yaw
+ float32 stddev_x
+ float32 stddev_y
+ float32 stddev_yaw
+
+ uint8 UNKNOWN = 0
+ uint8 VISION = 1
+ uint8 VISUAL_INERTIAL = 2
+ uint8 INERTIAL_GNSS = 3
+ uint8 VI_GNSS = 4
+ uint8 fusion_status
+
+ uint8 IMU_NOT_CONVERGED = 0
+ uint8 IMU_CONVERGED = 1
+ uint8 imu_status
+
+ int8 WS_NOT_USED = -1
+ int8 WS_NOT_CONVERGED = 0
+ int8 WS_CONVERGED = 1
+ int8 wheelspeed_status
+
+ uint8 GNSS_UNKNOWN = 0
+ uint8 GNSS_NO_FIX = 1
+ uint8 GNSS_DEAD_RECKONING = 2
+ uint8 GNSS_TIME_FIX = 3
+ uint8 GNSS_2D_FIX = 4
+ uint8 GNSS_3D_FIX = 5
+ uint8 GNSS_3D_WITH_DR = 6
+ uint8 GNSS_RTK_FLOAT = 7
+ uint8 GNSS_RTK_FIX = 8
+
+ uint8 gnss1_status
+ uint8 gnss2_status
+
+ uint8 RTK_ERROR = 0
+ uint8 RTK_WARNING = 1
+ uint8 RTK_CONNECTING = 2
+ uint8 RTK_CONNECTED = 3
+ uint8 rtk_status
+
+

Compact Message Definition

+
+ uint8 UNKNOWN=0
+ uint8 VISION=1
+ uint8 VISUAL_INERTIAL=2
+ uint8 INERTIAL_GNSS=3
+ uint8 VI_GNSS=4
+ uint8 IMU_NOT_CONVERGED=0
+ uint8 IMU_CONVERGED=1
+ int8 WS_NOT_USED=-1
+ int8 WS_NOT_CONVERGED=0
+ int8 WS_CONVERGED=1
+ uint8 GNSS_UNKNOWN=0
+ uint8 GNSS_NO_FIX=1
+ uint8 GNSS_DEAD_RECKONING=2
+ uint8 GNSS_TIME_FIX=3
+ uint8 GNSS_2D_FIX=4
+ uint8 GNSS_3D_FIX=5
+ uint8 GNSS_3D_WITH_DR=6
+ uint8 GNSS_RTK_FLOAT=7
+ uint8 GNSS_RTK_FIX=8
+ uint8 RTK_ERROR=0
+ uint8 RTK_WARNING=1
+ uint8 RTK_CONNECTING=2
+ uint8 RTK_CONNECTED=3
+ std_msgs/msg/Header header
+ double latitude
+ double longitude
+ float yaw
+ float stddev_x
+ float stddev_y
+ float stddev_yaw
+ uint8 fusion_status
+ uint8 imu_status
+ int8 wheelspeed_status
+ uint8 gnss1_status
+ uint8 gnss2_status
+ uint8 rtk_status
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_localization_msgs/srv/ConvertCartesianToLatLon.html b/static/api/html/clearpath_localization_msgs/srv/ConvertCartesianToLatLon.html new file mode 100644 index 00000000..1c8fb969 --- /dev/null +++ b/static/api/html/clearpath_localization_msgs/srv/ConvertCartesianToLatLon.html @@ -0,0 +1,31 @@ + + + + + srv/ConvertCartesianToLatLon Documentation + + + +
+

clearpath_localization_msgs/srv/ConvertCartesianToLatLon Service

+
+

File: clearpath_localization_msgs/srv/ConvertCartesianToLatLon.msg

+

Raw Message Definition

+
+
# Service definition to convert Cartesian (map) coordinates to lat-lon

+
+ geometry_msgs/PoseStamped pose
+ ---
+ sensor_msgs/NavSatFix msg
+
+

Compact Message Definition

+
+ sensor_msgs/msg/NavSatFix msg
+
+ geometry_msgs/msg/PoseStamped pose
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_localization_msgs/srv/ConvertCartesianToLatLonArray.html b/static/api/html/clearpath_localization_msgs/srv/ConvertCartesianToLatLonArray.html new file mode 100644 index 00000000..bda7fed6 --- /dev/null +++ b/static/api/html/clearpath_localization_msgs/srv/ConvertCartesianToLatLonArray.html @@ -0,0 +1,31 @@ + + + + + srv/ConvertCartesianToLatLonArray Documentation + + + +
+

clearpath_localization_msgs/srv/ConvertCartesianToLatLonArray Service

+
+

File: clearpath_localization_msgs/srv/ConvertCartesianToLatLonArray.msg

+

Raw Message Definition

+
+
# Service definition to convert Cartesian (map) coordinates to lat-lon

+
+ geometry_msgs/PoseStamped[] pose
+ ---
+ sensor_msgs/NavSatFix[] msg
+
+

Compact Message Definition

+
+ sensor_msgs/msg/NavSatFix[] msg
+
+ geometry_msgs/msg/PoseStamped[] pose
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_localization_msgs/srv/ConvertLatLonToCartesian.html b/static/api/html/clearpath_localization_msgs/srv/ConvertLatLonToCartesian.html new file mode 100644 index 00000000..d5fe847c --- /dev/null +++ b/static/api/html/clearpath_localization_msgs/srv/ConvertLatLonToCartesian.html @@ -0,0 +1,31 @@ + + + + + srv/ConvertLatLonToCartesian Documentation + + + +
+

clearpath_localization_msgs/srv/ConvertLatLonToCartesian Service

+
+

File: clearpath_localization_msgs/srv/ConvertLatLonToCartesian.msg

+

Raw Message Definition

+
+
# Service definition to convert the Lat/Lon to Cartesian coordinates

+
+ sensor_msgs/NavSatFix msg
+ ---
+ geometry_msgs/PoseStamped pose
+
+

Compact Message Definition

+
+ geometry_msgs/msg/PoseStamped pose
+
+ sensor_msgs/msg/NavSatFix msg
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_localization_msgs/srv/ConvertLatLonToCartesianArray.html b/static/api/html/clearpath_localization_msgs/srv/ConvertLatLonToCartesianArray.html new file mode 100644 index 00000000..38109e0c --- /dev/null +++ b/static/api/html/clearpath_localization_msgs/srv/ConvertLatLonToCartesianArray.html @@ -0,0 +1,31 @@ + + + + + srv/ConvertLatLonToCartesianArray Documentation + + + +
+

clearpath_localization_msgs/srv/ConvertLatLonToCartesianArray Service

+
+

File: clearpath_localization_msgs/srv/ConvertLatLonToCartesianArray.msg

+

Raw Message Definition

+
+
# Service definition to convert the Lat/Lon to Cartesian coordinates

+
+ sensor_msgs/NavSatFix[] msg
+ ---
+ geometry_msgs/PoseStamped[] pose
+
+

Compact Message Definition

+
+ geometry_msgs/msg/PoseStamped[] pose
+
+ sensor_msgs/msg/NavSatFix[] msg
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_localization_msgs/srv/ResetLocalization.html b/static/api/html/clearpath_localization_msgs/srv/ResetLocalization.html new file mode 100644 index 00000000..9a25fdad --- /dev/null +++ b/static/api/html/clearpath_localization_msgs/srv/ResetLocalization.html @@ -0,0 +1,33 @@ + + + + + srv/ResetLocalization Documentation + + + +
+

clearpath_localization_msgs/srv/ResetLocalization Service

+
+

File: clearpath_localization_msgs/srv/ResetLocalization.msg

+

Raw Message Definition

+
+
# Service definition to reset the localization

+
+ bool require_gnss
+ uint32 gnss_samples
+ ---
+ bool success
+
+

Compact Message Definition

+
+ boolean success
+
+ boolean require_gnss
+ uint32 gnss_samples
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_localization_msgs/srv/SetDatum.html b/static/api/html/clearpath_localization_msgs/srv/SetDatum.html new file mode 100644 index 00000000..f1934087 --- /dev/null +++ b/static/api/html/clearpath_localization_msgs/srv/SetDatum.html @@ -0,0 +1,33 @@ + + + + + srv/SetDatum Documentation + + + +
+

clearpath_localization_msgs/srv/SetDatum Service

+
+

File: clearpath_localization_msgs/srv/SetDatum.msg

+

Raw Message Definition

+
+
# Service definition to set the datum with a latitude (lat) and longitude (lon)

+
+ float32 lat
+ float32 lon
+ ---
+ bool success
+
+

Compact Message Definition

+
+ boolean success
+
+ float lat
+ float lon
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_logger_msgs/index-msg.html b/static/api/html/clearpath_logger_msgs/index-msg.html new file mode 100644 index 00000000..36e9674c --- /dev/null +++ b/static/api/html/clearpath_logger_msgs/index-msg.html @@ -0,0 +1,34 @@ + + + + + clearpath_logger_msgs Message / Service / Action Documentation + + + +
+

clearpath_logger_msgs Message Documentation

+ +

clearpath_logger_msgs Service Documentation

+ +

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_logger_msgs/msg/Event.html b/static/api/html/clearpath_logger_msgs/msg/Event.html new file mode 100644 index 00000000..8893f0f2 --- /dev/null +++ b/static/api/html/clearpath_logger_msgs/msg/Event.html @@ -0,0 +1,146 @@ + + + + + msg/Event Documentation + + + +
+

clearpath_logger_msgs/msg/Event Message

+
+

File: clearpath_logger_msgs/msg/Event.msg

+

Raw Message Definition

+
+
#

+
# Universal log event. Represents a single even recorded to the log

+
#

+
+
# Tag for events that include a media_path

+ string TAG_MEDIA = media
+
+
# Tag indicating that the event's charger status & battery level have been set

+ string TAG_POWER = power
+
+
# Tag indicating that the event's GPS position has been set

+ string TAG_LOCATION = location
+
+
# Tag indicating that the event's odometry data has been set

+ string TAG_ODOMETRY = odom
+
+
# Tag indicating that the event's velocity data has been set

+ string TAG_VELOCITY = vel
+
+
# Tag indicating that the event's error/debugging data has been set

+ string TAG_ERROR = error
+
+
# Tag indicating that this event was automatically recorded telemetry

+ string TAG_AUTO_TELEMETRY = auto_telemetry
+
+
#

+
# Header & general meta-data about the event

+
#

+
+
# Header

+
# - seq: the order of this event within its parent ExecutionLog

+
# - frame_id: the sensor/manipulator frame referenced by the frame_pose field

+
# - stamp: the time that this event occurred

+ std_msgs/Header header
+
+
#

+
# Media & sensor data

+
#

+
+
# If this even has media, this is its path on-disk

+ string media_path
+
+
# If this event has media, this is its MIME type

+
# May be left blank

+ string media_mime_type
+
+
# The pose of the sensor/manipulator frame given by header.frame_id relative to

+
# base_link

+ geometry_msgs/Pose frame_pose
+
+
#

+
# Robot location, orientation, velocity

+
#

+
+
# The robot's latitude, longitude, and heading as recorded by the GPS

+
# - lat: decimal degrees

+
# - lon: decimal degrees

+
# - heading: ENU orientation in radians

+ geometry_msgs/Point lat_lon_heading
+
+
# The robot's location relative to the odometry frame

+ nav_msgs/Odometry odometry
+
+
# The robot's linear & angular velocity

+ geometry_msgs/Twist velocity
+
+
#

+
# Power & battery

+
#

+
+
# The 0-1 charge level of the battery

+ float32 battery_percent
+
+
# True of the robot's battery is charging, otherwise False

+ bool charging
+
+
# True if power-saving/low-power mode is enabled, otherwise False

+ bool power_saver
+
+
#

+
# Error and debugging events

+
#

+
+
# An error code indicating the type of error

+ int32 error_code
+
+
# A diagnostic error message, or non-integer error code

+ string error_msg
+
+
# The name of the module/process/pipeline/etc... that signalled the error

+ string error_component
+
+
#

+
# Custom fields for expansion

+
#

+
+
# Arbitrary free-form tags usable to annotate custom data

+ string[] tags
+
+
# Arbitrary JSON-formatted data that can contain user-defined fields

+ string custom_fields_json
+
+

Compact Message Definition

+
+ string TAG_MEDIA=media
+ string TAG_POWER=power
+ string TAG_LOCATION=location
+ string TAG_ODOMETRY=odom
+ string TAG_VELOCITY=vel
+ string TAG_ERROR=error
+ string TAG_AUTO_TELEMETRY=auto_telemetry
+ std_msgs/msg/Header header
+ string media_path
+ string media_mime_type
+ geometry_msgs/msg/Pose frame_pose
+ geometry_msgs/msg/Point lat_lon_heading
+ nav_msgs/msg/Odometry odometry
+ geometry_msgs/msg/Twist velocity
+ float battery_percent
+ boolean charging
+ boolean power_saver
+ int32 error_code
+ string error_msg
+ string error_component
+ string[] tags
+ string custom_fields_json
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_logger_msgs/msg/EventLog.html b/static/api/html/clearpath_logger_msgs/msg/EventLog.html new file mode 100644 index 00000000..6b9638e4 --- /dev/null +++ b/static/api/html/clearpath_logger_msgs/msg/EventLog.html @@ -0,0 +1,80 @@ + + + + + msg/EventLog Documentation + + + +
+

clearpath_logger_msgs/msg/EventLog Message

+
+

File: clearpath_logger_msgs/msg/EventLog.msg

+

Raw Message Definition

+
+
#

+
# A log representing a single mission execution

+
#

+
+
# The log is currently active and being modified

+ int32 STATE_ACTIVE = 0
+
+
# The log is old and closed

+ int32 STATE_CLOSED = 1
+
+
# The master record of the log exists, but its data has been deleted from the disk

+ int32 STATE_DELETED = 2
+
+
# The state of the log on disk

+ int32 state
+
+
# The time the log started recording

+ clearpath_logger_msgs/EventTime start_time
+
+
# The time the log stopped recording

+ clearpath_logger_msgs/EventTime end_time
+
+
# This execution's unique ID

+ string uuid
+
+
# A descriptive name for the log to be displayed in the GUI. Does not need to be unique

+ string name
+
+
# The total percentage of the battery used during the execution

+
# This measures only negative changes, not positive ones

+
# e.g. if the robot uses 75% of the battery, returns to dock to recharge to full

+
# and then finishes the mission using another 75% of the battery, this value

+
# will read 1.5

+ float32 battery_percent_used
+
+
# The total distance driven by the robot (approximate) during the execution (meters)

+
# The exact path used to calculate the distance may be simplified and subject to

+
# sensor noise/error

+ float32 distance_driven
+
+
# A custom JSON field for adding additional custom metrics, meta-data, etc... as needed

+ string custom_fields_json
+
+
# The list of events recorded in this execution

+ clearpath_logger_msgs/Event[] events
+
+

Compact Message Definition

+
+ int32 STATE_ACTIVE=0
+ int32 STATE_CLOSED=1
+ int32 STATE_DELETED=2
+ int32 state
+ clearpath_logger_msgs/msg/EventTime start_time
+ clearpath_logger_msgs/msg/EventTime end_time
+ string uuid
+ string name
+ float battery_percent_used
+ float distance_driven
+ string custom_fields_json
+ clearpath_logger_msgs/msg/Event[] events
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_logger_msgs/msg/EventLogs.html b/static/api/html/clearpath_logger_msgs/msg/EventLogs.html new file mode 100644 index 00000000..363c66d1 --- /dev/null +++ b/static/api/html/clearpath_logger_msgs/msg/EventLogs.html @@ -0,0 +1,25 @@ + + + + + msg/EventLogs Documentation + + + +
+

clearpath_logger_msgs/msg/EventLogs Message

+
+

File: clearpath_logger_msgs/msg/EventLogs.msg

+

Raw Message Definition

+
+ clearpath_logger_msgs/EventLog[] logs
+
+

Compact Message Definition

+
+ clearpath_logger_msgs/msg/EventLog[] logs
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_logger_msgs/msg/EventTime.html b/static/api/html/clearpath_logger_msgs/msg/EventTime.html new file mode 100644 index 00000000..d4050e3a --- /dev/null +++ b/static/api/html/clearpath_logger_msgs/msg/EventTime.html @@ -0,0 +1,27 @@ + + + + + msg/EventTime Documentation + + + +
+

clearpath_logger_msgs/msg/EventTime Message

+
+

File: clearpath_logger_msgs/msg/EventTime.msg

+

Raw Message Definition

+
+ int32 sec
+ uint32 nanosec
+
+

Compact Message Definition

+
+ int32 sec
+ uint32 nanosec
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_logger_msgs/srv/DeleteLog.html b/static/api/html/clearpath_logger_msgs/srv/DeleteLog.html new file mode 100644 index 00000000..8844fe70 --- /dev/null +++ b/static/api/html/clearpath_logger_msgs/srv/DeleteLog.html @@ -0,0 +1,33 @@ + + + + + srv/DeleteLog Documentation + + + +
+

clearpath_logger_msgs/srv/DeleteLog Service

+
+

File: clearpath_logger_msgs/srv/DeleteLog.msg

+

Raw Message Definition

+
+ string uuid
+ bool delete_media
+ bool purge_record
+ ---
+ bool success
+
+

Compact Message Definition

+
+ boolean success
+
+ string uuid
+ boolean delete_media
+ boolean purge_record
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_logger_msgs/srv/DownloadLog.html b/static/api/html/clearpath_logger_msgs/srv/DownloadLog.html new file mode 100644 index 00000000..ac5cc5b9 --- /dev/null +++ b/static/api/html/clearpath_logger_msgs/srv/DownloadLog.html @@ -0,0 +1,35 @@ + + + + + srv/DownloadLog Documentation + + + +
+

clearpath_logger_msgs/srv/DownloadLog Service

+
+

File: clearpath_logger_msgs/srv/DownloadLog.msg

+

Raw Message Definition

+
+
# The UUID of the recording to download

+ string log_uuid
+ ---
+
# The on-disk path the the generated archive

+ string path
+
+
# If True at least one media file from the recording has been moved/deleted

+ bool media_missing
+
+

Compact Message Definition

+
+ string path
+ boolean media_missing
+
+ string log_uuid
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_logger_msgs/srv/GetAllLogs.html b/static/api/html/clearpath_logger_msgs/srv/GetAllLogs.html new file mode 100644 index 00000000..4e7bcd32 --- /dev/null +++ b/static/api/html/clearpath_logger_msgs/srv/GetAllLogs.html @@ -0,0 +1,27 @@ + + + + + srv/GetAllLogs Documentation + + + +
+

clearpath_logger_msgs/srv/GetAllLogs Service

+
+

File: clearpath_logger_msgs/srv/GetAllLogs.msg

+

Raw Message Definition

+
+ ---
+ clearpath_logger_msgs/EventLog[] logs
+
+

Compact Message Definition

+
+ clearpath_logger_msgs/msg/EventLog[] logs
+
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_logger_msgs/srv/RecordCustomEvent.html b/static/api/html/clearpath_logger_msgs/srv/RecordCustomEvent.html new file mode 100644 index 00000000..c8534010 --- /dev/null +++ b/static/api/html/clearpath_logger_msgs/srv/RecordCustomEvent.html @@ -0,0 +1,38 @@ + + + + + srv/RecordCustomEvent Documentation + + + +
+

clearpath_logger_msgs/srv/RecordCustomEvent Service

+
+

File: clearpath_logger_msgs/srv/RecordCustomEvent.msg

+

Raw Message Definition

+
+
# A valid JSON string containing the custom data to be recorded

+ string custom_fields_json
+
+
# Tags to add to the event

+ string[] tags
+
+
# Optional frame ID relevant to the event

+ string frame_id
+ ---
+ clearpath_logger_msgs/Event event
+
+

Compact Message Definition

+
+ clearpath_logger_msgs/msg/Event event
+
+ string custom_fields_json
+ string[] tags
+ string frame_id
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_logger_msgs/srv/RecordErrorEvent.html b/static/api/html/clearpath_logger_msgs/srv/RecordErrorEvent.html new file mode 100644 index 00000000..4d1252fc --- /dev/null +++ b/static/api/html/clearpath_logger_msgs/srv/RecordErrorEvent.html @@ -0,0 +1,38 @@ + + + + + srv/RecordErrorEvent Documentation + + + +
+

clearpath_logger_msgs/srv/RecordErrorEvent Service

+
+

File: clearpath_logger_msgs/srv/RecordErrorEvent.msg

+

Raw Message Definition

+
+
# An error code indicating the type of error

+ int32 error_code
+
+
# A diagnostic error message, or non-integer error code

+ string error_msg
+
+
# The name of the module/process/pipeline/etc... that signalled the error

+ string error_component
+ ---
+ clearpath_logger_msgs/Event event
+
+

Compact Message Definition

+
+ clearpath_logger_msgs/msg/Event event
+
+ int32 error_code
+ string error_msg
+ string error_component
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_logger_msgs/srv/RecordEvent.html b/static/api/html/clearpath_logger_msgs/srv/RecordEvent.html new file mode 100644 index 00000000..85deed09 --- /dev/null +++ b/static/api/html/clearpath_logger_msgs/srv/RecordEvent.html @@ -0,0 +1,33 @@ + + + + + srv/RecordEvent Documentation + + + +
+

clearpath_logger_msgs/srv/RecordEvent Service

+
+

File: clearpath_logger_msgs/srv/RecordEvent.msg

+

Raw Message Definition

+
+
# The event to be recorded

+
# If the header's stamp is not zero the header will be modified to be the current time

+
# Otherwise the provided time will be used without verification

+ clearpath_logger_msgs/Event event
+ ---
+
# The event as it was recorded, after any modifications made for serialization

+ clearpath_logger_msgs/Event event
+
+

Compact Message Definition

+
+ clearpath_logger_msgs/msg/Event event
+
+ clearpath_logger_msgs/msg/Event event
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_logger_msgs/srv/RecordLocationEvent.html b/static/api/html/clearpath_logger_msgs/srv/RecordLocationEvent.html new file mode 100644 index 00000000..09943c96 --- /dev/null +++ b/static/api/html/clearpath_logger_msgs/srv/RecordLocationEvent.html @@ -0,0 +1,51 @@ + + + + + srv/RecordLocationEvent Documentation + + + +
+

clearpath_logger_msgs/srv/RecordLocationEvent Service

+
+

File: clearpath_logger_msgs/srv/RecordLocationEvent.msg

+

Raw Message Definition

+
+
# The robot's current latitude (decimal degrees)

+ float64 latitude
+
+
# The robot's current longitude (decimal degrees)

+ float64 longitude
+
+
# The robot's current heading (cardinal direction in decimal degrees)

+ float64 heading
+
+
# The robot's current linear & angular velocity

+ geometry_msgs/Twist velocity
+
+
# The robot's current odometry location

+ nav_msgs/Odometry odometry
+
+
# Tags for the event

+
# Should contain one or more of Event.TAG_LOCATION, TAG_ODOMETRY, or TAG_VELOCITY

+ string[] tags
+ ---
+ clearpath_logger_msgs/Event event
+
+

Compact Message Definition

+
+ clearpath_logger_msgs/msg/Event event
+
+ double latitude
+ double longitude
+ double heading
+ geometry_msgs/msg/Twist velocity
+ nav_msgs/msg/Odometry odometry
+ string[] tags
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_logger_msgs/srv/RecordMediaEvent.html b/static/api/html/clearpath_logger_msgs/srv/RecordMediaEvent.html new file mode 100644 index 00000000..4d94d9cc --- /dev/null +++ b/static/api/html/clearpath_logger_msgs/srv/RecordMediaEvent.html @@ -0,0 +1,41 @@ + + + + + srv/RecordMediaEvent Documentation + + + +
+

clearpath_logger_msgs/srv/RecordMediaEvent Service

+
+

File: clearpath_logger_msgs/srv/RecordMediaEvent.msg

+

Raw Message Definition

+
+
# The path to the media file on-disk

+ string media_path
+
+
# A MIME type string indicating the media type

+
# May be left blank if desired

+ string mime_type
+
+
# The frame ID for the sensor that recorded the media

+
# Leave blank if the sensor has no frame/TF data associated with it

+ string frame_id
+ ---
+
# The logged event

+ clearpath_logger_msgs/Event event
+
+

Compact Message Definition

+
+ clearpath_logger_msgs/msg/Event event
+
+ string media_path
+ string mime_type
+ string frame_id
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_logger_msgs/srv/RecordPowerEvent.html b/static/api/html/clearpath_logger_msgs/srv/RecordPowerEvent.html new file mode 100644 index 00000000..4f86092b --- /dev/null +++ b/static/api/html/clearpath_logger_msgs/srv/RecordPowerEvent.html @@ -0,0 +1,35 @@ + + + + + srv/RecordPowerEvent Documentation + + + +
+

clearpath_logger_msgs/srv/RecordPowerEvent Service

+
+

File: clearpath_logger_msgs/srv/RecordPowerEvent.msg

+

Raw Message Definition

+
+
# The battery's current level

+
# 0.0 to 1.0

+ float32 battery_percent
+
+
# Is the battery currently charging?

+ bool charging
+ ---
+ clearpath_logger_msgs/Event event
+
+

Compact Message Definition

+
+ clearpath_logger_msgs/msg/Event event
+
+ float battery_percent
+ boolean charging
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_logger_msgs/srv/StartRecording.html b/static/api/html/clearpath_logger_msgs/srv/StartRecording.html new file mode 100644 index 00000000..9befe2dc --- /dev/null +++ b/static/api/html/clearpath_logger_msgs/srv/StartRecording.html @@ -0,0 +1,30 @@ + + + + + srv/StartRecording Documentation + + + +
+

clearpath_logger_msgs/srv/StartRecording Service

+
+

File: clearpath_logger_msgs/srv/StartRecording.msg

+

Raw Message Definition

+
+
# A human-readable name for the log

+ string name
+ ---
+ clearpath_logger_msgs/EventLog log
+
+

Compact Message Definition

+
+ clearpath_logger_msgs/msg/EventLog log
+
+ string name
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_logger_msgs/srv/StopRecording.html b/static/api/html/clearpath_logger_msgs/srv/StopRecording.html new file mode 100644 index 00000000..4d75551e --- /dev/null +++ b/static/api/html/clearpath_logger_msgs/srv/StopRecording.html @@ -0,0 +1,30 @@ + + + + + srv/StopRecording Documentation + + + +
+

clearpath_logger_msgs/srv/StopRecording Service

+
+

File: clearpath_logger_msgs/srv/StopRecording.msg

+

Raw Message Definition

+
+
# Additional custom end-of-mission metrics to record as part of the log

+ string custom_fields_json
+ ---
+ clearpath_logger_msgs/EventLog log
+
+

Compact Message Definition

+
+ clearpath_logger_msgs/msg/EventLog log
+
+ string custom_fields_json
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/index-msg.html b/static/api/html/clearpath_mission_manager_msgs/index-msg.html new file mode 100644 index 00000000..82d09287 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/index-msg.html @@ -0,0 +1,72 @@ + + + + + clearpath_mission_manager_msgs Message / Service / Action Documentation + + + +
+

clearpath_mission_manager_msgs Message Documentation

+ +

clearpath_mission_manager_msgs Service Documentation

+ +

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/msg/NetworkEdgeReq.html b/static/api/html/clearpath_mission_manager_msgs/msg/NetworkEdgeReq.html new file mode 100644 index 00000000..90e91d08 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/msg/NetworkEdgeReq.html @@ -0,0 +1,33 @@ + + + + + msg/NetworkEdgeReq Documentation + + + +
+

clearpath_mission_manager_msgs/msg/NetworkEdgeReq Message

+
+

File: clearpath_mission_manager_msgs/msg/NetworkEdgeReq.msg

+

Raw Message Definition

+
+ string start_point_id
+ string end_point_id
+
+ float32 speed_limit
+
+ float32 radius
+
+

Compact Message Definition

+
+ string start_point_id
+ string end_point_id
+ float speed_limit
+ float radius
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/msg/NetworkMapState.html b/static/api/html/clearpath_mission_manager_msgs/msg/NetworkMapState.html new file mode 100644 index 00000000..2f7dbb24 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/msg/NetworkMapState.html @@ -0,0 +1,48 @@ + + + + + msg/NetworkMapState Documentation + + + +
+

clearpath_mission_manager_msgs/msg/NetworkMapState Message

+
+

File: clearpath_mission_manager_msgs/msg/NetworkMapState.msg

+

Raw Message Definition

+
+
# The UUID of the map

+ string uuid
+
+
# True if the map actually exists and was found

+ bool exists
+
+
# The number of disconnected sub-graphs of the map

+
# Normally this will be 1 (i.e. the map is a single graph that is connected)

+
# but there are circumstances where the user may intentionally want 2+ disconnected graphs

+
# (e.g. a separate graph for each side of a fence, where the only connection between the two

+
# sides is an out-of-bounds, teleop-only road)

+ int32 num_subgraphs
+
+
# If the map has any disconnected vertices, we enumerate them here by their ID

+
# If size_exceeded is true, this list may be empty or incomplete (see below)

+ string[] disconnected_point_ids
+
+
# True if the map is too big for the validation to run on it

+
# Maps with more than 1000 vertices or 8000 edges will not be fully tests

+ bool size_exceeded
+
+

Compact Message Definition

+
+ string uuid
+ boolean exists
+ int32 num_subgraphs
+ string[] disconnected_point_ids
+ boolean size_exceeded
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/msg/NetworkMapValidityState.html b/static/api/html/clearpath_mission_manager_msgs/msg/NetworkMapValidityState.html new file mode 100644 index 00000000..52ff2992 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/msg/NetworkMapValidityState.html @@ -0,0 +1,26 @@ + + + + + msg/NetworkMapValidityState Documentation + + + +
+

clearpath_mission_manager_msgs/msg/NetworkMapValidityState Message

+
+

File: clearpath_mission_manager_msgs/msg/NetworkMapValidityState.msg

+

Raw Message Definition

+
+
# Reports the validity of all network of paths maps registered with the mission manager

+ clearpath_mission_manager_msgs/NetworkMapState[] map_states
+
+

Compact Message Definition

+
+ clearpath_mission_manager_msgs/msg/NetworkMapState[] map_states
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/msg/StorageState.html b/static/api/html/clearpath_mission_manager_msgs/msg/StorageState.html new file mode 100644 index 00000000..d5f07487 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/msg/StorageState.html @@ -0,0 +1,53 @@ + + + + + msg/StorageState Documentation + + + +
+

clearpath_mission_manager_msgs/msg/StorageState Message

+
+

File: clearpath_mission_manager_msgs/msg/StorageState.msg

+

Raw Message Definition

+
+
# The entire contents of the Mission database

+
# Note that all of the following cases are valid:

+
# - a Task can be referenced in multiple Waypoints

+
# - a Waypoint can be referenced in multiple Missions

+
# - a Waypoint can be orphaned (i.e. not included in any Missions)

+
# - a Task can be orphaned (i.e. not included in any Waypoints)

+
+
# All missions defined in the database

+ clearpath_navigation_msgs/Mission[] missions
+
+
# All waypoints defined in the database

+ clearpath_navigation_msgs/Waypoint[] waypoints
+
+
# All tasks defined in the database

+ clearpath_navigation_msgs/Task[] tasks
+
+
# All network of paths missions in the database

+ clearpath_navigation_msgs/NetworkMission[] network_missions
+
+
# All network of paths maps in the database

+ clearpath_navigation_msgs/NetworkMap[] network_maps
+
+
# Points of interest

+ clearpath_navigation_msgs/PointOfInterest[] points_of_interest
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/Mission[] missions
+ clearpath_navigation_msgs/msg/Waypoint[] waypoints
+ clearpath_navigation_msgs/msg/Task[] tasks
+ clearpath_navigation_msgs/msg/NetworkMission[] network_missions
+ clearpath_navigation_msgs/msg/NetworkMap[] network_maps
+ clearpath_navigation_msgs/msg/PointOfInterest[] points_of_interest
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/AddNetworkEdge.html b/static/api/html/clearpath_mission_manager_msgs/srv/AddNetworkEdge.html new file mode 100644 index 00000000..dae51fee --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/AddNetworkEdge.html @@ -0,0 +1,58 @@ + + + + + srv/AddNetworkEdge Documentation + + + +
+

clearpath_mission_manager_msgs/srv/AddNetworkEdge Service

+
+

File: clearpath_mission_manager_msgs/srv/AddNetworkEdge.msg

+

Raw Message Definition

+
+
# The UUID of the map we're operating on

+ string map_id
+
+
# The UUIDs of the start and end points for this edge

+ string start_point_id
+ string end_point_id
+
+
# The operational radius around the edge

+ float32 radius
+
+
# The speed limit when driving along this edge

+ float32 speed_limit
+
+
# An additional cost factor to prioritize certain edges over others in the planner

+
# Higher costs -> edge is less likely to be included in the planned route

+
# Expected range is (0.0, 100.0) (exclusive range).

+
# Values outside the expected range will be treated as the default 1.0

+ float32 cost_factor
+
+
# If true, we add 2 edges, with the second one having inverted start and end points

+ bool symmetrical
+
+ ---
+
+
# The generated edge(s)

+ clearpath_navigation_msgs/NetworkEdge[] edges
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/NetworkEdge[] edges
+
+ string map_id
+ string start_point_id
+ string end_point_id
+ float radius
+ float speed_limit
+ float cost_factor
+ boolean symmetrical
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/AddNetworkPath.html b/static/api/html/clearpath_mission_manager_msgs/srv/AddNetworkPath.html new file mode 100644 index 00000000..264e65fd --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/AddNetworkPath.html @@ -0,0 +1,43 @@ + + + + + srv/AddNetworkPath Documentation + + + +
+

clearpath_mission_manager_msgs/srv/AddNetworkPath Service

+
+

File: clearpath_mission_manager_msgs/srv/AddNetworkPath.msg

+

Raw Message Definition

+
+
# The lat-lon locations of the points to add

+ float64[] latitudes
+ float64[] longitudes
+
+
# The UUID of the map we're adding points to

+ string map_id
+
+
# If true, bidirectional edges are added between the points

+ bool symmetrical
+
+ ---
+ bool success
+ string message
+
+

Compact Message Definition

+
+ boolean success
+ string message
+
+ double[] latitudes
+ double[] longitudes
+ string map_id
+ boolean symmetrical
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/AddNetworkPoint.html b/static/api/html/clearpath_mission_manager_msgs/srv/AddNetworkPoint.html new file mode 100644 index 00000000..c4273e01 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/AddNetworkPoint.html @@ -0,0 +1,53 @@ + + + + + srv/AddNetworkPoint Documentation + + + +
+

clearpath_mission_manager_msgs/srv/AddNetworkPoint Service

+
+

File: clearpath_mission_manager_msgs/srv/AddNetworkPoint.msg

+

Raw Message Definition

+
+
# The location of this point on the map

+ float64 latitude
+ float64 longitude
+
+
# The UUID of the map we're adding this point to

+ string map_id
+
+
# Optional list of node IDs in the map we want to connect to the new node

+
# This specifies edges originating in the given nodes, pointing to the new node

+ string[] connect_from
+
+
# Optional list of node IDs in the map we want to connect to the new node

+
# This specifies edges originating at the new node, pointing to the nodes with the given UUIDs

+ string[] connect_to
+
+
# If true, bidirectional edge are added between the nodes specified in connect_from and connect_to

+ bool symmetrical
+
+ ---
+
+
# The added point, with generated UUID

+ clearpath_navigation_msgs/NetworkPoint point
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/NetworkPoint point
+
+ double latitude
+ double longitude
+ string map_id
+ string[] connect_from
+ string[] connect_to
+ boolean symmetrical
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html b/static/api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html new file mode 100644 index 00000000..d547b8a2 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html @@ -0,0 +1,42 @@ + + + + + srv/AddRemoveById Documentation + + + +
+

clearpath_mission_manager_msgs/srv/AddRemoveById Service

+
+

File: clearpath_mission_manager_msgs/srv/AddRemoveById.msg

+

Raw Message Definition

+
+
# The UUID of the object we're inserting/removing

+
# When removing, all instances with this UUID are deleted from the parent if this is set

+
# To remove a single instance at a given position, leave this blank and set position (see below)

+ string uuid
+
+
# The UUID of the parent object

+ string parent_uuid
+
+
# The zero-based index to insert the object into or removing from

+
# When removing by position, make sure to leave uuid empty

+ int32 position
+ ---
+
# True if the object was added/removed successfully, otherwise False

+ bool ok
+
+

Compact Message Definition

+
+ boolean ok
+
+ string uuid
+ string parent_uuid
+ int32 position
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/AddRemoveTag.html b/static/api/html/clearpath_mission_manager_msgs/srv/AddRemoveTag.html new file mode 100644 index 00000000..1fc0c110 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/AddRemoveTag.html @@ -0,0 +1,35 @@ + + + + + srv/AddRemoveTag Documentation + + + +
+

clearpath_mission_manager_msgs/srv/AddRemoveTag Service

+
+

File: clearpath_mission_manager_msgs/srv/AddRemoveTag.msg

+

Raw Message Definition

+
+
# The UUID of the item whose tags we're modifying

+ string uuid
+
+
# The tag to add/remove

+ string tag
+ ---
+
# The item's tags after modification

+ string[] tags
+
+

Compact Message Definition

+
+ string[] tags
+
+ string uuid
+ string tag
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/CloneMission.html b/static/api/html/clearpath_mission_manager_msgs/srv/CloneMission.html new file mode 100644 index 00000000..628a1ad5 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/CloneMission.html @@ -0,0 +1,40 @@ + + + + + srv/CloneMission Documentation + + + +
+

clearpath_mission_manager_msgs/srv/CloneMission Service

+
+

File: clearpath_mission_manager_msgs/srv/CloneMission.msg

+

Raw Message Definition

+
+
# The UUID of the mission to clone

+ string uuid
+
+
# The new name for the mission

+
# If blank, the old mission name will be re-used with -copy appended to the end

+ string new_name
+
+
# If true, the order of the waypoints within the cloned mission are reversed

+ bool reverse
+ ---
+
# The Mission with the given ID, or null if no Mission with that ID exists

+ clearpath_navigation_msgs/Mission mission
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/Mission mission
+
+ string uuid
+ string new_name
+ boolean reverse
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/CloneNetworkMap.html b/static/api/html/clearpath_mission_manager_msgs/srv/CloneNetworkMap.html new file mode 100644 index 00000000..3c229d69 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/CloneNetworkMap.html @@ -0,0 +1,37 @@ + + + + + srv/CloneNetworkMap Documentation + + + +
+

clearpath_mission_manager_msgs/srv/CloneNetworkMap Service

+
+

File: clearpath_mission_manager_msgs/srv/CloneNetworkMap.msg

+

Raw Message Definition

+
+
# The UUID of the map to clone

+ string uuid
+
+
# The new name for the map

+
# If blank, the old map name will be re-used with -copy appended to the end

+ string new_name
+
+ ---
+
# The newly-created copy of the original map, with a new name and new UUID

+ clearpath_navigation_msgs/NetworkMap map
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/NetworkMap map
+
+ string uuid
+ string new_name
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/CloneNetworkMission.html b/static/api/html/clearpath_mission_manager_msgs/srv/CloneNetworkMission.html new file mode 100644 index 00000000..d15e472a --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/CloneNetworkMission.html @@ -0,0 +1,40 @@ + + + + + srv/CloneNetworkMission Documentation + + + +
+

clearpath_mission_manager_msgs/srv/CloneNetworkMission Service

+
+

File: clearpath_mission_manager_msgs/srv/CloneNetworkMission.msg

+

Raw Message Definition

+
+
# The UUID of the mission to clone

+ string uuid
+
+
# The new name for the mission

+
# If blank, the old mission name will be re-used with -copy appended to the end

+ string new_name
+
+
# If true, the order of the waypoints within the cloned mission are reversed

+ bool reverse
+ ---
+
# The Mission with the given ID, or null if no Mission with that ID exists

+ clearpath_navigation_msgs/NetworkMission mission
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/NetworkMission mission
+
+ string uuid
+ string new_name
+ boolean reverse
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/ClonePointOfInterest.html b/static/api/html/clearpath_mission_manager_msgs/srv/ClonePointOfInterest.html new file mode 100644 index 00000000..239f38a1 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/ClonePointOfInterest.html @@ -0,0 +1,32 @@ + + + + + srv/ClonePointOfInterest Documentation + + + +
+

clearpath_mission_manager_msgs/srv/ClonePointOfInterest Service

+
+

File: clearpath_mission_manager_msgs/srv/ClonePointOfInterest.msg

+

Raw Message Definition

+
+ string uuid
+
+ string new_name
+ ---
+ clearpath_navigation_msgs/PointOfInterest result
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/PointOfInterest result
+
+ string uuid
+ string new_name
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/CreateMission.html b/static/api/html/clearpath_mission_manager_msgs/srv/CreateMission.html new file mode 100644 index 00000000..c78d3832 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/CreateMission.html @@ -0,0 +1,48 @@ + + + + + srv/CreateMission Documentation + + + +
+

clearpath_mission_manager_msgs/srv/CreateMission Service

+
+

File: clearpath_mission_manager_msgs/srv/CreateMission.msg

+

Raw Message Definition

+
+
# The desired name for the new mission

+ string name
+
+
# The additional configuration options

+
# see clearpath_navigation_msgs/msg/Mission for details

+ string onav_config
+
+
# The ordered list of Waypoint UUIDs to include in this mission

+ string[] waypoint_ids
+
+
# The ordered list of Task UUIDs to include in the on_start Task Array

+ string[] on_start_ids
+
+
# The ordered list of Task UUIDs to include in the on_stop Task Array

+ string[] on_stop_ids
+ ---
+
# The resulting Mission, with an auto-generated UUID is returned

+ clearpath_navigation_msgs/Mission result
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/Mission result
+
+ string name
+ string onav_config
+ string[] waypoint_ids
+ string[] on_start_ids
+ string[] on_stop_ids
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/CreateNetworkMap.html b/static/api/html/clearpath_mission_manager_msgs/srv/CreateNetworkMap.html new file mode 100644 index 00000000..1cad670c --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/CreateNetworkMap.html @@ -0,0 +1,51 @@ + + + + + srv/CreateNetworkMap Documentation + + + +
+

clearpath_mission_manager_msgs/srv/CreateNetworkMap Service

+
+

File: clearpath_mission_manager_msgs/srv/CreateNetworkMap.msg

+

Raw Message Definition

+
+
# Create a new NetworkMap

+
+
# The human-readable name for the map

+ string name
+
+ float32 default_radius
+ float32 default_speed_limit
+
+
# The UUIDs of the points will be re-generated when creating the map.

+
# When calling this service it is acceptable to use e.g. 0, 1, 2, ... to identify each point and re-use these

+
# values for the start/stop points in the connections

+ clearpath_navigation_msgs/NetworkPoint[] points
+
+
# A simplified array of edges; just specify the start and end point IDs from the array above, rather than providing

+
# complete point objects

+ clearpath_mission_manager_msgs/NetworkEdgeReq[] connections
+
+ ---
+
+
# The resulting NetworkMap with an auto-generated UUID is returned

+ clearpath_navigation_msgs/NetworkMap result
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/NetworkMap result
+
+ string name
+ float default_radius
+ float default_speed_limit
+ clearpath_navigation_msgs/msg/NetworkPoint[] points
+ clearpath_mission_manager_msgs/msg/NetworkEdgeReq[] connections
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/CreateNetworkMission.html b/static/api/html/clearpath_mission_manager_msgs/srv/CreateNetworkMission.html new file mode 100644 index 00000000..797e5ea3 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/CreateNetworkMission.html @@ -0,0 +1,72 @@ + + + + + srv/CreateNetworkMission Documentation + + + +
+

clearpath_mission_manager_msgs/srv/CreateNetworkMission Service

+
+

File: clearpath_mission_manager_msgs/srv/CreateNetworkMission.msg

+

Raw Message Definition

+
+
# The desired name for the new mission

+ string name
+
+
# The additional configuration options

+
# see clearpath_navigation_msgs/msg/Mission for details

+ string onav_config
+
+
# The ordered list of Waypoint UUIDs to include in this mission

+ string[] waypoint_ids
+
+
# The ordered list of Task UUIDs to include in the on_start Task Array

+ string[] on_start_ids
+
+
# The ordered list of Task UUIDs to include in the on_stop Task Array

+ string[] on_stop_ids
+
+
# Boolean value indicating whether robot should attempt 'return to dock' behavior

+
# when battery level drops below return_to_dock_battery_level

+ bool return_to_dock_enabled
+
+
# Dock UUID that the robot should return to for 'return to dock' behavior

+ string return_to_dock_id
+
+
# Value from 0 to 1 indicating what charge level the robot will return to dock at

+ float32 return_to_dock_battery_level
+
+
# Value from 0 to 1 indicating what charge level the robot should resume this mission at

+
# after returning to dock for recharging

+ float32 resume_mission_battery_level
+
+
# Boolean value indicating whether 'network' level replanning should be performed

+
# in the event that a network edge is deemed un-traversable (e.g., due to obstacles)

+ bool network_replan_enabled
+
+ ---
+
# The resulting Mission, with an auto-generated UUID is returned

+ clearpath_navigation_msgs/NetworkMission result
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/NetworkMission result
+
+ string name
+ string onav_config
+ string[] waypoint_ids
+ string[] on_start_ids
+ string[] on_stop_ids
+ boolean return_to_dock_enabled
+ string return_to_dock_id
+ float return_to_dock_battery_level
+ float resume_mission_battery_level
+ boolean network_replan_enabled
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/CreatePointOfInterest.html b/static/api/html/clearpath_mission_manager_msgs/srv/CreatePointOfInterest.html new file mode 100644 index 00000000..9996eca3 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/CreatePointOfInterest.html @@ -0,0 +1,56 @@ + + + + + srv/CreatePointOfInterest Documentation + + + +
+

clearpath_mission_manager_msgs/srv/CreatePointOfInterest Service

+
+

File: clearpath_mission_manager_msgs/srv/CreatePointOfInterest.msg

+

Raw Message Definition

+
+
# The human-readable name of this POI

+ string name
+
+
# The latitude (in decimal degrees) of this POI

+ float64 latitude
+
+
# The longitude (in decinal degrees) of this POI

+ float64 longitude
+
+
# The height above ground level (in meters)

+ float64 elevation
+
+
# The compass heading (in degrees) of this POI (optional)

+ bool enable_heading
+ float64 heading
+
+
# A set of labels assigned to the POI in order to categorize it

+ string[] tags
+
+
# A JSON formatted string that contains user defined POI fields

+ string custom_fields_json
+ ---
+ clearpath_navigation_msgs/PointOfInterest result
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/PointOfInterest result
+
+ string name
+ double latitude
+ double longitude
+ double elevation
+ boolean enable_heading
+ double heading
+ string[] tags
+ string custom_fields_json
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/CreateTask.html b/static/api/html/clearpath_mission_manager_msgs/srv/CreateTask.html new file mode 100644 index 00000000..50039ada --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/CreateTask.html @@ -0,0 +1,69 @@ + + + + + srv/CreateTask Documentation + + + +
+

clearpath_mission_manager_msgs/srv/CreateTask Service

+
+

File: clearpath_mission_manager_msgs/srv/CreateTask.msg

+

Raw Message Definition

+
+
# The desired name for the Task

+ string name
+
+
# The ROS Action to invoke to execute the task

+ string action_server_name
+
+
# The version of the task

+ string version
+
+
# The numerical arguments to pass to the action_server_name

+ float64[] floats
+
+
# The string arguments to pass to the action_server_name

+ string[] strings
+
+
# Boolean value which determines whether a mission using this task can continue

+
# if this task fails to execute

+ bool allow_failure
+
+
# Optional list of Waypoint UUIDs to assign this task to automatically

+
# The new task will be appended to the end of the existing Waypoints

+ string[] assign_to_wp
+
+
# Optional list of Mission UUIDs to assign this task to automatically

+
# The new task will be appended to the end of the existing on_start tasks

+
# associated with the specified mission

+ string[] assign_on_start
+
+
# Optional list of Waypoint UUIDs to assign this task to automatically

+
# The new task will be appended to the end of the existing on_stop tasks

+
# associated with the specified mission

+ string[] assign_on_stop
+ ---
+
# The resulting Task with an auto-generated UUID is returned

+ clearpath_navigation_msgs/Task result
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/Task result
+
+ string name
+ string action_server_name
+ string version
+ double[] floats
+ string[] strings
+ boolean allow_failure
+ string[] assign_to_wp
+ string[] assign_on_start
+ string[] assign_on_stop
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/CreateWaypoint.html b/static/api/html/clearpath_mission_manager_msgs/srv/CreateWaypoint.html new file mode 100644 index 00000000..1a70ce4e --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/CreateWaypoint.html @@ -0,0 +1,60 @@ + + + + + srv/CreateWaypoint Documentation + + + +
+

clearpath_mission_manager_msgs/srv/CreateWaypoint Service

+
+

File: clearpath_mission_manager_msgs/srv/CreateWaypoint.msg

+

Raw Message Definition

+
+
# The desired name for the Waypoint

+ string name
+
+
# The latitude for the Waypoint in degrees

+ float64 latitude
+
+
# The longitude for the Waypoint in degrees

+ float64 longitude
+
+
# The compass heading in degrees for the Waypoint

+ float64 heading
+
+
# The position tolerance for the Waypoint in meters

+ float64 position_tolerance
+
+
# The orientation tolerance for the Waypoint in degrees

+ float64 yaw_tolerance
+
+
# Optional ordered list of Task UUIDs to execute at this Waypoint

+ string[] task_ids
+
+
# Optional list of Mission UUIDs to assign the new Waypoint to

+
# The new Waypoint is appended to the end of the existing Missions

+ string[] assign_to
+ ---
+
# The resulting Waypoint with an auto-generated UUID is returned

+ clearpath_navigation_msgs/Waypoint result
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/Waypoint result
+
+ string name
+ double latitude
+ double longitude
+ double heading
+ double position_tolerance
+ double yaw_tolerance
+ string[] task_ids
+ string[] assign_to
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/CreateWaypointFromPoi.html b/static/api/html/clearpath_mission_manager_msgs/srv/CreateWaypointFromPoi.html new file mode 100644 index 00000000..5e758c69 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/CreateWaypointFromPoi.html @@ -0,0 +1,29 @@ + + + + + srv/CreateWaypointFromPoi Documentation + + + +
+

clearpath_mission_manager_msgs/srv/CreateWaypointFromPoi Service

+
+

File: clearpath_mission_manager_msgs/srv/CreateWaypointFromPoi.msg

+

Raw Message Definition

+
+ clearpath_navigation_msgs/PointOfInterest point_of_interest
+ ---
+ clearpath_navigation_msgs/Waypoint waypoint
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/Waypoint waypoint
+
+ clearpath_navigation_msgs/msg/PointOfInterest point_of_interest
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/DeleteById.html b/static/api/html/clearpath_mission_manager_msgs/srv/DeleteById.html new file mode 100644 index 00000000..2f02fcb4 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/DeleteById.html @@ -0,0 +1,31 @@ + + + + + srv/DeleteById Documentation + + + +
+

clearpath_mission_manager_msgs/srv/DeleteById Service

+
+

File: clearpath_mission_manager_msgs/srv/DeleteById.msg

+

Raw Message Definition

+
+
# The UUID of the object we want to delete

+ string uuid
+ ---
+
# True if the item was successfully deleted, otherwise False

+ bool ok
+
+

Compact Message Definition

+
+ boolean ok
+
+ string uuid
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/DeleteEverything.html b/static/api/html/clearpath_mission_manager_msgs/srv/DeleteEverything.html new file mode 100644 index 00000000..c9c10672 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/DeleteEverything.html @@ -0,0 +1,34 @@ + + + + + srv/DeleteEverything Documentation + + + +
+

clearpath_mission_manager_msgs/srv/DeleteEverything Service

+
+

File: clearpath_mission_manager_msgs/srv/DeleteEverything.msg

+

Raw Message Definition

+
+
# Used to permanently delete everything from the database.

+
# Use this service at your own risk

+
+
# This must be set to true to confirm you really want to delete everything

+ bool yes_i_am_absolutely_sure_i_want_to_do_this
+ ---
+
# True if the database was cleared, otherwise False

+ bool ok
+
+

Compact Message Definition

+
+ boolean ok
+
+ boolean yes_i_am_absolutely_sure_i_want_to_do_this
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/DeleteMultiple.html b/static/api/html/clearpath_mission_manager_msgs/srv/DeleteMultiple.html new file mode 100644 index 00000000..cedec74a --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/DeleteMultiple.html @@ -0,0 +1,35 @@ + + + + + srv/DeleteMultiple Documentation + + + +
+

clearpath_mission_manager_msgs/srv/DeleteMultiple Service

+
+

File: clearpath_mission_manager_msgs/srv/DeleteMultiple.msg

+

Raw Message Definition

+
+
# A list of UUIDs of items we want to delete

+ string[] uuids
+
+
# An optional ID of the parent object we're deleting from

+ string parent_id
+ ---
+
# A list of UUIDs that we were asked to delete, but failed to

+ string[] failed_uuids
+
+

Compact Message Definition

+
+ string[] failed_uuids
+
+ string[] uuids
+ string parent_id
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/ExportData.html b/static/api/html/clearpath_mission_manager_msgs/srv/ExportData.html new file mode 100644 index 00000000..3c3fcb7b --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/ExportData.html @@ -0,0 +1,30 @@ + + + + + srv/ExportData Documentation + + + +
+

clearpath_mission_manager_msgs/srv/ExportData Service

+
+

File: clearpath_mission_manager_msgs/srv/ExportData.msg

+

Raw Message Definition

+
+ ---
+
# A JSON string representing the database contents.

+
# This can be written to a file or used with the ImportData.srv

+
# to back-up/restore the database contents

+ string data
+
+

Compact Message Definition

+
+ string data
+
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/GetAllMissions.html b/static/api/html/clearpath_mission_manager_msgs/srv/GetAllMissions.html new file mode 100644 index 00000000..6ace00c6 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/GetAllMissions.html @@ -0,0 +1,28 @@ + + + + + srv/GetAllMissions Documentation + + + +
+

clearpath_mission_manager_msgs/srv/GetAllMissions Service

+
+

File: clearpath_mission_manager_msgs/srv/GetAllMissions.msg

+

Raw Message Definition

+
+ ---
+
# An array of all Missions defined in the database

+ clearpath_navigation_msgs/Mission[] missions
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/Mission[] missions
+
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/GetAllNetworkMaps.html b/static/api/html/clearpath_mission_manager_msgs/srv/GetAllNetworkMaps.html new file mode 100644 index 00000000..6056c7eb --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/GetAllNetworkMaps.html @@ -0,0 +1,27 @@ + + + + + srv/GetAllNetworkMaps Documentation + + + +
+

clearpath_mission_manager_msgs/srv/GetAllNetworkMaps Service

+
+

File: clearpath_mission_manager_msgs/srv/GetAllNetworkMaps.msg

+

Raw Message Definition

+
+ ---
+ clearpath_navigation_msgs/NetworkMap[] maps
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/NetworkMap[] maps
+
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/GetAllNetworkMissions.html b/static/api/html/clearpath_mission_manager_msgs/srv/GetAllNetworkMissions.html new file mode 100644 index 00000000..e84197eb --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/GetAllNetworkMissions.html @@ -0,0 +1,28 @@ + + + + + srv/GetAllNetworkMissions Documentation + + + +
+

clearpath_mission_manager_msgs/srv/GetAllNetworkMissions Service

+
+

File: clearpath_mission_manager_msgs/srv/GetAllNetworkMissions.msg

+

Raw Message Definition

+
+ ---
+
# An array of all Missions defined in the database

+ clearpath_navigation_msgs/NetworkMission[] missions
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/NetworkMission[] missions
+
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/GetAllPointsOfInterest.html b/static/api/html/clearpath_mission_manager_msgs/srv/GetAllPointsOfInterest.html new file mode 100644 index 00000000..de143756 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/GetAllPointsOfInterest.html @@ -0,0 +1,27 @@ + + + + + srv/GetAllPointsOfInterest Documentation + + + +
+

clearpath_mission_manager_msgs/srv/GetAllPointsOfInterest Service

+
+

File: clearpath_mission_manager_msgs/srv/GetAllPointsOfInterest.msg

+

Raw Message Definition

+
+ ---
+ clearpath_navigation_msgs/PointOfInterest[] points_of_interest
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/PointOfInterest[] points_of_interest
+
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/GetAllTasks.html b/static/api/html/clearpath_mission_manager_msgs/srv/GetAllTasks.html new file mode 100644 index 00000000..5f037679 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/GetAllTasks.html @@ -0,0 +1,28 @@ + + + + + srv/GetAllTasks Documentation + + + +
+

clearpath_mission_manager_msgs/srv/GetAllTasks Service

+
+

File: clearpath_mission_manager_msgs/srv/GetAllTasks.msg

+

Raw Message Definition

+
+ ---
+
# The array of all Tasks defined in the database

+ clearpath_navigation_msgs/Task[] tasks
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/Task[] tasks
+
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/GetAllWaypoints.html b/static/api/html/clearpath_mission_manager_msgs/srv/GetAllWaypoints.html new file mode 100644 index 00000000..c349b88d --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/GetAllWaypoints.html @@ -0,0 +1,28 @@ + + + + + srv/GetAllWaypoints Documentation + + + +
+

clearpath_mission_manager_msgs/srv/GetAllWaypoints Service

+
+

File: clearpath_mission_manager_msgs/srv/GetAllWaypoints.msg

+

Raw Message Definition

+
+ ---
+
# The array of all Waypoints defined in the database

+ clearpath_navigation_msgs/Waypoint[] waypoints
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/Waypoint[] waypoints
+
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/GetEverything.html b/static/api/html/clearpath_mission_manager_msgs/srv/GetEverything.html new file mode 100644 index 00000000..1d642be9 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/GetEverything.html @@ -0,0 +1,28 @@ + + + + + srv/GetEverything Documentation + + + +
+

clearpath_mission_manager_msgs/srv/GetEverything Service

+
+

File: clearpath_mission_manager_msgs/srv/GetEverything.msg

+

Raw Message Definition

+
+ ---
+
# All Missions, Waypoints, and Tasks defined in the database

+ clearpath_mission_manager_msgs/StorageState state
+
+

Compact Message Definition

+
+ clearpath_mission_manager_msgs/msg/StorageState state
+
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/GetMission.html b/static/api/html/clearpath_mission_manager_msgs/srv/GetMission.html new file mode 100644 index 00000000..886d0dcc --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/GetMission.html @@ -0,0 +1,31 @@ + + + + + srv/GetMission Documentation + + + +
+

clearpath_mission_manager_msgs/srv/GetMission Service

+
+

File: clearpath_mission_manager_msgs/srv/GetMission.msg

+

Raw Message Definition

+
+
# The UUID of the Mission we want to retrieve

+ string uuid
+ ---
+
# The Mission with the given ID, or null if no Mission with that ID exists

+ clearpath_navigation_msgs/Mission mission
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/Mission mission
+
+ string uuid
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/GetNetworkMap.html b/static/api/html/clearpath_mission_manager_msgs/srv/GetNetworkMap.html new file mode 100644 index 00000000..dad85432 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/GetNetworkMap.html @@ -0,0 +1,30 @@ + + + + + srv/GetNetworkMap Documentation + + + +
+

clearpath_mission_manager_msgs/srv/GetNetworkMap Service

+
+

File: clearpath_mission_manager_msgs/srv/GetNetworkMap.msg

+

Raw Message Definition

+
+
# The UUID of the NetworkMap we want to retrieve

+ string uuid
+ ---
+ clearpath_navigation_msgs/NetworkMap map
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/NetworkMap map
+
+ string uuid
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/GetNetworkMission.html b/static/api/html/clearpath_mission_manager_msgs/srv/GetNetworkMission.html new file mode 100644 index 00000000..619c939f --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/GetNetworkMission.html @@ -0,0 +1,31 @@ + + + + + srv/GetNetworkMission Documentation + + + +
+

clearpath_mission_manager_msgs/srv/GetNetworkMission Service

+
+

File: clearpath_mission_manager_msgs/srv/GetNetworkMission.msg

+

Raw Message Definition

+
+
# The UUID of the NetworkMission we want to retrieve

+ string uuid
+ ---
+
# The Mission with the given ID, or null if no Mission with that ID exists

+ clearpath_navigation_msgs/NetworkMission mission
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/NetworkMission mission
+
+ string uuid
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/GetPointOfInterest.html b/static/api/html/clearpath_mission_manager_msgs/srv/GetPointOfInterest.html new file mode 100644 index 00000000..7c2fc8c7 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/GetPointOfInterest.html @@ -0,0 +1,29 @@ + + + + + srv/GetPointOfInterest Documentation + + + +
+

clearpath_mission_manager_msgs/srv/GetPointOfInterest Service

+
+

File: clearpath_mission_manager_msgs/srv/GetPointOfInterest.msg

+

Raw Message Definition

+
+ string uuid
+ ---
+ clearpath_navigation_msgs/PointOfInterest point_of_interest
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/PointOfInterest point_of_interest
+
+ string uuid
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/GetTask.html b/static/api/html/clearpath_mission_manager_msgs/srv/GetTask.html new file mode 100644 index 00000000..e3731e9c --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/GetTask.html @@ -0,0 +1,31 @@ + + + + + srv/GetTask Documentation + + + +
+

clearpath_mission_manager_msgs/srv/GetTask Service

+
+

File: clearpath_mission_manager_msgs/srv/GetTask.msg

+

Raw Message Definition

+
+
# The UUID of the Task we want to retrieve

+ string uuid
+ ---
+
# The Task with the given ID, or null if no Task with that ID exists

+ clearpath_navigation_msgs/Task task
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/Task task
+
+ string uuid
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/GetWaypoint.html b/static/api/html/clearpath_mission_manager_msgs/srv/GetWaypoint.html new file mode 100644 index 00000000..1397958a --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/GetWaypoint.html @@ -0,0 +1,31 @@ + + + + + srv/GetWaypoint Documentation + + + +
+

clearpath_mission_manager_msgs/srv/GetWaypoint Service

+
+

File: clearpath_mission_manager_msgs/srv/GetWaypoint.msg

+

Raw Message Definition

+
+
# The UUID of the Waypoint we want to retrieve

+ string uuid
+ ---
+
# The Waypoint with the given ID, or null if no Waypoint with that ID exists

+ clearpath_navigation_msgs/Waypoint waypoint
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/Waypoint waypoint
+
+ string uuid
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/ImportData.html b/static/api/html/clearpath_mission_manager_msgs/srv/ImportData.html new file mode 100644 index 00000000..7f1fe72e --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/ImportData.html @@ -0,0 +1,33 @@ + + + + + srv/ImportData Documentation + + + +
+

clearpath_mission_manager_msgs/srv/ImportData Service

+
+

File: clearpath_mission_manager_msgs/srv/ImportData.msg

+

Raw Message Definition

+
+
# A JSON string representing the database contents.

+
# This is the same as the data output by the ExportData service, and is intended

+
# to be used to restore the database to a previous state

+ string data
+ ---
+
# The state of the database after importing the data

+ clearpath_mission_manager_msgs/StorageState state
+
+

Compact Message Definition

+
+ clearpath_mission_manager_msgs/msg/StorageState state
+
+ string data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/ImportMission.html b/static/api/html/clearpath_mission_manager_msgs/srv/ImportMission.html new file mode 100644 index 00000000..3e75f795 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/ImportMission.html @@ -0,0 +1,32 @@ + + + + + srv/ImportMission Documentation + + + +
+

clearpath_mission_manager_msgs/srv/ImportMission Service

+
+

File: clearpath_mission_manager_msgs/srv/ImportMission.msg

+

Raw Message Definition

+
+
# The mission to import. UUIDs that do not already exist are added, but objects with existing UUIDs

+
# are re-used

+ clearpath_navigation_msgs/Mission mission
+ ---
+
# The imported mission

+ clearpath_navigation_msgs/Mission mission
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/Mission mission
+
+ clearpath_navigation_msgs/msg/Mission mission
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/ImportNetworkMap.html b/static/api/html/clearpath_mission_manager_msgs/srv/ImportNetworkMap.html new file mode 100644 index 00000000..f3fe60c9 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/ImportNetworkMap.html @@ -0,0 +1,32 @@ + + + + + srv/ImportNetworkMap Documentation + + + +
+

clearpath_mission_manager_msgs/srv/ImportNetworkMap Service

+
+

File: clearpath_mission_manager_msgs/srv/ImportNetworkMap.msg

+

Raw Message Definition

+
+
# The map to import. UUIDs that do not already exist are added, but objects with existing UUIDs

+
# are re-used

+ clearpath_navigation_msgs/NetworkMap map
+ ---
+
# The imported map

+ clearpath_navigation_msgs/NetworkMap map
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/NetworkMap map
+
+ clearpath_navigation_msgs/msg/NetworkMap map
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/ImportNetworkMission.html b/static/api/html/clearpath_mission_manager_msgs/srv/ImportNetworkMission.html new file mode 100644 index 00000000..dc8ab734 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/ImportNetworkMission.html @@ -0,0 +1,32 @@ + + + + + srv/ImportNetworkMission Documentation + + + +
+

clearpath_mission_manager_msgs/srv/ImportNetworkMission Service

+
+

File: clearpath_mission_manager_msgs/srv/ImportNetworkMission.msg

+

Raw Message Definition

+
+
# The mission to import. UUIDs that do not already exist are added, but objects with existing UUIDs

+
# are re-used

+ clearpath_navigation_msgs/NetworkMission mission
+ ---
+
# The imported mission

+ clearpath_navigation_msgs/NetworkMission mission
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/NetworkMission mission
+
+ clearpath_navigation_msgs/msg/NetworkMission mission
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/SplitNetworkEdge.html b/static/api/html/clearpath_mission_manager_msgs/srv/SplitNetworkEdge.html new file mode 100644 index 00000000..33ed5060 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/SplitNetworkEdge.html @@ -0,0 +1,47 @@ + + + + + srv/SplitNetworkEdge Documentation + + + +
+

clearpath_mission_manager_msgs/srv/SplitNetworkEdge Service

+
+

File: clearpath_mission_manager_msgs/srv/SplitNetworkEdge.msg

+

Raw Message Definition

+
+
# Splits an edge on a NetworkMap to connect to a new point

+
+
# The UUID of the map to edit

+ string map_id
+
+
# The UUID of the edge we want to split

+ string edge_id
+
+
# The position of the new point to create

+ float64 new_point_latitude
+ float64 new_point_longitude
+
+
# If true, we also split the reverse edge (if it exists)

+ bool symmetrical
+ ---
+
# The map in its new state

+ clearpath_navigation_msgs/NetworkMap result
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/NetworkMap result
+
+ string map_id
+ string edge_id
+ double new_point_latitude
+ double new_point_longitude
+ boolean symmetrical
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/UpdateMission.html b/static/api/html/clearpath_mission_manager_msgs/srv/UpdateMission.html new file mode 100644 index 00000000..2fe43f83 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/UpdateMission.html @@ -0,0 +1,51 @@ + + + + + srv/UpdateMission Documentation + + + +
+

clearpath_mission_manager_msgs/srv/UpdateMission Service

+
+

File: clearpath_mission_manager_msgs/srv/UpdateMission.msg

+

Raw Message Definition

+
+
# The UUID of the mission we want to edit

+ string uuid
+
+
# The human-readable name for the Mission

+ string name
+
+
# The configuration parameters for the Mission

+ string onav_config
+
+
# The ordered list of Waypoint UUIDs to include in the Mission

+ string[] waypoint_ids
+
+
# The ordered list of Task UUIDs to include in the on_start Task Array

+ string[] on_start_ids
+
+
# The ordered list of Task UUIDs to include in the on_stop Task Array

+ string[] on_stop_ids
+ ---
+
# The edited Mission, or null if no mission with the given ID exists

+ clearpath_navigation_msgs/Mission result
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/Mission result
+
+ string uuid
+ string name
+ string onav_config
+ string[] waypoint_ids
+ string[] on_start_ids
+ string[] on_stop_ids
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkEdge.html b/static/api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkEdge.html new file mode 100644 index 00000000..0acc5812 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkEdge.html @@ -0,0 +1,59 @@ + + + + + srv/UpdateNetworkEdge Documentation + + + +
+

clearpath_mission_manager_msgs/srv/UpdateNetworkEdge Service

+
+

File: clearpath_mission_manager_msgs/srv/UpdateNetworkEdge.msg

+

Raw Message Definition

+
+
# The UUID of the map we're operating on

+ string map_id
+
+
# The UUIDs of the start and end points for this edge

+ string uuid
+
+
# The UUIDs of the start & end points of the edge we're editing

+
# Ignored if null/empty

+ string start_point_id
+ string end_point_id
+
+
# The operational radius around the edge

+ float32 radius
+
+
# The speed limit when driving along this edge

+ float32 speed_limit
+
+
# An additional cost factor to prioritize certain edges over others in the planner

+
# Higher costs -> edge is less likely to be included in the planned route

+
# Expected range is (0.0, 100.0) (exclusive range).

+
# Values outside the expected range will be treated as the default 1.0

+ float32 cost_factor
+
+ ---
+
+
# The updated edge

+ clearpath_navigation_msgs/NetworkEdge result
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/NetworkEdge result
+
+ string map_id
+ string uuid
+ string start_point_id
+ string end_point_id
+ float radius
+ float speed_limit
+ float cost_factor
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkEdges.html b/static/api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkEdges.html new file mode 100644 index 00000000..886fd44d --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkEdges.html @@ -0,0 +1,53 @@ + + + + + srv/UpdateNetworkEdges Documentation + + + +
+

clearpath_mission_manager_msgs/srv/UpdateNetworkEdges Service

+
+

File: clearpath_mission_manager_msgs/srv/UpdateNetworkEdges.msg

+

Raw Message Definition

+
+
# Update multiple edges in a single map

+
+
# The UUID of the map we're operating on

+ string map_id
+
+
# The UUIDs of the start and end points for this edge

+ string[] uuids
+
+
# The operational radii around the edges

+
# Ignored if negative

+ float32[] radii
+
+
# The speed limit when driving along the edges

+
# Ignored if negative

+ float32[] speed_limits
+
+
# The cost factors of the edges

+ float32[] cost_factors
+
+ ---
+
+
# The updated edge

+ clearpath_navigation_msgs/NetworkEdge[] result
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/NetworkEdge[] result
+
+ string map_id
+ string[] uuids
+ float[] radii
+ float[] speed_limits
+ float[] cost_factors
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkMap.html b/static/api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkMap.html new file mode 100644 index 00000000..c1d51c40 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkMap.html @@ -0,0 +1,36 @@ + + + + + srv/UpdateNetworkMap Documentation + + + +
+

clearpath_mission_manager_msgs/srv/UpdateNetworkMap Service

+
+

File: clearpath_mission_manager_msgs/srv/UpdateNetworkMap.msg

+

Raw Message Definition

+
+ string uuid
+
+ string name
+ float32 default_radius
+ float32 default_speed_limit
+ ---
+ clearpath_navigation_msgs/NetworkMap result
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/NetworkMap result
+
+ string uuid
+ string name
+ float default_radius
+ float default_speed_limit
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkMission.html b/static/api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkMission.html new file mode 100644 index 00000000..b8294e73 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkMission.html @@ -0,0 +1,76 @@ + + + + + srv/UpdateNetworkMission Documentation + + + +
+

clearpath_mission_manager_msgs/srv/UpdateNetworkMission Service

+
+

File: clearpath_mission_manager_msgs/srv/UpdateNetworkMission.msg

+

Raw Message Definition

+
+
# The UUID of the mission we want to edit

+ string uuid
+
+
# The desired name for the new mission

+ string name
+
+
# The additional configuration options

+
# see clearpath_navigation_msgs/msg/Mission for details

+ string onav_config
+
+
# The ordered list of Waypoint UUIDs to include in this mission

+ string[] waypoint_ids
+
+
# The ordered list of Task UUIDs to include in the on_start Task Array

+ string[] on_start_ids
+
+
# The ordered list of Task UUIDs to include in the on_stop Task Array

+ string[] on_stop_ids
+
+
# Boolean value indicating whether robot should attempt 'return to dock' behavior

+
# when battery level drops below return_to_dock_battery_level

+ bool return_to_dock_enabled
+
+
# Dock UUID that the robot should return to for 'return to dock' behavior

+ string return_to_dock_id
+
+
# Value from 0 to 1 indicating what charge level the robot will return to dock at

+ float32 return_to_dock_battery_level
+
+
# Value from 0 to 1 indicating what charge level the robot should resume this mission at

+
# after returning to dock for recharging

+ float32 resume_mission_battery_level
+
+
# Boolean value indicating whether 'network' level replanning should be performed

+
# in the event that a network edge is deemed un-traversable (e.g., due to obstacles)

+ bool network_replan_enabled
+
+ ---
+
# The resulting Mission, with an auto-generated UUID is returned

+ clearpath_navigation_msgs/NetworkMission result
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/NetworkMission result
+
+ string uuid
+ string name
+ string onav_config
+ string[] waypoint_ids
+ string[] on_start_ids
+ string[] on_stop_ids
+ boolean return_to_dock_enabled
+ string return_to_dock_id
+ float return_to_dock_battery_level
+ float resume_mission_battery_level
+ boolean network_replan_enabled
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkPoint.html b/static/api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkPoint.html new file mode 100644 index 00000000..f0730740 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkPoint.html @@ -0,0 +1,43 @@ + + + + + srv/UpdateNetworkPoint Documentation + + + +
+

clearpath_mission_manager_msgs/srv/UpdateNetworkPoint Service

+
+

File: clearpath_mission_manager_msgs/srv/UpdateNetworkPoint.msg

+

Raw Message Definition

+
+
# The UUID of the map we're working on

+ string map_id
+
+
# The UUID of the point to edit

+ string uuid
+
+
# The location of this point on the map

+ float64 latitude
+ float64 longitude
+
+ ---
+
+
# The added point, with generated UUID

+ clearpath_navigation_msgs/NetworkPoint result
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/NetworkPoint result
+
+ string map_id
+ string uuid
+ double latitude
+ double longitude
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkPoints.html b/static/api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkPoints.html new file mode 100644 index 00000000..015d56a1 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkPoints.html @@ -0,0 +1,43 @@ + + + + + srv/UpdateNetworkPoints Documentation + + + +
+

clearpath_mission_manager_msgs/srv/UpdateNetworkPoints Service

+
+

File: clearpath_mission_manager_msgs/srv/UpdateNetworkPoints.msg

+

Raw Message Definition

+
+
# The UUID of the map we're working on

+ string map_id
+
+
# The UUID of the points to edit

+ string[] uuids
+
+
# The location of the points on the map, in the same order as uuids

+ float64[] latitudes
+ float64[] longitudes
+
+ ---
+
+
# The added point, with generated UUID

+ clearpath_navigation_msgs/NetworkPoint[] result
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/NetworkPoint[] result
+
+ string map_id
+ string[] uuids
+ double[] latitudes
+ double[] longitudes
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/UpdatePointOfInterest.html b/static/api/html/clearpath_mission_manager_msgs/srv/UpdatePointOfInterest.html new file mode 100644 index 00000000..0ae3d81b --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/UpdatePointOfInterest.html @@ -0,0 +1,60 @@ + + + + + srv/UpdatePointOfInterest Documentation + + + +
+

clearpath_mission_manager_msgs/srv/UpdatePointOfInterest Service

+
+

File: clearpath_mission_manager_msgs/srv/UpdatePointOfInterest.msg

+

Raw Message Definition

+
+
# The ID of the point to edit

+ string uuid
+
+
# The human-readable name of this POI

+ string name
+
+
# The latitude (in decimal degrees) of this POI

+ float64 latitude
+
+
# The longitude (in decinal degrees) of this POI

+ float64 longitude
+
+
# The height above ground level (in meters)

+ float64 elevation
+
+
# The compass heading (in degrees) of this POI (optional)

+ bool enable_heading
+ float64 heading
+
+
# A set of labels assigned to the POI in order to categorize it

+ string[] tags
+
+
# A JSON formatted string that contains user defined POI fields

+ string custom_fields_json
+ ---
+ clearpath_navigation_msgs/PointOfInterest result
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/PointOfInterest result
+
+ string uuid
+ string name
+ double latitude
+ double longitude
+ double elevation
+ boolean enable_heading
+ double heading
+ string[] tags
+ string custom_fields_json
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/UpdateTask.html b/static/api/html/clearpath_mission_manager_msgs/srv/UpdateTask.html new file mode 100644 index 00000000..ac17be92 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/UpdateTask.html @@ -0,0 +1,56 @@ + + + + + srv/UpdateTask Documentation + + + +
+

clearpath_mission_manager_msgs/srv/UpdateTask Service

+
+

File: clearpath_mission_manager_msgs/srv/UpdateTask.msg

+

Raw Message Definition

+
+
# The UUID of the Task to edit

+ string uuid
+
+
# The human-readable name for the Task

+ string name
+
+
# The ROS Action that the Task executes

+ string action_server_name
+
+
# The version of the Task

+ string version
+
+
# The numerical data to pass to the action_server_name

+ float64[] floats
+
+
# The string data to pass to the action_server_name

+ string[] strings
+
+
# Boolean value which determines whether a mission using this task can continue

+
# if this task fails to execute

+ bool allow_failure
+ ---
+
# The edited Task, or null if no Task with the given ID exists

+ clearpath_navigation_msgs/Task result
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/Task result
+
+ string uuid
+ string name
+ string action_server_name
+ string version
+ double[] floats
+ string[] strings
+ boolean allow_failure
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/UpdateWaypoint.html b/static/api/html/clearpath_mission_manager_msgs/srv/UpdateWaypoint.html new file mode 100644 index 00000000..e87e7185 --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/UpdateWaypoint.html @@ -0,0 +1,59 @@ + + + + + srv/UpdateWaypoint Documentation + + + +
+

clearpath_mission_manager_msgs/srv/UpdateWaypoint Service

+
+

File: clearpath_mission_manager_msgs/srv/UpdateWaypoint.msg

+

Raw Message Definition

+
+
# The UUID of the Waypoint to edit

+ string uuid
+
+
# The human-readable name for the Waypoint

+ string name
+
+
# The latitude of the Waypoint in degrees

+ float64 latitude
+
+
# The longitude of the Waypoint in degrees

+ float64 longitude
+
+
# The compass heading of the Waypoint in degrees

+ float64 heading
+
+
# The Waypoint's position tolerance in meters

+ float64 position_tolerance
+
+
# The Waypoint's orientation tolerance in degrees

+ float64 yaw_tolerance
+
+
# The ordered list of Task UUIDs to execute at this Waypoint

+ string[] task_ids
+ ---
+
# The edited Waypoint, or null if no Waypoint with the given ID exists

+ clearpath_navigation_msgs/Waypoint result
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/Waypoint result
+
+ string uuid
+ string name
+ double latitude
+ double longitude
+ double heading
+ double position_tolerance
+ double yaw_tolerance
+ string[] task_ids
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_mission_manager_msgs/srv/ValidateNetworkMap.html b/static/api/html/clearpath_mission_manager_msgs/srv/ValidateNetworkMap.html new file mode 100644 index 00000000..2ad558bd --- /dev/null +++ b/static/api/html/clearpath_mission_manager_msgs/srv/ValidateNetworkMap.html @@ -0,0 +1,32 @@ + + + + + srv/ValidateNetworkMap Documentation + + + +
+

clearpath_mission_manager_msgs/srv/ValidateNetworkMap Service

+
+

File: clearpath_mission_manager_msgs/srv/ValidateNetworkMap.msg

+

Raw Message Definition

+
+
# Checks that a Network of Paths map is valid and error/warning-free

+
+
# The UUID of the map to check

+ string uuid
+ ---
+ clearpath_mission_manager_msgs/NetworkMapState state
+
+

Compact Message Definition

+
+ clearpath_mission_manager_msgs/msg/NetworkMapState state
+
+ string uuid
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/action/ExecuteMissionByUuid.html b/static/api/html/clearpath_navigation_msgs/action/ExecuteMissionByUuid.html new file mode 100644 index 00000000..055ad824 --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/action/ExecuteMissionByUuid.html @@ -0,0 +1,52 @@ + + + + + action/ExecuteMissionByUuid Documentation + + + +
+

clearpath_navigation_msgs/action/ExecuteMissionByUuid Action

+
+

File: clearpath_navigation_msgs/action/ExecuteMissionByUuid.action

+

Raw Message Definition

+
+
# Action definition for executing a mission by uuid

+
+
# goal

+
+
#string uuid # UUID of The mission being executed

+
+
# from_start = True -> Forces the mission to execute from the beginning

+ bool from_start
+
+
# If from_start = False, mission will be executed from the waypoint with UUID specified.

+
# If from_start = False and no start_waypoint_uuid is specified then autonomy will pick the closest waypoint

+ string start_waypoint_uuid
+ ---
+
# result

+ bool success
+ string message
+ ---
+
# feedback

+ string message
+ float32 elapsed_time
+
+

Compact Message Definition

+
+ string uuid
+ boolean from_start
+ string start_waypoint_uuid
+
+ string message
+ float elapsed_time
+
+ boolean success
+ string message
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/action/ExecuteNetworkGoTo.html b/static/api/html/clearpath_navigation_msgs/action/ExecuteNetworkGoTo.html new file mode 100644 index 00000000..a4c9ef46 --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/action/ExecuteNetworkGoTo.html @@ -0,0 +1,72 @@ + + + + + action/ExecuteNetworkGoTo Documentation + + + +
+

clearpath_navigation_msgs/action/ExecuteNetworkGoTo Action

+
+

File: clearpath_navigation_msgs/action/ExecuteNetworkGoTo.action

+

Raw Message Definition

+
+
# Action definition for sending a mission to the Clearpath OutdoorNav software

+
+
# goal

+ string map_uuid
+ clearpath_navigation_msgs/Waypoint waypoint
+
+ ---
+
# result

+
+ uint8 UNKNOWN = 0
+ uint8 CANCELLED = 1
+ uint8 COLLISION = 2
+ uint8 PLANNING = 3
+ uint8 START_TASKS = 4
+ uint8 END_TASKS = 5
+ uint8 MISSION_TASKS = 6
+ uint8 code
+
+ bool success
+ string message
+ uint16 NONE=0
+ uint16 error_code
+ string error_msg
+
+ ---
+
# feedback

+ string message
+ clearpath_navigation_msgs/NetworkMissionSegment network_plan
+ float32 elapsed_time
+
+

Compact Message Definition

+
+ string map_uuid
+ clearpath_navigation_msgs/msg/Waypoint waypoint
+
+ string message
+ clearpath_navigation_msgs/msg/NetworkMissionSegment network_plan
+ float elapsed_time
+
+ uint8 UNKNOWN=0
+ uint8 CANCELLED=1
+ uint8 COLLISION=2
+ uint8 PLANNING=3
+ uint8 START_TASKS=4
+ uint8 END_TASKS=5
+ uint8 MISSION_TASKS=6
+ uint16 NONE=0
+ uint8 code
+ boolean success
+ string message
+ uint16 error_code
+ string error_msg
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/action/ExecuteNetworkMissionByUuid.html b/static/api/html/clearpath_navigation_msgs/action/ExecuteNetworkMissionByUuid.html new file mode 100644 index 00000000..aaaaf94a --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/action/ExecuteNetworkMissionByUuid.html @@ -0,0 +1,75 @@ + + + + + action/ExecuteNetworkMissionByUuid Documentation + + + +
+

clearpath_navigation_msgs/action/ExecuteNetworkMissionByUuid Action

+
+

File: clearpath_navigation_msgs/action/ExecuteNetworkMissionByUuid.action

+

Raw Message Definition

+
+
# Action definition for executing a NetworkMission by uuid

+
+
# goal

+ string mission_uuid
+ string map_uuid
+
+ ---
+
# result

+
+ uint8 UNKNOWN = 0
+ uint8 CANCELLED = 1
+ uint8 COLLISION = 2
+ uint8 PLANNING = 3
+ uint8 START_TASKS = 4
+ uint8 END_TASKS = 5
+ uint8 MISSION_TASKS = 6
+ uint8 code
+
+ bool success
+ string message
+ clearpath_navigation_msgs/NetworkGoalState[] goal_states
+ uint16 NONE=0
+ uint16 error_code
+ string error_msg
+ ---
+
# feedback

+ string message
+ clearpath_navigation_msgs/NetworkGoalState[] goal_states
+ clearpath_navigation_msgs/NetworkMissionSegment network_plan
+ float32 elapsed_time
+
+

Compact Message Definition

+
+ string mission_uuid
+ string map_uuid
+
+ string message
+ clearpath_navigation_msgs/msg/NetworkGoalState[] goal_states
+ clearpath_navigation_msgs/msg/NetworkMissionSegment network_plan
+ float elapsed_time
+
+ uint8 UNKNOWN=0
+ uint8 CANCELLED=1
+ uint8 COLLISION=2
+ uint8 PLANNING=3
+ uint8 START_TASKS=4
+ uint8 END_TASKS=5
+ uint8 MISSION_TASKS=6
+ uint16 NONE=0
+ uint8 code
+ boolean success
+ string message
+ clearpath_navigation_msgs/msg/NetworkGoalState[] goal_states
+ uint16 error_code
+ string error_msg
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/action/ExecuteNetworkMissionFromGoal.html b/static/api/html/clearpath_navigation_msgs/action/ExecuteNetworkMissionFromGoal.html new file mode 100644 index 00000000..a728bf67 --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/action/ExecuteNetworkMissionFromGoal.html @@ -0,0 +1,79 @@ + + + + + action/ExecuteNetworkMissionFromGoal Documentation + + + +
+

clearpath_navigation_msgs/action/ExecuteNetworkMissionFromGoal Action

+
+

File: clearpath_navigation_msgs/action/ExecuteNetworkMissionFromGoal.action

+

Raw Message Definition

+
+
# Action definition for executing a NetworkMission by uuid

+
+
# goal

+ string mission_uuid
+ string map_uuid
+ string goal_uuid
+ bool run_on_start_tasks
+
+ ---
+
# result

+
+ uint8 UNKNOWN = 0
+ uint8 CANCELLED = 1
+ uint8 COLLISION = 2
+ uint8 PLANNING = 3
+ uint8 START_TASKS = 4
+ uint8 END_TASKS = 5
+ uint8 MISSION_TASKS = 6
+ uint8 code
+
+ bool success
+ string message
+ clearpath_navigation_msgs/NetworkGoalState[] goal_states
+ uint16 NONE=0
+ uint16 error_code
+ string error_msg
+ ---
+
# feedback

+ string message
+ clearpath_navigation_msgs/NetworkGoalState[] goal_states
+ clearpath_navigation_msgs/NetworkMissionSegment network_plan
+ float32 elapsed_time
+
+

Compact Message Definition

+
+ string mission_uuid
+ string map_uuid
+ string goal_uuid
+ boolean run_on_start_tasks
+
+ string message
+ clearpath_navigation_msgs/msg/NetworkGoalState[] goal_states
+ clearpath_navigation_msgs/msg/NetworkMissionSegment network_plan
+ float elapsed_time
+
+ uint8 UNKNOWN=0
+ uint8 CANCELLED=1
+ uint8 COLLISION=2
+ uint8 PLANNING=3
+ uint8 START_TASKS=4
+ uint8 END_TASKS=5
+ uint8 MISSION_TASKS=6
+ uint16 NONE=0
+ uint8 code
+ boolean success
+ string message
+ clearpath_navigation_msgs/msg/NetworkGoalState[] goal_states
+ uint16 error_code
+ string error_msg
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/action/InspectPoi.html b/static/api/html/clearpath_navigation_msgs/action/InspectPoi.html new file mode 100644 index 00000000..b63a1103 --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/action/InspectPoi.html @@ -0,0 +1,44 @@ + + + + + action/InspectPoi Documentation + + + +
+

clearpath_navigation_msgs/action/InspectPoi Action

+
+

File: clearpath_navigation_msgs/action/InspectPoi.action

+

Raw Message Definition

+
+
# Action definition for inspecting a Point of Interest (POI) with a PTZ mounted on the Clearpth UGV

+
+
# goal

+ string poi_uuid
+ float32 zoom
+
+ ---
+
# result

+ bool success
+ string message
+
+ ---
+
# feedback

+ string message
+
+

Compact Message Definition

+
+ string poi_uuid
+ float zoom
+
+ string message
+
+ boolean success
+ string message
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/action/Mission.html b/static/api/html/clearpath_navigation_msgs/action/Mission.html new file mode 100644 index 00000000..001cb39c --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/action/Mission.html @@ -0,0 +1,49 @@ + + + + + action/Mission Documentation + + + +
+

clearpath_navigation_msgs/action/Mission Action

+
+

File: clearpath_navigation_msgs/action/Mission.action

+

Raw Message Definition

+
+
# Action definition for sending a mission to the Clearpath OutdoorNav software

+
+
# goal

+ clearpath_navigation_msgs/Mission mission
+
+
# from_start = True -> Forces the mission to execute from the beginning

+ bool from_start
+
+
# If from_start = False, mission will be executed from the start_waypoint specified.

+
# If from_start = False and no start_waypoint is specified then autonomy will pick the closest waypoint

+ clearpath_navigation_msgs/Waypoint start_waypoint
+ ---
+
# result

+ bool success
+ string message
+ ---
+
# feedback

+ string message
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/Mission mission
+ boolean from_start
+ clearpath_navigation_msgs/msg/Waypoint start_waypoint
+
+ string message
+
+ boolean success
+ string message
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/action/RecordPath.html b/static/api/html/clearpath_navigation_msgs/action/RecordPath.html new file mode 100644 index 00000000..185c9700 --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/action/RecordPath.html @@ -0,0 +1,58 @@ + + + + + action/RecordPath Documentation + + + +
+

clearpath_navigation_msgs/action/RecordPath Action

+
+

File: clearpath_navigation_msgs/action/RecordPath.action

+

Raw Message Definition

+
+
# Action definition for recording a path while the robot is driving

+
+
# goal

+
+
# the maximum allowed deviation in the smoothed path in meters

+
# this value is used during the path simiplification

+ float64 max_deviation
+
+
# the minimum allowable distance between points (in meters) published in the feedback

+
# this filters the feedback topic to reduce the number of points published

+
# the final result _may_ include points closer than this distance as a result of

+
# the final simplification

+ float64 min_distance
+
+ ---
+
# result

+
+
# the simplified path; the length of this path will be <= the length of the last feedback

+
# [0] = latitude

+
# [1] = longitude

+ clearpath_navigation_msgs/Vector2D64[] points
+
+ ---
+
# feedback

+
+
# current progress; the raw points recorded so far

+
# [0] = latitude

+
# [1] = longitude

+ clearpath_navigation_msgs/Vector2D64[] points
+
+

Compact Message Definition

+
+ double max_deviation
+ double min_distance
+
+ clearpath_navigation_msgs/msg/Vector2D64[] points
+
+ clearpath_navigation_msgs/msg/Vector2D64[] points
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/action/UITask.html b/static/api/html/clearpath_navigation_msgs/action/UITask.html new file mode 100644 index 00000000..1c2429a2 --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/action/UITask.html @@ -0,0 +1,40 @@ + + + + + action/UITask Documentation + + + +
+

clearpath_navigation_msgs/action/UITask Action

+
+

File: clearpath_navigation_msgs/action/UITask.action

+

Raw Message Definition

+
+
#goal definition

+ string version
+ float64[] floats
+ string[] strings
+ ---
+
#result definition

+ bool success
+ ---
+
#feedback

+ string state
+
+

Compact Message Definition

+
+ string version
+ double[] floats
+ string[] strings
+
+ string state
+
+ boolean success
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/index-msg.html b/static/api/html/clearpath_navigation_msgs/index-msg.html new file mode 100644 index 00000000..244788e4 --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/index-msg.html @@ -0,0 +1,50 @@ + + + + + clearpath_navigation_msgs Message / Service / Action Documentation + + + +
+

clearpath_navigation_msgs Message Documentation

+ +

clearpath_navigation_msgs Service Documentation

+ +

clearpath_navigation_msgs Action Documentation

+ +

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/msg/AutonomyConfig.html b/static/api/html/clearpath_navigation_msgs/msg/AutonomyConfig.html new file mode 100644 index 00000000..bd28295a --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/msg/AutonomyConfig.html @@ -0,0 +1,29 @@ + + + + + msg/AutonomyConfig Documentation + + + +
+

clearpath_navigation_msgs/msg/AutonomyConfig Message

+
+

File: clearpath_navigation_msgs/msg/AutonomyConfig.msg

+

Raw Message Definition

+
+
# Autonomy configuration message

+
+ string version
+ float64 uptime
+
+

Compact Message Definition

+
+ string version
+ double uptime
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/msg/AutonomyStatus.html b/static/api/html/clearpath_navigation_msgs/msg/AutonomyStatus.html new file mode 100644 index 00000000..16c793fd --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/msg/AutonomyStatus.html @@ -0,0 +1,59 @@ + + + + + msg/AutonomyStatus Documentation + + + +
+

clearpath_navigation_msgs/msg/AutonomyStatus Message

+
+

File: clearpath_navigation_msgs/msg/AutonomyStatus.msg

+

Raw Message Definition

+
+
# Message containing status of individual Waypoint in NetworkMission

+
+ std_msgs/Header header
+ builtin_interfaces/Time last_start
+ string mission_uuid
+ string map_uuid
+ bool paused
+
+ uint8 IDLE = 0
+ uint8 MISSION_DIRECT = 1
+ uint8 MISSION_BY_ID = 2
+ uint8 NETWORK_MISSION = 3
+ uint8 NETWORK_MISSION_FROM_GOAL = 4
+ uint8 NETWORK_GOTO = 5
+ uint8 LOCAL_DOCKING = 6
+ uint8 LOCAL_UNDOCKING = 7
+ uint8 RADIUS_DOCKING = 8
+ uint8 NETWORK_DOCKING = 9
+
+ uint8 state
+
+

Compact Message Definition

+
+ uint8 IDLE=0
+ uint8 MISSION_DIRECT=1
+ uint8 MISSION_BY_ID=2
+ uint8 NETWORK_MISSION=3
+ uint8 NETWORK_MISSION_FROM_GOAL=4
+ uint8 NETWORK_GOTO=5
+ uint8 LOCAL_DOCKING=6
+ uint8 LOCAL_UNDOCKING=7
+ uint8 RADIUS_DOCKING=8
+ uint8 NETWORK_DOCKING=9
+ std_msgs/msg/Header header
+ builtin_interfaces/msg/Time last_start
+ string mission_uuid
+ string map_uuid
+ boolean paused
+ uint8 state
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/msg/GoToPreview.html b/static/api/html/clearpath_navigation_msgs/msg/GoToPreview.html new file mode 100644 index 00000000..bacd99ab --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/msg/GoToPreview.html @@ -0,0 +1,28 @@ + + + + + msg/GoToPreview Documentation + + + +
+

clearpath_navigation_msgs/msg/GoToPreview Message

+
+

File: clearpath_navigation_msgs/msg/GoToPreview.msg

+

Raw Message Definition

+
+
+ std_msgs/Header header
+ geometry_msgs/Point[] points
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ geometry_msgs/msg/Point[] points
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/msg/Mission.html b/static/api/html/clearpath_navigation_msgs/msg/Mission.html new file mode 100644 index 00000000..0ec11887 --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/msg/Mission.html @@ -0,0 +1,53 @@ + + + + + msg/Mission Documentation + + + +
+

clearpath_navigation_msgs/msg/Mission Message

+
+

File: clearpath_navigation_msgs/msg/Mission.msg

+

Raw Message Definition

+
+
# Message definition for an OutdoorNav mission

+
+ std_msgs/Header header
+
+
# The human-readable name of this mission

+ string name
+
+
# A UUID string used to uniquely identify this mission

+ string uuid
+
+
# The ordered list of Waypoints that make up the mission

+ clearpath_navigation_msgs/Waypoint[] waypoints
+
+
# An array of Tasks to execute on Mission start

+ clearpath_navigation_msgs/Task[] on_start
+
+
# An array of Tasks to execute on Mission stop

+
# These Tasks will execute regardless of mission success or failure

+ clearpath_navigation_msgs/Task[] on_stop
+
+
# Configuration parameters for the mission

+
# Additional details TBD

+ string onav_config
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ string name
+ string uuid
+ clearpath_navigation_msgs/msg/Waypoint[] waypoints
+ clearpath_navigation_msgs/msg/Task[] on_start
+ clearpath_navigation_msgs/msg/Task[] on_stop
+ string onav_config
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/msg/MissionPreview.html b/static/api/html/clearpath_navigation_msgs/msg/MissionPreview.html new file mode 100644 index 00000000..de8e9273 --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/msg/MissionPreview.html @@ -0,0 +1,26 @@ + + + + + msg/MissionPreview Documentation + + + +
+

clearpath_navigation_msgs/msg/MissionPreview Message

+
+

File: clearpath_navigation_msgs/msg/MissionPreview.msg

+

Raw Message Definition

+
+
+ clearpath_navigation_msgs/NetworkMissionSegment[] segments
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/NetworkMissionSegment[] segments
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/msg/MissionStatus.html b/static/api/html/clearpath_navigation_msgs/msg/MissionStatus.html new file mode 100644 index 00000000..e1940fe0 --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/msg/MissionStatus.html @@ -0,0 +1,35 @@ + + + + + msg/MissionStatus Documentation + + + +
+

clearpath_navigation_msgs/msg/MissionStatus Message

+
+

File: clearpath_navigation_msgs/msg/MissionStatus.msg

+

Raw Message Definition

+
+
# Message definition for an OutdoorNav mission

+
+ std_msgs/Header header
+
+ string name
+ string uuid
+
+ clearpath_navigation_msgs/WaypointStatus[] waypoints
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ string name
+ string uuid
+ clearpath_navigation_msgs/msg/WaypointStatus[] waypoints
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/msg/NetworkEdge.html b/static/api/html/clearpath_navigation_msgs/msg/NetworkEdge.html new file mode 100644 index 00000000..321882af --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/msg/NetworkEdge.html @@ -0,0 +1,58 @@ + + + + + msg/NetworkEdge Documentation + + + +
+

clearpath_navigation_msgs/msg/NetworkEdge Message

+
+

File: clearpath_navigation_msgs/msg/NetworkEdge.msg

+

Raw Message Definition

+
+
# A directed edge connecting two NetworkPoint instances

+
+ float32 MIN_COST_FACTOR = 0.0
+ float32 MAX_COST_FACTOR = 100.0
+ float32 DEFAULT_COST_FACTOR = 1.0
+
+
# The unique ID for this edge

+ string uuid
+
+
# The points on either end of this edge

+ clearpath_navigation_msgs/NetworkPoint start_point
+ clearpath_navigation_msgs/NetworkPoint end_point
+
+
# The deviation radius allowed around this edge in meters

+
# If zero/negative, the planner will use the parent NetworkGraph object's default_radius property

+ float32 radius
+
+
# The speed limit for the zone covered by this edge in m/s

+
# If zero/negative, the planner will use the parent NetworkGraph object's default_speed_limit property

+ float32 speed_limit
+
+
# An additional cost factor to prioritize certain edges over others in the planner

+
# Higher costs -> edge is less likely to be included in the planned route

+
# Expected range is (0.0, 100.0] (i.e. 0 < cost_factor <= 100).

+
# Values outside the expected range will be treated as the default 1.0

+ float32 cost_factor
+
+

Compact Message Definition

+
+ float MIN_COST_FACTOR=0.0
+ float MAX_COST_FACTOR=100.0
+ float DEFAULT_COST_FACTOR=1.0
+ string uuid
+ clearpath_navigation_msgs/msg/NetworkPoint start_point
+ clearpath_navigation_msgs/msg/NetworkPoint end_point
+ float radius
+ float speed_limit
+ float cost_factor
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/msg/NetworkGoalState.html b/static/api/html/clearpath_navigation_msgs/msg/NetworkGoalState.html new file mode 100644 index 00000000..c3dfc699 --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/msg/NetworkGoalState.html @@ -0,0 +1,42 @@ + + + + + msg/NetworkGoalState Documentation + + + +
+

clearpath_navigation_msgs/msg/NetworkGoalState Message

+
+

File: clearpath_navigation_msgs/msg/NetworkGoalState.msg

+

Raw Message Definition

+
+
# Message containing status of individual Waypoint in NetworkMission

+
+ uint8 PENDING = 0
+ uint8 ACTIVE = 1
+ uint8 SUCCEEDED = 2
+ uint8 NAV_FAILURE = 3
+ uint8 TASK_WARNING = 4
+ uint8 TASK_FAILURE = 5
+
+ uint8 state
+ clearpath_navigation_msgs/Waypoint waypoint
+
+

Compact Message Definition

+
+ uint8 PENDING=0
+ uint8 ACTIVE=1
+ uint8 SUCCEEDED=2
+ uint8 NAV_FAILURE=3
+ uint8 TASK_WARNING=4
+ uint8 TASK_FAILURE=5
+ uint8 state
+ clearpath_navigation_msgs/msg/Waypoint waypoint
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/msg/NetworkMap.html b/static/api/html/clearpath_navigation_msgs/msg/NetworkMap.html new file mode 100644 index 00000000..4df338fe --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/msg/NetworkMap.html @@ -0,0 +1,48 @@ + + + + + msg/NetworkMap Documentation + + + +
+

clearpath_navigation_msgs/msg/NetworkMap Message

+
+

File: clearpath_navigation_msgs/msg/NetworkMap.msg

+

Raw Message Definition

+
+
# The graph representing the Network of Paths

+
# This is implemented as a directed graph

+
+ string name
+ string uuid
+
+
# The default radius for all edges in the graph

+
# Edges with a zero/negative radius will use this default instead

+ float32 default_radius
+
+
# The default speed limit for all edges in the graph

+
# Edges with a zero/negative speed limit will use this default instead

+ float32 default_speed_limit
+
+
# The array of vertices in the graph

+ clearpath_navigation_msgs/NetworkPoint[] points
+
+
# The array of all edges in the graph

+ clearpath_navigation_msgs/NetworkEdge[] connections
+
+

Compact Message Definition

+
+ string name
+ string uuid
+ float default_radius
+ float default_speed_limit
+ clearpath_navigation_msgs/msg/NetworkPoint[] points
+ clearpath_navigation_msgs/msg/NetworkEdge[] connections
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/msg/NetworkMission.html b/static/api/html/clearpath_navigation_msgs/msg/NetworkMission.html new file mode 100644 index 00000000..fab7bf73 --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/msg/NetworkMission.html @@ -0,0 +1,74 @@ + + + + + msg/NetworkMission Documentation + + + +
+

clearpath_navigation_msgs/msg/NetworkMission Message

+
+

File: clearpath_navigation_msgs/msg/NetworkMission.msg

+

Raw Message Definition

+
+
# A Network of Paths mission

+
# Broadly the same as a standard Mission, but with additional fields to allow NoP planning

+
+ std_msgs/Header header
+
+ string name
+ string uuid
+
+
# The ordered list of waypoints to visit during this mission

+ clearpath_navigation_msgs/Waypoint[] waypoints
+
+
# An array of Tasks to execute on Mission start

+ clearpath_navigation_msgs/Task[] on_start
+
+
# An array of Tasks to execute on Mission stop

+
# These Tasks will execute regardless of mission success or failure

+ clearpath_navigation_msgs/Task[] on_stop
+
+
# Boolean value indicating whether robot should attempt 'return to dock' behavior

+
# when battery level drops below return_to_dock_battery_level

+ bool return_to_dock_enabled
+
+
# Dock UUID that the robot should return to for 'return to dock' behavior

+ string return_to_dock_id
+
+
# Value from 0 to 1 indicating what charge level the robot will return to dock at

+ float32 return_to_dock_battery_level
+
+
# Value from 0 to 1 indicating what charge level the robot should resume this mission at

+
# after returning to dock for recharging

+ float32 resume_mission_battery_level
+
+
# Boolean value indicating whether 'network' level replanning should be performed

+
# in the event that a network edge is deemed un-traversable (e.g., due to obstacles)

+ bool network_replan_enabled
+
+
# Configuration parameters for the mission

+
# Additional details TBD

+ string onav_config
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ string name
+ string uuid
+ clearpath_navigation_msgs/msg/Waypoint[] waypoints
+ clearpath_navigation_msgs/msg/Task[] on_start
+ clearpath_navigation_msgs/msg/Task[] on_stop
+ boolean return_to_dock_enabled
+ string return_to_dock_id
+ float return_to_dock_battery_level
+ float resume_mission_battery_level
+ boolean network_replan_enabled
+ string onav_config
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/msg/NetworkMissionSegment.html b/static/api/html/clearpath_navigation_msgs/msg/NetworkMissionSegment.html new file mode 100644 index 00000000..2decdf91 --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/msg/NetworkMissionSegment.html @@ -0,0 +1,31 @@ + + + + + msg/NetworkMissionSegment Documentation + + + +
+

clearpath_navigation_msgs/msg/NetworkMissionSegment Message

+
+

File: clearpath_navigation_msgs/msg/NetworkMissionSegment.msg

+

Raw Message Definition

+
+
# Message containing points defining network path

+
+ std_msgs/Header header
+ clearpath_navigation_msgs/Waypoint goal
+ geometry_msgs/Point[] points
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ clearpath_navigation_msgs/msg/Waypoint goal
+ geometry_msgs/msg/Point[] points
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/msg/NetworkPoint.html b/static/api/html/clearpath_navigation_msgs/msg/NetworkPoint.html new file mode 100644 index 00000000..ee3afd9b --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/msg/NetworkPoint.html @@ -0,0 +1,34 @@ + + + + + msg/NetworkPoint Documentation + + + +
+

clearpath_navigation_msgs/msg/NetworkPoint Message

+
+

File: clearpath_navigation_msgs/msg/NetworkPoint.msg

+

Raw Message Definition

+
+
# A node on the network of paths

+
+
# The unique ID of this point

+ string uuid
+
+
# The location of this point on the map

+ float64 latitude
+ float64 longitude
+
+

Compact Message Definition

+
+ string uuid
+ double latitude
+ double longitude
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/msg/PointOfInterest.html b/static/api/html/clearpath_navigation_msgs/msg/PointOfInterest.html new file mode 100644 index 00000000..956c0756 --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/msg/PointOfInterest.html @@ -0,0 +1,66 @@ + + + + + msg/PointOfInterest Documentation + + + +
+

clearpath_navigation_msgs/msg/PointOfInterest Message

+
+

File: clearpath_navigation_msgs/msg/PointOfInterest.msg

+

Raw Message Definition

+
+
# Message containing the data used to represent a Point of interest (POI)

+
+
# If this tag is present, the POI can be used as a navigation goal

+ string TAG_GOTO = goto
+
+
# If this tag is present, the POI can be set as the target for a PTZ camera action

+ string TAG_INSPECT = inspect
+
+
# A UUID string to uniquely identify this POI

+ string uuid
+
+
# The human-readable name of this POI

+ string name
+
+
# The latitude (in decimal degrees) of this POI

+ float64 latitude
+
+
# The longitude (in decinal degrees) of this POI

+ float64 longitude
+
+
# The height above ground level (in meters)

+ float64 elevation
+
+
# The compass heading (in degrees) of this POI (optional)

+ bool enable_heading
+ float64 heading
+
+
# A set of labels assigned to the POI in order to categorize it

+ string[] tags
+
+
# A JSON formatted string that contains user defined POI fields

+ string custom_fields_json
+
+

Compact Message Definition

+
+ string TAG_GOTO=goto
+ string TAG_INSPECT=inspect
+ string uuid
+ string name
+ double latitude
+ double longitude
+ double elevation
+ boolean enable_heading
+ double heading
+ string[] tags
+ string custom_fields_json
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/msg/Task.html b/static/api/html/clearpath_navigation_msgs/msg/Task.html new file mode 100644 index 00000000..a71446f6 --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/msg/Task.html @@ -0,0 +1,55 @@ + + + + + msg/Task Documentation + + + +
+

clearpath_navigation_msgs/msg/Task Message

+
+

File: clearpath_navigation_msgs/msg/Task.msg

+

Raw Message Definition

+
+
# A single task that can be executed at a Waypoint

+
+
# The human-readable name of this task

+ string name
+
+
# A UUID string to uniquely identify this Task

+ string uuid
+
+
# The ROS action that this task executes

+ string action_server_name
+
+
# The version of this task

+ string version
+
+
# Numerical/boolean data to be passed to the action_server_name

+
# The exact meaning of these values is dependent on the underlying service

+ float64[] floats
+
+
# String data to be passed to the action_server_name

+
# The exact meaning of these values is dependent on the underlying service

+ string[] strings
+
+
# Boolean value which determines whether a mission using this task can continue

+
# if this task fails to execute

+ bool allow_failure
+
+

Compact Message Definition

+
+ string name
+ string uuid
+ string action_server_name
+ string version
+ double[] floats
+ string[] strings
+ boolean allow_failure
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/msg/Vector2D64.html b/static/api/html/clearpath_navigation_msgs/msg/Vector2D64.html new file mode 100644 index 00000000..7b83a126 --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/msg/Vector2D64.html @@ -0,0 +1,27 @@ + + + + + msg/Vector2D64 Documentation + + + +
+

clearpath_navigation_msgs/msg/Vector2D64 Message

+
+

File: clearpath_navigation_msgs/msg/Vector2D64.msg

+

Raw Message Definition

+
+
# 2D Vector of float64s

+
+ float64[2] point
+
+

Compact Message Definition

+
+ double[2] point
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/msg/Waypoint.html b/static/api/html/clearpath_navigation_msgs/msg/Waypoint.html new file mode 100644 index 00000000..50122eaa --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/msg/Waypoint.html @@ -0,0 +1,58 @@ + + + + + msg/Waypoint Documentation + + + +
+

clearpath_navigation_msgs/msg/Waypoint Message

+
+

File: clearpath_navigation_msgs/msg/Waypoint.msg

+

Raw Message Definition

+
+
# A single Waypoint along a Mission

+
+
# A UUID string to uniquely identify this Waypoint

+ string uuid
+
+
# The human-readable name of this Waypoint

+ string name
+
+
# The latitude (in degrees) of this Waypoint

+ float64 latitude
+
+
# The longitude (in degrees) of this Waypoint

+ float64 longitude
+
+
# The compass heading (in degrees) of this Waypoint

+ float64 heading
+
+
# A radius in meters indicating the acceptable radius from the target location

+
# Posititon tolerance is disabled if this value is negative

+ float64 position_tolerance
+
+
# A tolerance in degrees indicating the acceptable deviation from the heading

+
# Heading tolerance is disabled if this value is negative

+ float64 yaw_tolerance
+
+
# The ordered set of Tasks to execute once the goal position & orientation are reached

+ clearpath_navigation_msgs/Task[] tasks
+
+

Compact Message Definition

+
+ string uuid
+ string name
+ double latitude
+ double longitude
+ double heading
+ double position_tolerance
+ double yaw_tolerance
+ clearpath_navigation_msgs/msg/Task[] tasks
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/msg/WaypointStatus.html b/static/api/html/clearpath_navigation_msgs/msg/WaypointStatus.html new file mode 100644 index 00000000..85ec672e --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/msg/WaypointStatus.html @@ -0,0 +1,32 @@ + + + + + msg/WaypointStatus Documentation + + + +
+

clearpath_navigation_msgs/msg/WaypointStatus Message

+
+

File: clearpath_navigation_msgs/msg/WaypointStatus.msg

+

Raw Message Definition

+
+
# The x and y coordinates of a specific waypoint in map (utm) coordinates.

+
+ clearpath_navigation_msgs/Waypoint waypoint
+
+ bool visited
+ bool skipped
+
+

Compact Message Definition

+
+ clearpath_navigation_msgs/msg/Waypoint waypoint
+ boolean visited
+ boolean skipped
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/srv/Q62AreaZoom.html b/static/api/html/clearpath_navigation_msgs/srv/Q62AreaZoom.html new file mode 100644 index 00000000..c46b8c97 --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/srv/Q62AreaZoom.html @@ -0,0 +1,38 @@ + + + + + srv/Q62AreaZoom Documentation + + + +
+

clearpath_navigation_msgs/srv/Q62AreaZoom Service

+
+

File: clearpath_navigation_msgs/srv/Q62AreaZoom.msg

+

Raw Message Definition

+
+
# Service definition to re-position a pan-tilt-zoom camera to a specific location with a specified zoom

+
# Used primarily for box-zoom like functionality

+
+
#float32 x # X location to move camera to, expressed as a fraction of image dimension (0 to 1, where 0.5 is current center)

+
#float32 y # Y location to move camera to, expressed as a fraction of image dimension (0 to 1, where 0.5 is current center)

+ float32 zoom_factor
+ ---
+ bool success
+ string message
+
+

Compact Message Definition

+
+ boolean success
+ string message
+
+ float x
+ float y
+ float zoom_factor
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/srv/StartGoToPreviewer.html b/static/api/html/clearpath_navigation_msgs/srv/StartGoToPreviewer.html new file mode 100644 index 00000000..c4bdea54 --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/srv/StartGoToPreviewer.html @@ -0,0 +1,36 @@ + + + + + srv/StartGoToPreviewer Documentation + + + +
+

clearpath_navigation_msgs/srv/StartGoToPreviewer Service

+
+

File: clearpath_navigation_msgs/srv/StartGoToPreviewer.msg

+

Raw Message Definition

+
+
# Action for starting network GoTo planner

+
+
# goal

+ string map_uuid
+ clearpath_navigation_msgs/Waypoint waypoint
+
+ ---
+
# result

+ bool success
+
+

Compact Message Definition

+
+ boolean success
+
+ string map_uuid
+ clearpath_navigation_msgs/msg/Waypoint waypoint
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_navigation_msgs/srv/StartMissionPreviewer.html b/static/api/html/clearpath_navigation_msgs/srv/StartMissionPreviewer.html new file mode 100644 index 00000000..3254b8d3 --- /dev/null +++ b/static/api/html/clearpath_navigation_msgs/srv/StartMissionPreviewer.html @@ -0,0 +1,35 @@ + + + + + srv/StartMissionPreviewer Documentation + + + +
+

clearpath_navigation_msgs/srv/StartMissionPreviewer Service

+
+

File: clearpath_navigation_msgs/srv/StartMissionPreviewer.msg

+

Raw Message Definition

+
+
# Service for starting network mission previewer

+
+
# goal

+ string map_uuid
+ string mission_uuid
+ ---
+
# result

+ bool success
+
+

Compact Message Definition

+
+ boolean success
+
+ string map_uuid
+ string mission_uuid
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/index-msg.html b/static/api/html/clearpath_safety_msgs/index-msg.html new file mode 100644 index 00000000..1bca3f97 --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/index-msg.html @@ -0,0 +1,54 @@ + + + + + clearpath_safety_msgs Message / Service / Action Documentation + + + +
+

clearpath_safety_msgs Message Documentation

+ +

clearpath_safety_msgs Service Documentation

+ +

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigArray.html b/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigArray.html new file mode 100644 index 00000000..d45979a1 --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigArray.html @@ -0,0 +1,47 @@ + + + + + msg/WatchdogConfigArray Documentation + + + +
+

clearpath_safety_msgs/msg/WatchdogConfigArray Message

+
+

File: clearpath_safety_msgs/msg/WatchdogConfigArray.msg

+

Raw Message Definition

+
+
# Watchdog config message containing information related to device

+
# monitoring and what action should be taken to recover from an error

+
+
+ WatchdogConfigCommunication[] communication_config
+ WatchdogConfigHeartbeat[] heartbeat_config
+ WatchdogConfigInclination[] inclination_config
+ WatchdogConfigNodeStatus[] node_status_config
+ WatchdogConfigNodeletStatus[] nodelet_status_config
+ WatchdogConfigNumPoints[] num_points_config
+ WatchdogConfigOdomCovariance[] odom_covariance_config
+ WatchdogConfigRtkFix[] rtk_fix_config
+ WatchdogConfigTopicData[] topic_data_config
+ WatchdogConfigTrigger[] trigger_config
+
+

Compact Message Definition

+
+ clearpath_safety_msgs/msg/WatchdogConfigCommunication[] communication_config
+ clearpath_safety_msgs/msg/WatchdogConfigHeartbeat[] heartbeat_config
+ clearpath_safety_msgs/msg/WatchdogConfigInclination[] inclination_config
+ clearpath_safety_msgs/msg/WatchdogConfigNodeStatus[] node_status_config
+ clearpath_safety_msgs/msg/WatchdogConfigNodeletStatus[] nodelet_status_config
+ clearpath_safety_msgs/msg/WatchdogConfigNumPoints[] num_points_config
+ clearpath_safety_msgs/msg/WatchdogConfigOdomCovariance[] odom_covariance_config
+ clearpath_safety_msgs/msg/WatchdogConfigRtkFix[] rtk_fix_config
+ clearpath_safety_msgs/msg/WatchdogConfigTopicData[] topic_data_config
+ clearpath_safety_msgs/msg/WatchdogConfigTrigger[] trigger_config
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigCommon.html b/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigCommon.html new file mode 100644 index 00000000..779e17bb --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigCommon.html @@ -0,0 +1,34 @@ + + + + + msg/WatchdogConfigCommon Documentation + + + +
+

clearpath_safety_msgs/msg/WatchdogConfigCommon Message

+
+

File: clearpath_safety_msgs/msg/WatchdogConfigCommon.msg

+

Raw Message Definition

+
+ string name
+ string type
+ bool enabled
+ string[] components
+ string on_trigger_action
+
# string[] on_trigger_options

+
+

Compact Message Definition

+
+ string name
+ string type
+ boolean enabled
+ string[] components
+ string on_trigger_action
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigCommunication.html b/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigCommunication.html new file mode 100644 index 00000000..9151c47b --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigCommunication.html @@ -0,0 +1,33 @@ + + + + + msg/WatchdogConfigCommunication Documentation + + + +
+

clearpath_safety_msgs/msg/WatchdogConfigCommunication Message

+
+

File: clearpath_safety_msgs/msg/WatchdogConfigCommunication.msg

+

Raw Message Definition

+
+ WatchdogConfigCommon base_config
+ string protocol
+
#string ip # only used when protocol is 'ip'

+
#string interface # only used when protocol is 'can' or 'serial'

+ float32 timeout
+
+

Compact Message Definition

+
+ clearpath_safety_msgs/msg/WatchdogConfigCommon base_config
+ string protocol
+ string ip
+ string interface
+ float timeout
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigHeartbeat.html b/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigHeartbeat.html new file mode 100644 index 00000000..86c26e28 --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigHeartbeat.html @@ -0,0 +1,31 @@ + + + + + msg/WatchdogConfigHeartbeat Documentation + + + +
+

clearpath_safety_msgs/msg/WatchdogConfigHeartbeat Message

+
+

File: clearpath_safety_msgs/msg/WatchdogConfigHeartbeat.msg

+

Raw Message Definition

+
+ WatchdogConfigCommon base_config
+ string topic
+ string qos
+ float32 timeout
+
+

Compact Message Definition

+
+ clearpath_safety_msgs/msg/WatchdogConfigCommon base_config
+ string topic
+ string qos
+ float timeout
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigInclination.html b/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigInclination.html new file mode 100644 index 00000000..38bce51b --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigInclination.html @@ -0,0 +1,35 @@ + + + + + msg/WatchdogConfigInclination Documentation + + + +
+

clearpath_safety_msgs/msg/WatchdogConfigInclination Message

+
+

File: clearpath_safety_msgs/msg/WatchdogConfigInclination.msg

+

Raw Message Definition

+
+ WatchdogConfigCommon base_config
+ string topic
+ string qos
+ float32 roll_limit
+ float32 pitch_limit
+ float32 delay
+
+

Compact Message Definition

+
+ clearpath_safety_msgs/msg/WatchdogConfigCommon base_config
+ string topic
+ string qos
+ float roll_limit
+ float pitch_limit
+ float delay
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigNodeStatus.html b/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigNodeStatus.html new file mode 100644 index 00000000..d1b0c224 --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigNodeStatus.html @@ -0,0 +1,29 @@ + + + + + msg/WatchdogConfigNodeStatus Documentation + + + +
+

clearpath_safety_msgs/msg/WatchdogConfigNodeStatus Message

+
+

File: clearpath_safety_msgs/msg/WatchdogConfigNodeStatus.msg

+

Raw Message Definition

+
+ WatchdogConfigCommon base_config
+ string node_name
+ uint8 num_requests
+
+

Compact Message Definition

+
+ clearpath_safety_msgs/msg/WatchdogConfigCommon base_config
+ string node_name
+ uint8 num_requests
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigNodeletStatus.html b/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigNodeletStatus.html new file mode 100644 index 00000000..983f4d44 --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigNodeletStatus.html @@ -0,0 +1,31 @@ + + + + + msg/WatchdogConfigNodeletStatus Documentation + + + +
+

clearpath_safety_msgs/msg/WatchdogConfigNodeletStatus Message

+
+

File: clearpath_safety_msgs/msg/WatchdogConfigNodeletStatus.msg

+

Raw Message Definition

+
+ WatchdogConfigCommon base_config
+ string manager
+ string nodelet
+ uint8 num_requests
+
+

Compact Message Definition

+
+ clearpath_safety_msgs/msg/WatchdogConfigCommon base_config
+ string manager
+ string nodelet
+ uint8 num_requests
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigNumPoints.html b/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigNumPoints.html new file mode 100644 index 00000000..ababf346 --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigNumPoints.html @@ -0,0 +1,31 @@ + + + + + msg/WatchdogConfigNumPoints Documentation + + + +
+

clearpath_safety_msgs/msg/WatchdogConfigNumPoints Message

+
+

File: clearpath_safety_msgs/msg/WatchdogConfigNumPoints.msg

+

Raw Message Definition

+
+ WatchdogConfigCommon base_config
+ string topic
+ string qos
+ int32 threshold
+
+

Compact Message Definition

+
+ clearpath_safety_msgs/msg/WatchdogConfigCommon base_config
+ string topic
+ string qos
+ int32 threshold
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigOdomCovariance.html b/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigOdomCovariance.html new file mode 100644 index 00000000..0f1e42ef --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigOdomCovariance.html @@ -0,0 +1,35 @@ + + + + + msg/WatchdogConfigOdomCovariance Documentation + + + +
+

clearpath_safety_msgs/msg/WatchdogConfigOdomCovariance Message

+
+

File: clearpath_safety_msgs/msg/WatchdogConfigOdomCovariance.msg

+

Raw Message Definition

+
+ WatchdogConfigCommon base_config
+
#string topic # Odometry topic

+ string qos
+ float32 xy_threshold
+ float32 yaw_threshold
+ float32 timeout
+
+

Compact Message Definition

+
+ clearpath_safety_msgs/msg/WatchdogConfigCommon base_config
+ string topic
+ string qos
+ float xy_threshold
+ float yaw_threshold
+ float timeout
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigRtkFix.html b/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigRtkFix.html new file mode 100644 index 00000000..9055d62a --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigRtkFix.html @@ -0,0 +1,36 @@ + + + + + msg/WatchdogConfigRtkFix Documentation + + + +
+

clearpath_safety_msgs/msg/WatchdogConfigRtkFix Message

+
+

File: clearpath_safety_msgs/msg/WatchdogConfigRtkFix.msg

+

Raw Message Definition

+
+ WatchdogConfigCommon base_config
+
+ bool rtk_heading_required
+ bool rtk_position_required
+ float32 timeout
+
#string gnss_type # Either 'swiftnav' or 'xvn'

+ string qos
+
+

Compact Message Definition

+
+ clearpath_safety_msgs/msg/WatchdogConfigCommon base_config
+ boolean rtk_heading_required
+ boolean rtk_position_required
+ float timeout
+ string gnss_type
+ string qos
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigTopicData.html b/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigTopicData.html new file mode 100644 index 00000000..7c93a6ba --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigTopicData.html @@ -0,0 +1,31 @@ + + + + + msg/WatchdogConfigTopicData Documentation + + + +
+

clearpath_safety_msgs/msg/WatchdogConfigTopicData Message

+
+

File: clearpath_safety_msgs/msg/WatchdogConfigTopicData.msg

+

Raw Message Definition

+
+ WatchdogConfigCommon base_config
+ string topic
+ string qos
+ float32 timeout
+
+

Compact Message Definition

+
+ clearpath_safety_msgs/msg/WatchdogConfigCommon base_config
+ string topic
+ string qos
+ float timeout
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigTrigger.html b/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigTrigger.html new file mode 100644 index 00000000..4f165ee2 --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/msg/WatchdogConfigTrigger.html @@ -0,0 +1,33 @@ + + + + + msg/WatchdogConfigTrigger Documentation + + + +
+

clearpath_safety_msgs/msg/WatchdogConfigTrigger Message

+
+

File: clearpath_safety_msgs/msg/WatchdogConfigTrigger.msg

+

Raw Message Definition

+
+ WatchdogConfigCommon base_config
+ string topic
+ string qos
+ float32 timeout
+
#bool condition # true = trigger on true, false = trigger on false

+
+

Compact Message Definition

+
+ clearpath_safety_msgs/msg/WatchdogConfigCommon base_config
+ string topic
+ string qos
+ float timeout
+ boolean condition
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/msg/WatchdogStatus.html b/static/api/html/clearpath_safety_msgs/msg/WatchdogStatus.html new file mode 100644 index 00000000..8f6daacc --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/msg/WatchdogStatus.html @@ -0,0 +1,35 @@ + + + + + msg/WatchdogStatus Documentation + + + +
+

clearpath_safety_msgs/msg/WatchdogStatus Message

+
+

File: clearpath_safety_msgs/msg/WatchdogStatus.msg

+

Raw Message Definition

+
+
# The message definition for a Watchdog including the type of watchdog, whether it

+
# has been triggered or not and the recovery taken.

+
+
+ string name
+ bool triggered
+ string trigger_message
+ string action
+
+

Compact Message Definition

+
+ string name
+ boolean triggered
+ string trigger_message
+ string action
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/msg/WatchdogStatusArray.html b/static/api/html/clearpath_safety_msgs/msg/WatchdogStatusArray.html new file mode 100644 index 00000000..b9b9fdac --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/msg/WatchdogStatusArray.html @@ -0,0 +1,30 @@ + + + + + msg/WatchdogStatusArray Documentation + + + +
+

clearpath_safety_msgs/msg/WatchdogStatusArray Message

+
+

File: clearpath_safety_msgs/msg/WatchdogStatusArray.msg

+

Raw Message Definition

+
+
# Watchdog status message containing information related to device

+
# monitoring and what action has been taken to recover from an error

+
+ std_msgs/Header header
+ WatchdogStatus[] statuses
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ clearpath_safety_msgs/msg/WatchdogStatus[] statuses
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/srv/AddCommunicationWatchdog.html b/static/api/html/clearpath_safety_msgs/srv/AddCommunicationWatchdog.html new file mode 100644 index 00000000..d235726a --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/srv/AddCommunicationWatchdog.html @@ -0,0 +1,31 @@ + + + + + srv/AddCommunicationWatchdog Documentation + + + +
+

clearpath_safety_msgs/srv/AddCommunicationWatchdog Service

+
+

File: clearpath_safety_msgs/srv/AddCommunicationWatchdog.msg

+

Raw Message Definition

+
+
+ WatchdogConfigCommunication config
+
+ ---
+ bool success
+
+

Compact Message Definition

+
+ boolean success
+
+ clearpath_safety_msgs/msg/WatchdogConfigCommunication config
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/srv/AddHeartbeatWatchdog.html b/static/api/html/clearpath_safety_msgs/srv/AddHeartbeatWatchdog.html new file mode 100644 index 00000000..f8988504 --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/srv/AddHeartbeatWatchdog.html @@ -0,0 +1,31 @@ + + + + + srv/AddHeartbeatWatchdog Documentation + + + +
+

clearpath_safety_msgs/srv/AddHeartbeatWatchdog Service

+
+

File: clearpath_safety_msgs/srv/AddHeartbeatWatchdog.msg

+

Raw Message Definition

+
+
+ WatchdogConfigHeartbeat config
+
+ ---
+ bool success
+
+

Compact Message Definition

+
+ boolean success
+
+ clearpath_safety_msgs/msg/WatchdogConfigHeartbeat config
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/srv/AddInclinationWatchdog.html b/static/api/html/clearpath_safety_msgs/srv/AddInclinationWatchdog.html new file mode 100644 index 00000000..07b300d2 --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/srv/AddInclinationWatchdog.html @@ -0,0 +1,31 @@ + + + + + srv/AddInclinationWatchdog Documentation + + + +
+

clearpath_safety_msgs/srv/AddInclinationWatchdog Service

+
+

File: clearpath_safety_msgs/srv/AddInclinationWatchdog.msg

+

Raw Message Definition

+
+
+ WatchdogConfigInclination config
+
+ ---
+ bool success
+
+

Compact Message Definition

+
+ boolean success
+
+ clearpath_safety_msgs/msg/WatchdogConfigInclination config
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/srv/AddNodeStatusWatchdog.html b/static/api/html/clearpath_safety_msgs/srv/AddNodeStatusWatchdog.html new file mode 100644 index 00000000..3383f381 --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/srv/AddNodeStatusWatchdog.html @@ -0,0 +1,31 @@ + + + + + srv/AddNodeStatusWatchdog Documentation + + + +
+

clearpath_safety_msgs/srv/AddNodeStatusWatchdog Service

+
+

File: clearpath_safety_msgs/srv/AddNodeStatusWatchdog.msg

+

Raw Message Definition

+
+
+ WatchdogConfigNodeStatus config
+
+ ---
+ bool success
+
+

Compact Message Definition

+
+ boolean success
+
+ clearpath_safety_msgs/msg/WatchdogConfigNodeStatus config
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/srv/AddNodeletStatusWatchdog.html b/static/api/html/clearpath_safety_msgs/srv/AddNodeletStatusWatchdog.html new file mode 100644 index 00000000..452a6f78 --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/srv/AddNodeletStatusWatchdog.html @@ -0,0 +1,31 @@ + + + + + srv/AddNodeletStatusWatchdog Documentation + + + +
+

clearpath_safety_msgs/srv/AddNodeletStatusWatchdog Service

+
+

File: clearpath_safety_msgs/srv/AddNodeletStatusWatchdog.msg

+

Raw Message Definition

+
+
+ WatchdogConfigNodeletStatus config
+
+ ---
+ bool success
+
+

Compact Message Definition

+
+ boolean success
+
+ clearpath_safety_msgs/msg/WatchdogConfigNodeletStatus config
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/srv/AddNumPointsWatchdog.html b/static/api/html/clearpath_safety_msgs/srv/AddNumPointsWatchdog.html new file mode 100644 index 00000000..76aecdb8 --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/srv/AddNumPointsWatchdog.html @@ -0,0 +1,31 @@ + + + + + srv/AddNumPointsWatchdog Documentation + + + +
+

clearpath_safety_msgs/srv/AddNumPointsWatchdog Service

+
+

File: clearpath_safety_msgs/srv/AddNumPointsWatchdog.msg

+

Raw Message Definition

+
+
+ WatchdogConfigNumPoints config
+
+ ---
+ bool success
+
+

Compact Message Definition

+
+ boolean success
+
+ clearpath_safety_msgs/msg/WatchdogConfigNumPoints config
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/srv/AddOdomCovarianceWatchdog.html b/static/api/html/clearpath_safety_msgs/srv/AddOdomCovarianceWatchdog.html new file mode 100644 index 00000000..c8d79028 --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/srv/AddOdomCovarianceWatchdog.html @@ -0,0 +1,31 @@ + + + + + srv/AddOdomCovarianceWatchdog Documentation + + + +
+

clearpath_safety_msgs/srv/AddOdomCovarianceWatchdog Service

+
+

File: clearpath_safety_msgs/srv/AddOdomCovarianceWatchdog.msg

+

Raw Message Definition

+
+
+ WatchdogConfigOdomCovariance config
+
+ ---
+ bool success
+
+

Compact Message Definition

+
+ boolean success
+
+ clearpath_safety_msgs/msg/WatchdogConfigOdomCovariance config
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/srv/AddRtkFixWatchdog.html b/static/api/html/clearpath_safety_msgs/srv/AddRtkFixWatchdog.html new file mode 100644 index 00000000..12e66c50 --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/srv/AddRtkFixWatchdog.html @@ -0,0 +1,31 @@ + + + + + srv/AddRtkFixWatchdog Documentation + + + +
+

clearpath_safety_msgs/srv/AddRtkFixWatchdog Service

+
+

File: clearpath_safety_msgs/srv/AddRtkFixWatchdog.msg

+

Raw Message Definition

+
+
+ WatchdogConfigRtkFix config
+
+ ---
+ bool success
+
+

Compact Message Definition

+
+ boolean success
+
+ clearpath_safety_msgs/msg/WatchdogConfigRtkFix config
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/srv/AddTopicDataWatchdog.html b/static/api/html/clearpath_safety_msgs/srv/AddTopicDataWatchdog.html new file mode 100644 index 00000000..c0a386e3 --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/srv/AddTopicDataWatchdog.html @@ -0,0 +1,31 @@ + + + + + srv/AddTopicDataWatchdog Documentation + + + +
+

clearpath_safety_msgs/srv/AddTopicDataWatchdog Service

+
+

File: clearpath_safety_msgs/srv/AddTopicDataWatchdog.msg

+

Raw Message Definition

+
+
+ WatchdogConfigTopicData config
+
+ ---
+ bool success
+
+

Compact Message Definition

+
+ boolean success
+
+ clearpath_safety_msgs/msg/WatchdogConfigTopicData config
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/srv/AddTriggerWatchdog.html b/static/api/html/clearpath_safety_msgs/srv/AddTriggerWatchdog.html new file mode 100644 index 00000000..4b0c6ce3 --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/srv/AddTriggerWatchdog.html @@ -0,0 +1,31 @@ + + + + + srv/AddTriggerWatchdog Documentation + + + +
+

clearpath_safety_msgs/srv/AddTriggerWatchdog Service

+
+

File: clearpath_safety_msgs/srv/AddTriggerWatchdog.msg

+

Raw Message Definition

+
+
+ WatchdogConfigTrigger config
+
+ ---
+ bool success
+
+

Compact Message Definition

+
+ boolean success
+
+ clearpath_safety_msgs/msg/WatchdogConfigTrigger config
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/srv/RemoveWatchdog.html b/static/api/html/clearpath_safety_msgs/srv/RemoveWatchdog.html new file mode 100644 index 00000000..341b1503 --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/srv/RemoveWatchdog.html @@ -0,0 +1,30 @@ + + + + + srv/RemoveWatchdog Documentation + + + +
+

clearpath_safety_msgs/srv/RemoveWatchdog Service

+
+

File: clearpath_safety_msgs/srv/RemoveWatchdog.msg

+

Raw Message Definition

+
+
+ string name
+ ---
+ bool success
+
+

Compact Message Definition

+
+ boolean success
+
+ string name
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/srv/UpdateCommunicationWatchdog.html b/static/api/html/clearpath_safety_msgs/srv/UpdateCommunicationWatchdog.html new file mode 100644 index 00000000..e8549e6e --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/srv/UpdateCommunicationWatchdog.html @@ -0,0 +1,32 @@ + + + + + srv/UpdateCommunicationWatchdog Documentation + + + +
+

clearpath_safety_msgs/srv/UpdateCommunicationWatchdog Service

+
+

File: clearpath_safety_msgs/srv/UpdateCommunicationWatchdog.msg

+

Raw Message Definition

+
+
+ WatchdogConfigCommunication new_config
+
#string current_name # used as a key to find the watchdog in the list of watchdogs

+ ---
+ bool success
+
+

Compact Message Definition

+
+ boolean success
+
+ clearpath_safety_msgs/msg/WatchdogConfigCommunication new_config
+ string current_name
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/srv/UpdateHeartbeatWatchdog.html b/static/api/html/clearpath_safety_msgs/srv/UpdateHeartbeatWatchdog.html new file mode 100644 index 00000000..85fcb614 --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/srv/UpdateHeartbeatWatchdog.html @@ -0,0 +1,32 @@ + + + + + srv/UpdateHeartbeatWatchdog Documentation + + + +
+

clearpath_safety_msgs/srv/UpdateHeartbeatWatchdog Service

+
+

File: clearpath_safety_msgs/srv/UpdateHeartbeatWatchdog.msg

+

Raw Message Definition

+
+
+ WatchdogConfigHeartbeat new_config
+
#string current_name # used as a key to find the watchdog in the list of watchdogs

+ ---
+ bool success
+
+

Compact Message Definition

+
+ boolean success
+
+ clearpath_safety_msgs/msg/WatchdogConfigHeartbeat new_config
+ string current_name
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/srv/UpdateInclinationWatchdog.html b/static/api/html/clearpath_safety_msgs/srv/UpdateInclinationWatchdog.html new file mode 100644 index 00000000..e68c75f4 --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/srv/UpdateInclinationWatchdog.html @@ -0,0 +1,32 @@ + + + + + srv/UpdateInclinationWatchdog Documentation + + + +
+

clearpath_safety_msgs/srv/UpdateInclinationWatchdog Service

+
+

File: clearpath_safety_msgs/srv/UpdateInclinationWatchdog.msg

+

Raw Message Definition

+
+
+ WatchdogConfigInclination new_config
+
#string current_name # used as a key to find the watchdog in the list of watchdogs

+ ---
+ bool success
+
+

Compact Message Definition

+
+ boolean success
+
+ clearpath_safety_msgs/msg/WatchdogConfigInclination new_config
+ string current_name
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/srv/UpdateNodeStatusWatchdog.html b/static/api/html/clearpath_safety_msgs/srv/UpdateNodeStatusWatchdog.html new file mode 100644 index 00000000..3bfedaa9 --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/srv/UpdateNodeStatusWatchdog.html @@ -0,0 +1,32 @@ + + + + + srv/UpdateNodeStatusWatchdog Documentation + + + +
+

clearpath_safety_msgs/srv/UpdateNodeStatusWatchdog Service

+
+

File: clearpath_safety_msgs/srv/UpdateNodeStatusWatchdog.msg

+

Raw Message Definition

+
+
+ WatchdogConfigNodeStatus new_config
+
#string current_name # used as a key to find the watchdog in the list of watchdogs

+ ---
+ bool success
+
+

Compact Message Definition

+
+ boolean success
+
+ clearpath_safety_msgs/msg/WatchdogConfigNodeStatus new_config
+ string current_name
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/srv/UpdateNodeletStatusWatchdog.html b/static/api/html/clearpath_safety_msgs/srv/UpdateNodeletStatusWatchdog.html new file mode 100644 index 00000000..99012e7b --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/srv/UpdateNodeletStatusWatchdog.html @@ -0,0 +1,32 @@ + + + + + srv/UpdateNodeletStatusWatchdog Documentation + + + +
+

clearpath_safety_msgs/srv/UpdateNodeletStatusWatchdog Service

+
+

File: clearpath_safety_msgs/srv/UpdateNodeletStatusWatchdog.msg

+

Raw Message Definition

+
+
+ WatchdogConfigNodeletStatus new_config
+
#string current_name # used as a key to find the watchdog in the list of watchdogs

+ ---
+ bool success
+
+

Compact Message Definition

+
+ boolean success
+
+ clearpath_safety_msgs/msg/WatchdogConfigNodeletStatus new_config
+ string current_name
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/srv/UpdateNumPointsWatchdog.html b/static/api/html/clearpath_safety_msgs/srv/UpdateNumPointsWatchdog.html new file mode 100644 index 00000000..61ef6412 --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/srv/UpdateNumPointsWatchdog.html @@ -0,0 +1,32 @@ + + + + + srv/UpdateNumPointsWatchdog Documentation + + + +
+

clearpath_safety_msgs/srv/UpdateNumPointsWatchdog Service

+
+

File: clearpath_safety_msgs/srv/UpdateNumPointsWatchdog.msg

+

Raw Message Definition

+
+
+ WatchdogConfigNumPoints new_config
+
#string current_name # used as a key to find the watchdog in the list of watchdogs

+ ---
+ bool success
+
+

Compact Message Definition

+
+ boolean success
+
+ clearpath_safety_msgs/msg/WatchdogConfigNumPoints new_config
+ string current_name
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/srv/UpdateOdomCovarianceWatchdog.html b/static/api/html/clearpath_safety_msgs/srv/UpdateOdomCovarianceWatchdog.html new file mode 100644 index 00000000..b04216d9 --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/srv/UpdateOdomCovarianceWatchdog.html @@ -0,0 +1,32 @@ + + + + + srv/UpdateOdomCovarianceWatchdog Documentation + + + +
+

clearpath_safety_msgs/srv/UpdateOdomCovarianceWatchdog Service

+
+

File: clearpath_safety_msgs/srv/UpdateOdomCovarianceWatchdog.msg

+

Raw Message Definition

+
+
+ WatchdogConfigOdomCovariance new_config
+
#string current_name # used as a key to find the watchdog in the list of watchdogs

+ ---
+ bool success
+
+

Compact Message Definition

+
+ boolean success
+
+ clearpath_safety_msgs/msg/WatchdogConfigOdomCovariance new_config
+ string current_name
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/srv/UpdateRtkFixWatchdog.html b/static/api/html/clearpath_safety_msgs/srv/UpdateRtkFixWatchdog.html new file mode 100644 index 00000000..31ce4aaf --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/srv/UpdateRtkFixWatchdog.html @@ -0,0 +1,32 @@ + + + + + srv/UpdateRtkFixWatchdog Documentation + + + +
+

clearpath_safety_msgs/srv/UpdateRtkFixWatchdog Service

+
+

File: clearpath_safety_msgs/srv/UpdateRtkFixWatchdog.msg

+

Raw Message Definition

+
+
+ WatchdogConfigRtkFix new_config
+
#string current_name # used as a key to find the watchdog in the list of watchdogs

+ ---
+ bool success
+
+

Compact Message Definition

+
+ boolean success
+
+ clearpath_safety_msgs/msg/WatchdogConfigRtkFix new_config
+ string current_name
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/srv/UpdateTopicDataWatchdog.html b/static/api/html/clearpath_safety_msgs/srv/UpdateTopicDataWatchdog.html new file mode 100644 index 00000000..cc0e802d --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/srv/UpdateTopicDataWatchdog.html @@ -0,0 +1,32 @@ + + + + + srv/UpdateTopicDataWatchdog Documentation + + + +
+

clearpath_safety_msgs/srv/UpdateTopicDataWatchdog Service

+
+

File: clearpath_safety_msgs/srv/UpdateTopicDataWatchdog.msg

+

Raw Message Definition

+
+
+ WatchdogConfigTopicData new_config
+
#string current_name # used as a key to find the watchdog in the list of watchdogs

+ ---
+ bool success
+
+

Compact Message Definition

+
+ boolean success
+
+ clearpath_safety_msgs/msg/WatchdogConfigTopicData new_config
+ string current_name
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/clearpath_safety_msgs/srv/UpdateTriggerWatchdog.html b/static/api/html/clearpath_safety_msgs/srv/UpdateTriggerWatchdog.html new file mode 100644 index 00000000..c09d1b62 --- /dev/null +++ b/static/api/html/clearpath_safety_msgs/srv/UpdateTriggerWatchdog.html @@ -0,0 +1,32 @@ + + + + + srv/UpdateTriggerWatchdog Documentation + + + +
+

clearpath_safety_msgs/srv/UpdateTriggerWatchdog Service

+
+

File: clearpath_safety_msgs/srv/UpdateTriggerWatchdog.msg

+

Raw Message Definition

+
+
+ WatchdogConfigTrigger new_config
+
#string current_name # used as a key to find the watchdog in the list of watchdogs

+ ---
+ bool success
+
+

Compact Message Definition

+
+ boolean success
+
+ clearpath_safety_msgs/msg/WatchdogConfigTrigger new_config
+ string current_name
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/index-msg.html b/static/api/html/geometry_msgs/index-msg.html new file mode 100644 index 00000000..5f0003e0 --- /dev/null +++ b/static/api/html/geometry_msgs/index-msg.html @@ -0,0 +1,48 @@ + + + + + geometry_msgs Message / Service / Action Documentation + + + +
+

geometry_msgs Message Documentation

+ +

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/Accel.html b/static/api/html/geometry_msgs/msg/Accel.html new file mode 100644 index 00000000..8473ab4e --- /dev/null +++ b/static/api/html/geometry_msgs/msg/Accel.html @@ -0,0 +1,28 @@ + + + + + msg/Accel Documentation + + + +
+

geometry_msgs/msg/Accel Message

+
+

File: geometry_msgs/msg/Accel.msg

+

Raw Message Definition

+
+
# This expresses acceleration in free space broken into its linear and angular parts.

+ Vector3 linear
+ Vector3 angular
+
+

Compact Message Definition

+
+ geometry_msgs/msg/Vector3 linear
+ geometry_msgs/msg/Vector3 angular
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/AccelStamped.html b/static/api/html/geometry_msgs/msg/AccelStamped.html new file mode 100644 index 00000000..29b3f7fa --- /dev/null +++ b/static/api/html/geometry_msgs/msg/AccelStamped.html @@ -0,0 +1,28 @@ + + + + + msg/AccelStamped Documentation + + + +
+

geometry_msgs/msg/AccelStamped Message

+
+

File: geometry_msgs/msg/AccelStamped.msg

+

Raw Message Definition

+
+
# An accel with reference coordinate frame and timestamp

+ std_msgs/Header header
+ Accel accel
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ geometry_msgs/msg/Accel accel
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/AccelWithCovariance.html b/static/api/html/geometry_msgs/msg/AccelWithCovariance.html new file mode 100644 index 00000000..e9518536 --- /dev/null +++ b/static/api/html/geometry_msgs/msg/AccelWithCovariance.html @@ -0,0 +1,34 @@ + + + + + msg/AccelWithCovariance Documentation + + + +
+

geometry_msgs/msg/AccelWithCovariance Message

+
+

File: geometry_msgs/msg/AccelWithCovariance.msg

+

Raw Message Definition

+
+
# This expresses acceleration in free space with uncertainty.

+
+ Accel accel
+
+
# Row-major representation of the 6x6 covariance matrix

+
# The orientation parameters use a fixed-axis representation.

+
# In order, the parameters are:

+
# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)

+ float64[36] covariance
+
+

Compact Message Definition

+
+ geometry_msgs/msg/Accel accel
+ double[36] covariance
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/AccelWithCovarianceStamped.html b/static/api/html/geometry_msgs/msg/AccelWithCovarianceStamped.html new file mode 100644 index 00000000..0ed49a28 --- /dev/null +++ b/static/api/html/geometry_msgs/msg/AccelWithCovarianceStamped.html @@ -0,0 +1,28 @@ + + + + + msg/AccelWithCovarianceStamped Documentation + + + +
+

geometry_msgs/msg/AccelWithCovarianceStamped Message

+
+

File: geometry_msgs/msg/AccelWithCovarianceStamped.msg

+

Raw Message Definition

+
+
# This represents an estimated accel with reference coordinate frame and timestamp.

+ std_msgs/Header header
+ AccelWithCovariance accel
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ geometry_msgs/msg/AccelWithCovariance accel
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/Inertia.html b/static/api/html/geometry_msgs/msg/Inertia.html new file mode 100644 index 00000000..574e67a3 --- /dev/null +++ b/static/api/html/geometry_msgs/msg/Inertia.html @@ -0,0 +1,47 @@ + + + + + msg/Inertia Documentation + + + +
+

geometry_msgs/msg/Inertia Message

+
+

File: geometry_msgs/msg/Inertia.msg

+

Raw Message Definition

+
+
# Mass [kg]

+ float64 m
+
+
# Center of mass [m]

+ geometry_msgs/Vector3 com
+
+
# Inertia Tensor [kg-m^2]

+
# | ixx ixy ixz |

+
# I = | ixy iyy iyz |

+
# | ixz iyz izz |

+ float64 ixx
+ float64 ixy
+ float64 ixz
+ float64 iyy
+ float64 iyz
+ float64 izz
+
+

Compact Message Definition

+
+ double m
+ geometry_msgs/msg/Vector3 com
+ double ixx
+ double ixy
+ double ixz
+ double iyy
+ double iyz
+ double izz
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/InertiaStamped.html b/static/api/html/geometry_msgs/msg/InertiaStamped.html new file mode 100644 index 00000000..60d28bb9 --- /dev/null +++ b/static/api/html/geometry_msgs/msg/InertiaStamped.html @@ -0,0 +1,29 @@ + + + + + msg/InertiaStamped Documentation + + + +
+

geometry_msgs/msg/InertiaStamped Message

+
+

File: geometry_msgs/msg/InertiaStamped.msg

+

Raw Message Definition

+
+
# An Inertia with a time stamp and reference frame.

+
+ std_msgs/Header header
+ Inertia inertia
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ geometry_msgs/msg/Inertia inertia
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/Point.html b/static/api/html/geometry_msgs/msg/Point.html new file mode 100644 index 00000000..21c6e510 --- /dev/null +++ b/static/api/html/geometry_msgs/msg/Point.html @@ -0,0 +1,30 @@ + + + + + msg/Point Documentation + + + +
+

geometry_msgs/msg/Point Message

+
+

File: geometry_msgs/msg/Point.msg

+

Raw Message Definition

+
+
# This contains the position of a point in free space

+ float64 x
+ float64 y
+ float64 z
+
+

Compact Message Definition

+
+ double x
+ double y
+ double z
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/Point32.html b/static/api/html/geometry_msgs/msg/Point32.html new file mode 100644 index 00000000..5660eed3 --- /dev/null +++ b/static/api/html/geometry_msgs/msg/Point32.html @@ -0,0 +1,37 @@ + + + + + msg/Point32 Documentation + + + +
+

geometry_msgs/msg/Point32 Message

+
+

File: geometry_msgs/msg/Point32.msg

+

Raw Message Definition

+
+
# This contains the position of a point in free space(with 32 bits of precision).

+
# It is recommended to use Point wherever possible instead of Point32.

+
#

+
# This recommendation is to promote interoperability.

+
#

+
# This message is designed to take up less space when sending

+
# lots of points at once, as in the case of a PointCloud.

+
+ float32 x
+ float32 y
+ float32 z
+
+

Compact Message Definition

+
+ float x
+ float y
+ float z
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/PointStamped.html b/static/api/html/geometry_msgs/msg/PointStamped.html new file mode 100644 index 00000000..647949cd --- /dev/null +++ b/static/api/html/geometry_msgs/msg/PointStamped.html @@ -0,0 +1,29 @@ + + + + + msg/PointStamped Documentation + + + +
+

geometry_msgs/msg/PointStamped Message

+
+

File: geometry_msgs/msg/PointStamped.msg

+

Raw Message Definition

+
+
# This represents a Point with reference coordinate frame and timestamp

+
+ std_msgs/Header header
+ Point point
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ geometry_msgs/msg/Point point
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/Polygon.html b/static/api/html/geometry_msgs/msg/Polygon.html new file mode 100644 index 00000000..3c0ace73 --- /dev/null +++ b/static/api/html/geometry_msgs/msg/Polygon.html @@ -0,0 +1,27 @@ + + + + + msg/Polygon Documentation + + + +
+

geometry_msgs/msg/Polygon Message

+
+

File: geometry_msgs/msg/Polygon.msg

+

Raw Message Definition

+
+
# A specification of a polygon where the first and last points are assumed to be connected

+
+ Point32[] points
+
+

Compact Message Definition

+
+ geometry_msgs/msg/Point32[] points
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/PolygonInstance.html b/static/api/html/geometry_msgs/msg/PolygonInstance.html new file mode 100644 index 00000000..493ce042 --- /dev/null +++ b/static/api/html/geometry_msgs/msg/PolygonInstance.html @@ -0,0 +1,30 @@ + + + + + msg/PolygonInstance Documentation + + + +
+

geometry_msgs/msg/PolygonInstance Message

+
+

File: geometry_msgs/msg/PolygonInstance.msg

+

Raw Message Definition

+
+
# A specification of a polygon where the first and last points are assumed to be connected

+
# It includes a unique identification field for disambiguating multiple instances

+
+ geometry_msgs/Polygon polygon
+ int64 id
+
+

Compact Message Definition

+
+ geometry_msgs/msg/Polygon polygon
+ int64 id
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/PolygonInstanceStamped.html b/static/api/html/geometry_msgs/msg/PolygonInstanceStamped.html new file mode 100644 index 00000000..8e0e2a28 --- /dev/null +++ b/static/api/html/geometry_msgs/msg/PolygonInstanceStamped.html @@ -0,0 +1,30 @@ + + + + + msg/PolygonInstanceStamped Documentation + + + +
+

geometry_msgs/msg/PolygonInstanceStamped Message

+
+

File: geometry_msgs/msg/PolygonInstanceStamped.msg

+

Raw Message Definition

+
+
# This represents a Polygon with reference coordinate frame and timestamp

+
# It includes a unique identification field for disambiguating multiple instances

+
+ std_msgs/Header header
+ geometry_msgs/PolygonInstance polygon
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ geometry_msgs/msg/PolygonInstance polygon
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/PolygonStamped.html b/static/api/html/geometry_msgs/msg/PolygonStamped.html new file mode 100644 index 00000000..a61e1cee --- /dev/null +++ b/static/api/html/geometry_msgs/msg/PolygonStamped.html @@ -0,0 +1,29 @@ + + + + + msg/PolygonStamped Documentation + + + +
+

geometry_msgs/msg/PolygonStamped Message

+
+

File: geometry_msgs/msg/PolygonStamped.msg

+

Raw Message Definition

+
+
# This represents a Polygon with reference coordinate frame and timestamp

+
+ std_msgs/Header header
+ Polygon polygon
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ geometry_msgs/msg/Polygon polygon
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/Pose.html b/static/api/html/geometry_msgs/msg/Pose.html new file mode 100644 index 00000000..81dc15e6 --- /dev/null +++ b/static/api/html/geometry_msgs/msg/Pose.html @@ -0,0 +1,29 @@ + + + + + msg/Pose Documentation + + + +
+

geometry_msgs/msg/Pose Message

+
+

File: geometry_msgs/msg/Pose.msg

+

Raw Message Definition

+
+
# A representation of pose in free space, composed of position and orientation.

+
+ Point position
+ Quaternion orientation
+
+

Compact Message Definition

+
+ geometry_msgs/msg/Point position
+ geometry_msgs/msg/Quaternion orientation
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/Pose2D.html b/static/api/html/geometry_msgs/msg/Pose2D.html new file mode 100644 index 00000000..e2be32de --- /dev/null +++ b/static/api/html/geometry_msgs/msg/Pose2D.html @@ -0,0 +1,36 @@ + + + + + msg/Pose2D Documentation + + + +
+

geometry_msgs/msg/Pose2D Message

+
+

File: geometry_msgs/msg/Pose2D.msg

+

Raw Message Definition

+
+
# Deprecated as of Foxy and will potentially be removed in any following release.

+
# Please use the full 3D pose.

+
+
# In general our recommendation is to use a full 3D representation of everything and for 2D specific applications make the appropriate projections into the plane for their calculations but optimally will preserve the 3D information during processing.

+
+
# If we have parallel copies of 2D datatypes every UI and other pipeline will end up needing to have dual interfaces to plot everything. And you will end up with not being able to use 3D tools for 2D use cases even if they're completely valid, as you'd have to reimplement it with different inputs and outputs. It's not particularly hard to plot the 2D pose or compute the yaw error for the Pose message and there are already tools and libraries that can do this for you.# This expresses a position and orientation on a 2D manifold.

+
+ float64 x
+ float64 y
+ float64 theta
+
+

Compact Message Definition

+
+ double x
+ double y
+ double theta
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/PoseArray.html b/static/api/html/geometry_msgs/msg/PoseArray.html new file mode 100644 index 00000000..3eefac8e --- /dev/null +++ b/static/api/html/geometry_msgs/msg/PoseArray.html @@ -0,0 +1,30 @@ + + + + + msg/PoseArray Documentation + + + +
+

geometry_msgs/msg/PoseArray Message

+
+

File: geometry_msgs/msg/PoseArray.msg

+

Raw Message Definition

+
+
# An array of poses with a header for global reference.

+
+ std_msgs/Header header
+
+ Pose[] poses
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ geometry_msgs/msg/Pose[] poses
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/PoseStamped.html b/static/api/html/geometry_msgs/msg/PoseStamped.html new file mode 100644 index 00000000..28de5311 --- /dev/null +++ b/static/api/html/geometry_msgs/msg/PoseStamped.html @@ -0,0 +1,29 @@ + + + + + msg/PoseStamped Documentation + + + +
+

geometry_msgs/msg/PoseStamped Message

+
+

File: geometry_msgs/msg/PoseStamped.msg

+

Raw Message Definition

+
+
# A Pose with reference coordinate frame and timestamp

+
+ std_msgs/Header header
+ Pose pose
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ geometry_msgs/msg/Pose pose
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/PoseWithCovariance.html b/static/api/html/geometry_msgs/msg/PoseWithCovariance.html new file mode 100644 index 00000000..53b3bba9 --- /dev/null +++ b/static/api/html/geometry_msgs/msg/PoseWithCovariance.html @@ -0,0 +1,34 @@ + + + + + msg/PoseWithCovariance Documentation + + + +
+

geometry_msgs/msg/PoseWithCovariance Message

+
+

File: geometry_msgs/msg/PoseWithCovariance.msg

+

Raw Message Definition

+
+
# This represents a pose in free space with uncertainty.

+
+ Pose pose
+
+
# Row-major representation of the 6x6 covariance matrix

+
# The orientation parameters use a fixed-axis representation.

+
# In order, the parameters are:

+
# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)

+ float64[36] covariance
+
+

Compact Message Definition

+
+ geometry_msgs/msg/Pose pose
+ double[36] covariance
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/PoseWithCovarianceStamped.html b/static/api/html/geometry_msgs/msg/PoseWithCovarianceStamped.html new file mode 100644 index 00000000..fbc55c82 --- /dev/null +++ b/static/api/html/geometry_msgs/msg/PoseWithCovarianceStamped.html @@ -0,0 +1,29 @@ + + + + + msg/PoseWithCovarianceStamped Documentation + + + +
+

geometry_msgs/msg/PoseWithCovarianceStamped Message

+
+

File: geometry_msgs/msg/PoseWithCovarianceStamped.msg

+

Raw Message Definition

+
+
# This expresses an estimated pose with a reference coordinate frame and timestamp

+
+ std_msgs/Header header
+ PoseWithCovariance pose
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ geometry_msgs/msg/PoseWithCovariance pose
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/Quaternion.html b/static/api/html/geometry_msgs/msg/Quaternion.html new file mode 100644 index 00000000..11456794 --- /dev/null +++ b/static/api/html/geometry_msgs/msg/Quaternion.html @@ -0,0 +1,33 @@ + + + + + msg/Quaternion Documentation + + + +
+

geometry_msgs/msg/Quaternion Message

+
+

File: geometry_msgs/msg/Quaternion.msg

+

Raw Message Definition

+
+
# This represents an orientation in free space in quaternion form.

+
+ float64 x 0
+ float64 y 0
+ float64 z 0
+ float64 w 1
+
+

Compact Message Definition

+
+ double x=0.0
+ double y=0.0
+ double z=0.0
+ double w=1.0
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/QuaternionStamped.html b/static/api/html/geometry_msgs/msg/QuaternionStamped.html new file mode 100644 index 00000000..e9f46ec8 --- /dev/null +++ b/static/api/html/geometry_msgs/msg/QuaternionStamped.html @@ -0,0 +1,29 @@ + + + + + msg/QuaternionStamped Documentation + + + +
+

geometry_msgs/msg/QuaternionStamped Message

+
+

File: geometry_msgs/msg/QuaternionStamped.msg

+

Raw Message Definition

+
+
# This represents an orientation with reference coordinate frame and timestamp.

+
+ std_msgs/Header header
+ Quaternion quaternion
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ geometry_msgs/msg/Quaternion quaternion
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/Transform.html b/static/api/html/geometry_msgs/msg/Transform.html new file mode 100644 index 00000000..ec4e9a28 --- /dev/null +++ b/static/api/html/geometry_msgs/msg/Transform.html @@ -0,0 +1,29 @@ + + + + + msg/Transform Documentation + + + +
+

geometry_msgs/msg/Transform Message

+
+

File: geometry_msgs/msg/Transform.msg

+

Raw Message Definition

+
+
# This represents the transform between two coordinate frames in free space.

+
+ Vector3 translation
+ Quaternion rotation
+
+

Compact Message Definition

+
+ geometry_msgs/msg/Vector3 translation
+ geometry_msgs/msg/Quaternion rotation
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/TransformStamped.html b/static/api/html/geometry_msgs/msg/TransformStamped.html new file mode 100644 index 00000000..605b70f6 --- /dev/null +++ b/static/api/html/geometry_msgs/msg/TransformStamped.html @@ -0,0 +1,45 @@ + + + + + msg/TransformStamped Documentation + + + +
+

geometry_msgs/msg/TransformStamped Message

+
+

File: geometry_msgs/msg/TransformStamped.msg

+

Raw Message Definition

+
+
# This expresses a transform from coordinate frame header.frame_id

+
# to the coordinate frame child_frame_id at the time of header.stamp

+
#

+
# This message is mostly used by the

+
# <a href="https://docs.ros.org/en/rolling/p/tf2/">tf2</a> package.

+
# See its documentation for more information.

+
#

+
# The child_frame_id is necessary in addition to the frame_id

+
# in the Header to communicate the full reference for the transform

+
# in a self contained message.

+
+
# The frame id in the header is used as the reference frame of this transform.

+ std_msgs/Header header
+
+
# The frame id of the child frame to which this transform points.

+ string child_frame_id
+
+
# Translation and rotation in 3-dimensions of child_frame_id from header.frame_id.

+ Transform transform
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ string child_frame_id
+ geometry_msgs/msg/Transform transform
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/Twist.html b/static/api/html/geometry_msgs/msg/Twist.html new file mode 100644 index 00000000..20ef3efb --- /dev/null +++ b/static/api/html/geometry_msgs/msg/Twist.html @@ -0,0 +1,29 @@ + + + + + msg/Twist Documentation + + + +
+

geometry_msgs/msg/Twist Message

+
+

File: geometry_msgs/msg/Twist.msg

+

Raw Message Definition

+
+
# This expresses velocity in free space broken into its linear and angular parts.

+
+ Vector3 linear
+ Vector3 angular
+
+

Compact Message Definition

+
+ geometry_msgs/msg/Vector3 linear
+ geometry_msgs/msg/Vector3 angular
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/TwistStamped.html b/static/api/html/geometry_msgs/msg/TwistStamped.html new file mode 100644 index 00000000..3fb08bed --- /dev/null +++ b/static/api/html/geometry_msgs/msg/TwistStamped.html @@ -0,0 +1,29 @@ + + + + + msg/TwistStamped Documentation + + + +
+

geometry_msgs/msg/TwistStamped Message

+
+

File: geometry_msgs/msg/TwistStamped.msg

+

Raw Message Definition

+
+
# A twist with reference coordinate frame and timestamp

+
+ std_msgs/Header header
+ Twist twist
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ geometry_msgs/msg/Twist twist
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/TwistWithCovariance.html b/static/api/html/geometry_msgs/msg/TwistWithCovariance.html new file mode 100644 index 00000000..519618f8 --- /dev/null +++ b/static/api/html/geometry_msgs/msg/TwistWithCovariance.html @@ -0,0 +1,34 @@ + + + + + msg/TwistWithCovariance Documentation + + + +
+

geometry_msgs/msg/TwistWithCovariance Message

+
+

File: geometry_msgs/msg/TwistWithCovariance.msg

+

Raw Message Definition

+
+
# This expresses velocity in free space with uncertainty.

+
+ Twist twist
+
+
# Row-major representation of the 6x6 covariance matrix

+
# The orientation parameters use a fixed-axis representation.

+
# In order, the parameters are:

+
# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)

+ float64[36] covariance
+
+

Compact Message Definition

+
+ geometry_msgs/msg/Twist twist
+ double[36] covariance
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/TwistWithCovarianceStamped.html b/static/api/html/geometry_msgs/msg/TwistWithCovarianceStamped.html new file mode 100644 index 00000000..ee3c5be9 --- /dev/null +++ b/static/api/html/geometry_msgs/msg/TwistWithCovarianceStamped.html @@ -0,0 +1,29 @@ + + + + + msg/TwistWithCovarianceStamped Documentation + + + +
+

geometry_msgs/msg/TwistWithCovarianceStamped Message

+
+

File: geometry_msgs/msg/TwistWithCovarianceStamped.msg

+

Raw Message Definition

+
+
# This represents an estimated twist with reference coordinate frame and timestamp.

+
+ std_msgs/Header header
+ TwistWithCovariance twist
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ geometry_msgs/msg/TwistWithCovariance twist
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/Vector3.html b/static/api/html/geometry_msgs/msg/Vector3.html new file mode 100644 index 00000000..7e6e67b5 --- /dev/null +++ b/static/api/html/geometry_msgs/msg/Vector3.html @@ -0,0 +1,35 @@ + + + + + msg/Vector3 Documentation + + + +
+

geometry_msgs/msg/Vector3 Message

+
+

File: geometry_msgs/msg/Vector3.msg

+

Raw Message Definition

+
+
# This represents a vector in free space.

+
+
# This is semantically different than a point.

+
# A vector is always anchored at the origin.

+
# When a transform is applied to a vector, only the rotational component is applied.

+
+ float64 x
+ float64 y
+ float64 z
+
+

Compact Message Definition

+
+ double x
+ double y
+ double z
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/Vector3Stamped.html b/static/api/html/geometry_msgs/msg/Vector3Stamped.html new file mode 100644 index 00000000..d91a2dd2 --- /dev/null +++ b/static/api/html/geometry_msgs/msg/Vector3Stamped.html @@ -0,0 +1,32 @@ + + + + + msg/Vector3Stamped Documentation + + + +
+

geometry_msgs/msg/Vector3Stamped Message

+
+

File: geometry_msgs/msg/Vector3Stamped.msg

+

Raw Message Definition

+
+
# This represents a Vector3 with reference coordinate frame and timestamp

+
+
# Note that this follows vector semantics with it always anchored at the origin,

+
# so the rotational elements of a transform are the only parts applied when transforming.

+
+ std_msgs/Header header
+ Vector3 vector
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ geometry_msgs/msg/Vector3 vector
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/VelocityStamped.html b/static/api/html/geometry_msgs/msg/VelocityStamped.html new file mode 100644 index 00000000..c795eb24 --- /dev/null +++ b/static/api/html/geometry_msgs/msg/VelocityStamped.html @@ -0,0 +1,35 @@ + + + + + msg/VelocityStamped Documentation + + + +
+

geometry_msgs/msg/VelocityStamped Message

+
+

File: geometry_msgs/msg/VelocityStamped.msg

+

Raw Message Definition

+
+
# This expresses the timestamped velocity vector of a frame 'body_frame_id' in the reference frame 'reference_frame_id' expressed from arbitrary observation frame 'header.frame_id'.

+
# - If the 'body_frame_id' and 'header.frame_id' are identical, the velocity is observed and defined in the local coordinates system of the body

+
# which is the usual use-case in mobile robotics and is also known as a body twist.

+
+ std_msgs/Header header
+ string body_frame_id
+ string reference_frame_id
+ Twist velocity
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ string body_frame_id
+ string reference_frame_id
+ geometry_msgs/msg/Twist velocity
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/Wrench.html b/static/api/html/geometry_msgs/msg/Wrench.html new file mode 100644 index 00000000..b39e82d5 --- /dev/null +++ b/static/api/html/geometry_msgs/msg/Wrench.html @@ -0,0 +1,29 @@ + + + + + msg/Wrench Documentation + + + +
+

geometry_msgs/msg/Wrench Message

+
+

File: geometry_msgs/msg/Wrench.msg

+

Raw Message Definition

+
+
# This represents force in free space, separated into its linear and angular parts.

+
+ Vector3 force
+ Vector3 torque
+
+

Compact Message Definition

+
+ geometry_msgs/msg/Vector3 force
+ geometry_msgs/msg/Vector3 torque
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/geometry_msgs/msg/WrenchStamped.html b/static/api/html/geometry_msgs/msg/WrenchStamped.html new file mode 100644 index 00000000..7304ab33 --- /dev/null +++ b/static/api/html/geometry_msgs/msg/WrenchStamped.html @@ -0,0 +1,29 @@ + + + + + msg/WrenchStamped Documentation + + + +
+

geometry_msgs/msg/WrenchStamped Message

+
+

File: geometry_msgs/msg/WrenchStamped.msg

+

Raw Message Definition

+
+
# A wrench with reference coordinate frame and timestamp

+
+ std_msgs/Header header
+ Wrench wrench
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ geometry_msgs/msg/Wrench wrench
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/msg-styles.css b/static/api/html/msg-styles.css new file mode 100644 index 00000000..37b93a6a --- /dev/null +++ b/static/api/html/msg-styles.css @@ -0,0 +1,58 @@ +html { + background: #333; + color: #333; + font-family: 'Palatino', serif; + font-size: 18px; + line-height: 24px; + text-align: center; + padding: 0px 50px 0px 50px; +} +#container { + background: white; + margin: 25px auto 100px auto; + padding: 50px 50px; + text-align: left; +} +a { + text-decoration: none; +} +a:hover { + text-decoration: underline; +} +.msg-title { + margin-bottom: 40px; + border-bottom: 1px solid #333; + padding: 10px 10px 10px 0px; +} +.filename { + padding: 5px; + background-color: #eee; + border: 1px solid #333; +} +.compact_definition-msg { + width: auto; + font-size: 14px; + line-height: 16px; + border: 1px solid #333; + padding: 10px; + margin-bottom: 20px; +} + +.comment-text { + color: blue; +} + +.raw-msg { + font-family: monospace; + width: auto; + font-size: 14px; + line-height: 16px; + padding: 5px; + border: 1px solid #333; + margin-bottom: 20px; +} + +.footer { + font-size: small; + font-style: italic; +} diff --git a/static/api/html/nav_msgs/index-msg.html b/static/api/html/nav_msgs/index-msg.html new file mode 100644 index 00000000..5ed7e747 --- /dev/null +++ b/static/api/html/nav_msgs/index-msg.html @@ -0,0 +1,28 @@ + + + + + nav_msgs Message / Service / Action Documentation + + + +
+

nav_msgs Message Documentation

+ +

nav_msgs Service Documentation

+ +

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/nav_msgs/msg/GridCells.html b/static/api/html/nav_msgs/msg/GridCells.html new file mode 100644 index 00000000..2a4bc24f --- /dev/null +++ b/static/api/html/nav_msgs/msg/GridCells.html @@ -0,0 +1,39 @@ + + + + + msg/GridCells Documentation + + + +
+

nav_msgs/msg/GridCells Message

+
+

File: nav_msgs/msg/GridCells.msg

+

Raw Message Definition

+
+
# An array of cells in a 2D grid

+
+ std_msgs/Header header
+
+
# Width of each cell

+ float32 cell_width
+
+
# Height of each cell

+ float32 cell_height
+
+
# Each cell is represented by the Point at the center of the cell

+ geometry_msgs/Point[] cells
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ float cell_width
+ float cell_height
+ geometry_msgs/msg/Point[] cells
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/nav_msgs/msg/MapMetaData.html b/static/api/html/nav_msgs/msg/MapMetaData.html new file mode 100644 index 00000000..5b2cc82f --- /dev/null +++ b/static/api/html/nav_msgs/msg/MapMetaData.html @@ -0,0 +1,45 @@ + + + + + msg/MapMetaData Documentation + + + +
+

nav_msgs/msg/MapMetaData Message

+
+

File: nav_msgs/msg/MapMetaData.msg

+

Raw Message Definition

+
+
# This hold basic information about the characteristics of the OccupancyGrid

+
+
# The time at which the map was loaded

+ builtin_interfaces/Time map_load_time
+
+
# The map resolution [m/cell]

+ float32 resolution
+
+
# Map width [cells]

+ uint32 width
+
+
# Map height [cells]

+ uint32 height
+
+
# The origin of the map [m, m, rad]. This is the real-world pose of the

+
# bottom left corner of cell (0,0) in the map.

+ geometry_msgs/Pose origin
+
+

Compact Message Definition

+
+ builtin_interfaces/msg/Time map_load_time
+ float resolution
+ uint32 width
+ uint32 height
+ geometry_msgs/msg/Pose origin
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/nav_msgs/msg/OccupancyGrid.html b/static/api/html/nav_msgs/msg/OccupancyGrid.html new file mode 100644 index 00000000..6acb1c47 --- /dev/null +++ b/static/api/html/nav_msgs/msg/OccupancyGrid.html @@ -0,0 +1,39 @@ + + + + + msg/OccupancyGrid Documentation + + + +
+

nav_msgs/msg/OccupancyGrid Message

+
+

File: nav_msgs/msg/OccupancyGrid.msg

+

Raw Message Definition

+
+
# This represents a 2-D grid map

+ std_msgs/Header header
+
+
# MetaData for the map

+ MapMetaData info
+
+
# The map data, in row-major order, starting with (0,0).

+
# Cell (1, 0) will be listed second, representing the next cell in the x direction.

+
# Cell (0, 1) will be at the index equal to info.width, followed by (1, 1).

+
# The values inside are application dependent, but frequently,

+
# 0 represents unoccupied, 1 represents definitely occupied, and

+
# -1 represents unknown.

+ int8[] data
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ nav_msgs/msg/MapMetaData info
+ int8[] data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/nav_msgs/msg/Odometry.html b/static/api/html/nav_msgs/msg/Odometry.html new file mode 100644 index 00000000..542ee4a9 --- /dev/null +++ b/static/api/html/nav_msgs/msg/Odometry.html @@ -0,0 +1,42 @@ + + + + + msg/Odometry Documentation + + + +
+

nav_msgs/msg/Odometry Message

+
+

File: nav_msgs/msg/Odometry.msg

+

Raw Message Definition

+
+
# This represents an estimate of a position and velocity in free space.

+
# The pose in this message should be specified in the coordinate frame given by header.frame_id

+
# The twist in this message should be specified in the coordinate frame given by the child_frame_id

+
+
# Includes the frame id of the pose parent.

+ std_msgs/Header header
+
+
# Frame id the pose points to. The twist is in this coordinate frame.

+ string child_frame_id
+
+
# Estimated pose that is typically relative to a fixed world frame.

+ geometry_msgs/PoseWithCovariance pose
+
+
# Estimated linear and angular velocity relative to child_frame_id.

+ geometry_msgs/TwistWithCovariance twist
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ string child_frame_id
+ geometry_msgs/msg/PoseWithCovariance pose
+ geometry_msgs/msg/TwistWithCovariance twist
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/nav_msgs/msg/Path.html b/static/api/html/nav_msgs/msg/Path.html new file mode 100644 index 00000000..f49bde5d --- /dev/null +++ b/static/api/html/nav_msgs/msg/Path.html @@ -0,0 +1,32 @@ + + + + + msg/Path Documentation + + + +
+

nav_msgs/msg/Path Message

+
+

File: nav_msgs/msg/Path.msg

+

Raw Message Definition

+
+
# An array of poses that represents a Path for a robot to follow.

+
+
# Indicates the frame_id of the path.

+ std_msgs/Header header
+
+
# Array of poses to follow.

+ geometry_msgs/PoseStamped[] poses
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ geometry_msgs/msg/PoseStamped[] poses
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/nav_msgs/srv/GetMap.html b/static/api/html/nav_msgs/srv/GetMap.html new file mode 100644 index 00000000..dfc193ba --- /dev/null +++ b/static/api/html/nav_msgs/srv/GetMap.html @@ -0,0 +1,29 @@ + + + + + srv/GetMap Documentation + + + +
+

nav_msgs/srv/GetMap Service

+
+

File: nav_msgs/srv/GetMap.msg

+

Raw Message Definition

+
+
# Get the map as a nav_msgs/OccupancyGrid

+ ---
+
# The current map hosted by this map service.

+ OccupancyGrid map
+
+

Compact Message Definition

+
+ nav_msgs/msg/OccupancyGrid map
+
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/nav_msgs/srv/GetPlan.html b/static/api/html/nav_msgs/srv/GetPlan.html new file mode 100644 index 00000000..139219da --- /dev/null +++ b/static/api/html/nav_msgs/srv/GetPlan.html @@ -0,0 +1,42 @@ + + + + + srv/GetPlan Documentation + + + +
+

nav_msgs/srv/GetPlan Service

+
+

File: nav_msgs/srv/GetPlan.msg

+

Raw Message Definition

+
+
# Get a plan from the current position to the goal Pose

+
+
# The start pose for the plan

+ geometry_msgs/PoseStamped start
+
+
# The final pose of the goal position

+ geometry_msgs/PoseStamped goal
+
+
# If the goal is obstructed, how many meters the planner can

+
# relax the constraint in x and y before failing.

+ float32 tolerance
+ ---
+
# Array of poses from start to goal if one was successfully found.

+ Path plan
+
+

Compact Message Definition

+
+ nav_msgs/msg/Path plan
+
+ geometry_msgs/msg/PoseStamped start
+ geometry_msgs/msg/PoseStamped goal
+ float tolerance
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/nav_msgs/srv/LoadMap.html b/static/api/html/nav_msgs/srv/LoadMap.html new file mode 100644 index 00000000..e9218bbd --- /dev/null +++ b/static/api/html/nav_msgs/srv/LoadMap.html @@ -0,0 +1,47 @@ + + + + + srv/LoadMap Documentation + + + +
+

nav_msgs/srv/LoadMap Service

+
+

File: nav_msgs/srv/LoadMap.msg

+

Raw Message Definition

+
+
# URL of map resource

+
# Can be an absolute path to a file: file:///path/to/maps/floor1.yaml

+
# Or, relative to a ROS package: package://my_ros_package/maps/floor2.yaml

+ string map_url
+ ---
+
# Result code defintions

+ uint8 RESULT_SUCCESS=0
+ uint8 RESULT_MAP_DOES_NOT_EXIST=1
+ uint8 RESULT_INVALID_MAP_DATA=2
+ uint8 RESULT_INVALID_MAP_METADATA=3
+ uint8 RESULT_UNDEFINED_FAILURE=255
+
+
# Returned map is only valid if result equals RESULT_SUCCESS

+ nav_msgs/OccupancyGrid map
+ uint8 result
+
+

Compact Message Definition

+
+ uint8 RESULT_SUCCESS=0
+ uint8 RESULT_MAP_DOES_NOT_EXIST=1
+ uint8 RESULT_INVALID_MAP_DATA=2
+ uint8 RESULT_INVALID_MAP_METADATA=3
+ uint8 RESULT_UNDEFINED_FAILURE=255
+ nav_msgs/msg/OccupancyGrid map
+ uint8 result
+
+ string map_url
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/nav_msgs/srv/SetMap.html b/static/api/html/nav_msgs/srv/SetMap.html new file mode 100644 index 00000000..d4cd3f30 --- /dev/null +++ b/static/api/html/nav_msgs/srv/SetMap.html @@ -0,0 +1,38 @@ + + + + + srv/SetMap Documentation + + + +
+

nav_msgs/srv/SetMap Service

+
+

File: nav_msgs/srv/SetMap.msg

+

Raw Message Definition

+
+
# Set a new map together with an initial pose

+
+
# Requested 2D map to be set.

+ nav_msgs/OccupancyGrid map
+
+
# Estimated initial pose when setting new map.

+ geometry_msgs/PoseWithCovarianceStamped initial_pose
+ ---
+
+
# True if the map was successfully set, false otherwise.

+ bool success
+
+

Compact Message Definition

+
+ boolean success
+
+ nav_msgs/msg/OccupancyGrid map
+ geometry_msgs/msg/PoseWithCovarianceStamped initial_pose
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/index-msg.html b/static/api/html/sensor_msgs/index-msg.html new file mode 100644 index 00000000..d337ad83 --- /dev/null +++ b/static/api/html/sensor_msgs/index-msg.html @@ -0,0 +1,47 @@ + + + + + sensor_msgs Message / Service / Action Documentation + + + +
+

sensor_msgs Message Documentation

+ +

sensor_msgs Service Documentation

+ +

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/msg/BatteryState.html b/static/api/html/sensor_msgs/msg/BatteryState.html new file mode 100644 index 00000000..d8e908dc --- /dev/null +++ b/static/api/html/sensor_msgs/msg/BatteryState.html @@ -0,0 +1,116 @@ + + + + + msg/BatteryState Documentation + + + +
+

sensor_msgs/msg/BatteryState Message

+
+

File: sensor_msgs/msg/BatteryState.msg

+

Raw Message Definition

+
+
+
# Constants are chosen to match the enums in the linux kernel

+
# defined in include/linux/power_supply.h as of version 3.7

+
# The one difference is for style reasons the constants are

+
# all uppercase not mixed case.

+
+
# Power supply status constants

+ uint8 POWER_SUPPLY_STATUS_UNKNOWN = 0
+ uint8 POWER_SUPPLY_STATUS_CHARGING = 1
+ uint8 POWER_SUPPLY_STATUS_DISCHARGING = 2
+ uint8 POWER_SUPPLY_STATUS_NOT_CHARGING = 3
+ uint8 POWER_SUPPLY_STATUS_FULL = 4
+
+
# Power supply health constants

+ uint8 POWER_SUPPLY_HEALTH_UNKNOWN = 0
+ uint8 POWER_SUPPLY_HEALTH_GOOD = 1
+ uint8 POWER_SUPPLY_HEALTH_OVERHEAT = 2
+ uint8 POWER_SUPPLY_HEALTH_DEAD = 3
+ uint8 POWER_SUPPLY_HEALTH_OVERVOLTAGE = 4
+ uint8 POWER_SUPPLY_HEALTH_UNSPEC_FAILURE = 5
+ uint8 POWER_SUPPLY_HEALTH_COLD = 6
+ uint8 POWER_SUPPLY_HEALTH_WATCHDOG_TIMER_EXPIRE = 7
+ uint8 POWER_SUPPLY_HEALTH_SAFETY_TIMER_EXPIRE = 8
+
+
# Power supply technology (chemistry) constants

+
#uint8 POWER_SUPPLY_TECHNOLOGY_UNKNOWN = 0 # Unknown battery technology

+
#uint8 POWER_SUPPLY_TECHNOLOGY_NIMH = 1 # Nickel-Metal Hydride battery

+
#uint8 POWER_SUPPLY_TECHNOLOGY_LION = 2 # Lithium-ion battery

+
#uint8 POWER_SUPPLY_TECHNOLOGY_LIPO = 3 # Lithium Polymer battery

+
#uint8 POWER_SUPPLY_TECHNOLOGY_LIFE = 4 # Lithium Iron Phosphate battery

+
#uint8 POWER_SUPPLY_TECHNOLOGY_NICD = 5 # Nickel-Cadmium battery

+
#uint8 POWER_SUPPLY_TECHNOLOGY_LIMN = 6 # Lithium Manganese Dioxide battery

+
#uint8 POWER_SUPPLY_TECHNOLOGY_TERNARY = 7 # Ternary Lithium battery

+
#uint8 POWER_SUPPLY_TECHNOLOGY_VRLA = 8 # Valve Regulated Lead-Acid battery

+
+ std_msgs/Header header
+
#float32 voltage # Voltage in Volts (Mandatory)

+
#float32 temperature # Temperature in Degrees Celsius (If unmeasured NaN)

+
#float32 current # Negative when discharging (A) (If unmeasured NaN)

+
#float32 charge # Current charge in Ah (If unmeasured NaN)

+
#float32 capacity # Capacity in Ah (last full capacity) (If unmeasured NaN)

+
#float32 design_capacity # Capacity in Ah (design capacity) (If unmeasured NaN)

+
#float32 percentage # Charge percentage on 0 to 1 range (If unmeasured NaN)

+
#uint8 power_supply_status # The charging status as reported. Values defined above

+
#uint8 power_supply_health # The battery health metric. Values defined above

+
#uint8 power_supply_technology # The battery chemistry. Values defined above

+
#bool present # True if the battery is present

+
+
#float32[] cell_voltage # An array of individual cell voltages for each cell in the pack

+
# # If individual voltages unknown but number of cells known set each to NaN

+
#float32[] cell_temperature # An array of individual cell temperatures for each cell in the pack

+
# # If individual temperatures unknown but number of cells known set each to NaN

+
#string location # The location into which the battery is inserted. (slot number or plug)

+
#string serial_number # The best approximation of the battery serial number

+
+

Compact Message Definition

+
+ uint8 POWER_SUPPLY_STATUS_UNKNOWN=0
+ uint8 POWER_SUPPLY_STATUS_CHARGING=1
+ uint8 POWER_SUPPLY_STATUS_DISCHARGING=2
+ uint8 POWER_SUPPLY_STATUS_NOT_CHARGING=3
+ uint8 POWER_SUPPLY_STATUS_FULL=4
+ uint8 POWER_SUPPLY_HEALTH_UNKNOWN=0
+ uint8 POWER_SUPPLY_HEALTH_GOOD=1
+ uint8 POWER_SUPPLY_HEALTH_OVERHEAT=2
+ uint8 POWER_SUPPLY_HEALTH_DEAD=3
+ uint8 POWER_SUPPLY_HEALTH_OVERVOLTAGE=4
+ uint8 POWER_SUPPLY_HEALTH_UNSPEC_FAILURE=5
+ uint8 POWER_SUPPLY_HEALTH_COLD=6
+ uint8 POWER_SUPPLY_HEALTH_WATCHDOG_TIMER_EXPIRE=7
+ uint8 POWER_SUPPLY_HEALTH_SAFETY_TIMER_EXPIRE=8
+ uint8 POWER_SUPPLY_TECHNOLOGY_UNKNOWN=0
+ uint8 POWER_SUPPLY_TECHNOLOGY_NIMH=1
+ uint8 POWER_SUPPLY_TECHNOLOGY_LION=2
+ uint8 POWER_SUPPLY_TECHNOLOGY_LIPO=3
+ uint8 POWER_SUPPLY_TECHNOLOGY_LIFE=4
+ uint8 POWER_SUPPLY_TECHNOLOGY_NICD=5
+ uint8 POWER_SUPPLY_TECHNOLOGY_LIMN=6
+ uint8 POWER_SUPPLY_TECHNOLOGY_TERNARY=7
+ uint8 POWER_SUPPLY_TECHNOLOGY_VRLA=8
+ std_msgs/msg/Header header
+ float voltage
+ float temperature
+ float current
+ float charge
+ float capacity
+ float design_capacity
+ float percentage
+ uint8 power_supply_status
+ uint8 power_supply_health
+ uint8 power_supply_technology
+ boolean present
+ float[] cell_voltage
+ float[] cell_temperature
+ string location
+ string serial_number
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/msg/CameraInfo.html b/static/api/html/sensor_msgs/msg/CameraInfo.html new file mode 100644 index 00000000..85c496a9 --- /dev/null +++ b/static/api/html/sensor_msgs/msg/CameraInfo.html @@ -0,0 +1,165 @@ + + + + + msg/CameraInfo Documentation + + + +
+

sensor_msgs/msg/CameraInfo Message

+
+

File: sensor_msgs/msg/CameraInfo.msg

+

Raw Message Definition

+
+
# This message defines meta information for a camera. It should be in a

+
# camera namespace on topic "camera_info" and accompanied by up to five

+
# image topics named:

+
#

+
# image_raw - raw data from the camera driver, possibly Bayer encoded

+
# image - monochrome, distorted

+
# image_color - color, distorted

+
# image_rect - monochrome, rectified

+
# image_rect_color - color, rectified

+
#

+
# The image_pipeline contains packages (image_proc, stereo_image_proc)

+
# for producing the four processed image topics from image_raw and

+
# camera_info. The meaning of the camera parameters are described in

+
# detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.

+
#

+
# The image_geometry package provides a user-friendly interface to

+
# common operations using this meta information. If you want to, e.g.,

+
# project a 3d point into image coordinates, we strongly recommend

+
# using image_geometry.

+
#

+
# If the camera is uncalibrated, the matrices D, K, R, P should be left

+
# zeroed out. In particular, clients may assume that K[0] == 0.0

+
# indicates an uncalibrated camera.

+
+
#

+
# Image acquisition info

+
#

+
+
# Time of image acquisition, camera coordinate frame ID

+
#std_msgs/Header header # Header timestamp should be acquisition time of image

+
# # Header frame_id should be optical frame of camera

+
# # origin of frame should be optical center of camera

+
# # +x should point to the right in the image

+
# # +y should point down in the image

+
# # +z should point into the plane of the image

+
+
+
#

+
# Calibration Parameters

+
#

+
# These are fixed during camera calibration. Their values will be the

+
# same in all messages until the camera is recalibrated. Note that

+
# self-calibrating systems may "recalibrate" frequently.

+
#

+
# The internal parameters can be used to warp a raw (distorted) image

+
# to:

+
# 1. An undistorted image (requires D and K)

+
# 2. A rectified image (requires D, K, R)

+
# The projection matrix P projects 3D points into the rectified image.

+
#

+
+
# The image dimensions with which the camera was calibrated.

+
# Normally this will be the full camera resolution in pixels.

+ uint32 height
+ uint32 width
+
+
# The distortion model used. Supported models are listed in

+
# sensor_msgs/distortion_models.hpp. For most cameras, "plumb_bob" - a

+
# simple model of radial and tangential distortion - is sufficent.

+ string distortion_model
+
+
# The distortion parameters, size depending on the distortion model.

+
# For "plumb_bob", the 5 parameters are: (k1, k2, t1, t2, k3).

+ float64[] d
+
+
# Intrinsic camera matrix for the raw (distorted) images.

+
# [fx 0 cx]

+
# K = [ 0 fy cy]

+
# [ 0 0 1]

+
# Projects 3D points in the camera coordinate frame to 2D pixel

+
# coordinates using the focal lengths (fx, fy) and principal point

+
# (cx, cy).

+
#float64[9] k # 3x3 row-major matrix

+
+
# Rectification matrix (stereo cameras only)

+
# A rotation matrix aligning the camera coordinate system to the ideal

+
# stereo image plane so that epipolar lines in both stereo images are

+
# parallel.

+
#float64[9] r # 3x3 row-major matrix

+
+
# Projection/camera matrix

+
# [fx' 0 cx' Tx]

+
# P = [ 0 fy' cy' Ty]

+
# [ 0 0 1 0]

+
# By convention, this matrix specifies the intrinsic (camera) matrix

+
# of the processed (rectified) image. That is, the left 3x3 portion

+
# is the normal camera intrinsic matrix for the rectified image.

+
# It projects 3D points in the camera coordinate frame to 2D pixel

+
# coordinates using the focal lengths (fx', fy') and principal point

+
# (cx', cy') - these may differ from the values in K.

+
# For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will

+
# also have R = the identity and P[1:3,1:3] = K.

+
# For a stereo pair, the fourth column [Tx Ty 0]' is related to the

+
# position of the optical center of the second camera in the first

+
# camera's frame. We assume Tz = 0 so both cameras are in the same

+
# stereo image plane. The first camera always has Tx = Ty = 0. For

+
# the right (second) camera of a horizontal stereo pair, Ty = 0 and

+
# Tx = -fx' * B, where B is the baseline between the cameras.

+
# Given a 3D point [X Y Z]', the projection (x, y) of the point onto

+
# the rectified image is given by:

+
# [u v w]' = P * [X Y Z 1]'

+
# x = u / w

+
# y = v / w

+
# This holds for both images of a stereo pair.

+
#float64[12] p # 3x4 row-major matrix

+
+
+
#

+
# Operational Parameters

+
#

+
# These define the image region actually captured by the camera

+
# driver. Although they affect the geometry of the output image, they

+
# may be changed freely without recalibrating the camera.

+
#

+
+
# Binning refers here to any camera setting which combines rectangular

+
# neighborhoods of pixels into larger "super-pixels." It reduces the

+
# resolution of the output image to

+
# (width / binning_x) x (height / binning_y).

+
# The default values binning_x = binning_y = 0 is considered the same

+
# as binning_x = binning_y = 1 (no subsampling).

+ uint32 binning_x
+ uint32 binning_y
+
+
# Region of interest (subwindow of full camera resolution), given in

+
# full resolution (unbinned) image coordinates. A particular ROI

+
# always denotes the same window of pixels on the camera sensor,

+
# regardless of binning settings.

+
# The default setting of roi (all values 0) is considered the same as

+
# full resolution (roi.width = width, roi.height = height).

+ RegionOfInterest roi
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ uint32 height
+ uint32 width
+ string distortion_model
+ double[] d
+ double[9] k
+ double[9] r
+ double[12] p
+ uint32 binning_x
+ uint32 binning_y
+ sensor_msgs/msg/RegionOfInterest roi
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/msg/ChannelFloat32.html b/static/api/html/sensor_msgs/msg/ChannelFloat32.html new file mode 100644 index 00000000..9e5c4efd --- /dev/null +++ b/static/api/html/sensor_msgs/msg/ChannelFloat32.html @@ -0,0 +1,49 @@ + + + + + msg/ChannelFloat32 Documentation + + + +
+

sensor_msgs/msg/ChannelFloat32 Message

+
+

File: sensor_msgs/msg/ChannelFloat32.msg

+

Raw Message Definition

+
+
# This message is used by the PointCloud message to hold optional data

+
# associated with each point in the cloud. The length of the values

+
# array should be the same as the length of the points array in the

+
# PointCloud, and each value should be associated with the corresponding

+
# point.

+
#

+
# Channel names in existing practice include:

+
# "u", "v" - row and column (respectively) in the left stereo image.

+
# This is opposite to usual conventions but remains for

+
# historical reasons. The newer PointCloud2 message has no

+
# such problem.

+
# "rgb" - For point clouds produced by color stereo cameras. uint8

+
# (R,G,B) values packed into the least significant 24 bits,

+
# in order.

+
# "intensity" - laser or pixel intensity.

+
# "distance"

+
+
# The channel name should give semantics of the channel (e.g.

+
# "intensity" instead of "value").

+ string name
+
+
# The values array should be 1-1 with the elements of the associated

+
# PointCloud.

+ float32[] values
+
+

Compact Message Definition

+
+ string name
+ float[] values
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/msg/CompressedImage.html b/static/api/html/sensor_msgs/msg/CompressedImage.html new file mode 100644 index 00000000..d422e736 --- /dev/null +++ b/static/api/html/sensor_msgs/msg/CompressedImage.html @@ -0,0 +1,67 @@ + + + + + msg/CompressedImage Documentation + + + +
+

sensor_msgs/msg/CompressedImage Message

+
+

File: sensor_msgs/msg/CompressedImage.msg

+

Raw Message Definition

+
+
# This message contains a compressed image.

+
+
#std_msgs/Header header # Header timestamp should be acquisition time of image

+
# # Header frame_id should be optical frame of camera

+
# # origin of frame should be optical center of cameara

+
# # +x should point to the right in the image

+
# # +y should point down in the image

+
# # +z should point into to plane of the image

+
+
#string format # Specifies the format of the data

+
# # Acceptable values differ by the image transport used:

+
# # - compressed_image_transport:

+
# # ORIG_PIXFMT; CODEC compressed [COMPRESSED_PIXFMT]

+
# # where:

+
# # - ORIG_PIXFMT is pixel format of the raw image, i.e.

+
# # the content of sensor_msgs/Image/encoding with

+
# # values from include/sensor_msgs/image_encodings.h

+
# # - CODEC is one of [jpeg, png, tiff]

+
# # - COMPRESSED_PIXFMT is only appended for color images

+
# # and is the pixel format used by the compression

+
# # algorithm. Valid values for jpeg encoding are:

+
# # [bgr8, rgb8]. Valid values for png encoding are:

+
# # [bgr8, rgb8, bgr16, rgb16].

+
# # If the field is empty or does not correspond to the

+
# # above pattern, the image is treated as bgr8 or mono8

+
# # jpeg image (depending on the number of channels).

+
# # - compressed_depth_image_transport:

+
# # ORIG_PIXFMT; compressedDepth CODEC

+
# # where:

+
# # - ORIG_PIXFMT is pixel format of the raw image, i.e.

+
# # the content of sensor_msgs/Image/encoding with

+
# # values from include/sensor_msgs/image_encodings.h

+
# # It is usually one of [16UC1, 32FC1].

+
# # - CODEC is one of [png, rvl]

+
# # If the field is empty or does not correspond to the

+
# # above pattern, the image is treated as png image.

+
# # - Other image transports can store whatever values they

+
# # need for successful decoding of the image. Refer to

+
# # documentation of the other transports for details.

+
+
#uint8[] data # Compressed image buffer

+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ string format
+ uint8[] data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/msg/FluidPressure.html b/static/api/html/sensor_msgs/msg/FluidPressure.html new file mode 100644 index 00000000..7236fbc6 --- /dev/null +++ b/static/api/html/sensor_msgs/msg/FluidPressure.html @@ -0,0 +1,38 @@ + + + + + msg/FluidPressure Documentation + + + +
+

sensor_msgs/msg/FluidPressure Message

+
+

File: sensor_msgs/msg/FluidPressure.msg

+

Raw Message Definition

+
+
# Single pressure reading. This message is appropriate for measuring the

+
# pressure inside of a fluid (air, water, etc). This also includes

+
# atmospheric or barometric pressure.

+
#

+
# This message is not appropriate for force/pressure contact sensors.

+
+
#std_msgs/Header header # timestamp of the measurement

+
# # frame_id is the location of the pressure sensor

+
+
#float64 fluid_pressure # Absolute pressure reading in Pascals.

+
+
#float64 variance # 0 is interpreted as variance unknown

+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ double fluid_pressure
+ double variance
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/msg/Illuminance.html b/static/api/html/sensor_msgs/msg/Illuminance.html new file mode 100644 index 00000000..07480b41 --- /dev/null +++ b/static/api/html/sensor_msgs/msg/Illuminance.html @@ -0,0 +1,46 @@ + + + + + msg/Illuminance Documentation + + + +
+

sensor_msgs/msg/Illuminance Message

+
+

File: sensor_msgs/msg/Illuminance.msg

+

Raw Message Definition

+
+
# Single photometric illuminance measurement. Light should be assumed to be

+
# measured along the sensor's x-axis (the area of detection is the y-z plane).

+
# The illuminance should have a 0 or positive value and be received with

+
# the sensor's +X axis pointing toward the light source.

+
#

+
# Photometric illuminance is the measure of the human eye's sensitivity of the

+
# intensity of light encountering or passing through a surface.

+
#

+
# All other Photometric and Radiometric measurements should not use this message.

+
# This message cannot represent:

+
# - Luminous intensity (candela/light source output)

+
# - Luminance (nits/light output per area)

+
# - Irradiance (watt/area), etc.

+
+
#std_msgs/Header header # timestamp is the time the illuminance was measured

+
# # frame_id is the location and direction of the reading

+
+
#float64 illuminance # Measurement of the Photometric Illuminance in Lux.

+
+
#float64 variance # 0 is interpreted as variance unknown

+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ double illuminance
+ double variance
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/msg/Image.html b/static/api/html/sensor_msgs/msg/Image.html new file mode 100644 index 00000000..49e670cc --- /dev/null +++ b/static/api/html/sensor_msgs/msg/Image.html @@ -0,0 +1,56 @@ + + + + + msg/Image Documentation + + + +
+

sensor_msgs/msg/Image Message

+
+

File: sensor_msgs/msg/Image.msg

+

Raw Message Definition

+
+
# This message contains an uncompressed image

+
# (0, 0) is at top-left corner of image

+
+
#std_msgs/Header header # Header timestamp should be acquisition time of image

+
# # Header frame_id should be optical frame of camera

+
# # origin of frame should be optical center of cameara

+
# # +x should point to the right in the image

+
# # +y should point down in the image

+
# # +z should point into to plane of the image

+
# # If the frame_id here and the frame_id of the CameraInfo

+
# # message associated with the image conflict

+
# # the behavior is undefined

+
+
#uint32 height # image height, that is, number of rows

+
#uint32 width # image width, that is, number of columns

+
+
# The legal values for encoding are in file include/sensor_msgs/image_encodings.hpp

+
# If you want to standardize a new string format, join

+
# ros-users@lists.ros.org and send an email proposing a new encoding.

+
+
#string encoding # Encoding of pixels -- channel meaning, ordering, size

+
# # taken from the list of strings in include/sensor_msgs/image_encodings.hpp

+
+
#uint8 is_bigendian # is this data bigendian?

+
#uint32 step # Full row length in bytes

+
#uint8[] data # actual matrix data, size is (step * rows)

+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ uint32 height
+ uint32 width
+ string encoding
+ uint8 is_bigendian
+ uint32 step
+ uint8[] data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/msg/Imu.html b/static/api/html/sensor_msgs/msg/Imu.html new file mode 100644 index 00000000..4db0b984 --- /dev/null +++ b/static/api/html/sensor_msgs/msg/Imu.html @@ -0,0 +1,54 @@ + + + + + msg/Imu Documentation + + + +
+

sensor_msgs/msg/Imu Message

+
+

File: sensor_msgs/msg/Imu.msg

+

Raw Message Definition

+
+
# This is a message to hold data from an IMU (Inertial Measurement Unit)

+
#

+
# Accelerations should be in m/s^2 (not in g's), and rotational velocity should be in rad/sec

+
#

+
# If the covariance of the measurement is known, it should be filled in (if all you know is the

+
# variance of each measurement, e.g. from the datasheet, just put those along the diagonal)

+
# A covariance matrix of all zeros will be interpreted as "covariance unknown", and to use the

+
# data a covariance will have to be assumed or gotten from some other source

+
#

+
# If you have no estimate for one of the data elements (e.g. your IMU doesn't produce an

+
# orientation estimate), please set element 0 of the associated covariance matrix to -1

+
# If you are interpreting this message, please check for a value of -1 in the first element of each

+
# covariance matrix, and disregard the associated estimate.

+
+ std_msgs/Header header
+
+ geometry_msgs/Quaternion orientation
+
#float64[9] orientation_covariance # Row major about x, y, z axes

+
+ geometry_msgs/Vector3 angular_velocity
+
#float64[9] angular_velocity_covariance # Row major about x, y, z axes

+
+ geometry_msgs/Vector3 linear_acceleration
+
#float64[9] linear_acceleration_covariance # Row major x, y z

+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ geometry_msgs/msg/Quaternion orientation
+ double[9] orientation_covariance
+ geometry_msgs/msg/Vector3 angular_velocity
+ double[9] angular_velocity_covariance
+ geometry_msgs/msg/Vector3 linear_acceleration
+ double[9] linear_acceleration_covariance
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/msg/JointState.html b/static/api/html/sensor_msgs/msg/JointState.html new file mode 100644 index 00000000..d2097ceb --- /dev/null +++ b/static/api/html/sensor_msgs/msg/JointState.html @@ -0,0 +1,53 @@ + + + + + msg/JointState Documentation + + + +
+

sensor_msgs/msg/JointState Message

+
+

File: sensor_msgs/msg/JointState.msg

+

Raw Message Definition

+
+
# This is a message that holds data to describe the state of a set of torque controlled joints.

+
#

+
# The state of each joint (revolute or prismatic) is defined by:

+
# * the position of the joint (rad or m),

+
# * the velocity of the joint (rad/s or m/s) and

+
# * the effort that is applied in the joint (Nm or N).

+
#

+
# Each joint is uniquely identified by its name

+
# The header specifies the time at which the joint states were recorded. All the joint states

+
# in one message have to be recorded at the same time.

+
#

+
# This message consists of a multiple arrays, one for each part of the joint state.

+
# The goal is to make each of the fields optional. When e.g. your joints have no

+
# effort associated with them, you can leave the effort array empty.

+
#

+
# All arrays in this message should have the same size, or be empty.

+
# This is the only way to uniquely associate the joint name with the correct

+
# states.

+
+ std_msgs/Header header
+
+ string[] name
+ float64[] position
+ float64[] velocity
+ float64[] effort
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ string[] name
+ double[] position
+ double[] velocity
+ double[] effort
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/msg/Joy.html b/static/api/html/sensor_msgs/msg/Joy.html new file mode 100644 index 00000000..daa36315 --- /dev/null +++ b/static/api/html/sensor_msgs/msg/Joy.html @@ -0,0 +1,36 @@ + + + + + msg/Joy Documentation + + + +
+

sensor_msgs/msg/Joy Message

+
+

File: sensor_msgs/msg/Joy.msg

+

Raw Message Definition

+
+
# Reports the state of a joystick's axes and buttons.

+
+
# The timestamp is the time at which data is received from the joystick.

+ std_msgs/Header header
+
+
# The axes measurements from a joystick.

+ float32[] axes
+
+
# The buttons measurements from a joystick.

+ int32[] buttons
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ float[] axes
+ int32[] buttons
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/msg/JoyFeedback.html b/static/api/html/sensor_msgs/msg/JoyFeedback.html new file mode 100644 index 00000000..bb6275f2 --- /dev/null +++ b/static/api/html/sensor_msgs/msg/JoyFeedback.html @@ -0,0 +1,43 @@ + + + + + msg/JoyFeedback Documentation + + + +
+

sensor_msgs/msg/JoyFeedback Message

+
+

File: sensor_msgs/msg/JoyFeedback.msg

+

Raw Message Definition

+
+
# Declare of the type of feedback

+ uint8 TYPE_LED = 0
+ uint8 TYPE_RUMBLE = 1
+ uint8 TYPE_BUZZER = 2
+
+ uint8 type
+
+
# This will hold an id number for each type of each feedback.

+
# Example, the first led would be id=0, the second would be id=1

+ uint8 id
+
+
# Intensity of the feedback, from 0.0 to 1.0, inclusive. If device is

+
# actually binary, driver should treat 0<=x<0.5 as off, 0.5<=x<=1 as on.

+ float32 intensity
+
+

Compact Message Definition

+
+ uint8 TYPE_LED=0
+ uint8 TYPE_RUMBLE=1
+ uint8 TYPE_BUZZER=2
+ uint8 type
+ uint8 id
+ float intensity
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/msg/JoyFeedbackArray.html b/static/api/html/sensor_msgs/msg/JoyFeedbackArray.html new file mode 100644 index 00000000..324db0ab --- /dev/null +++ b/static/api/html/sensor_msgs/msg/JoyFeedbackArray.html @@ -0,0 +1,26 @@ + + + + + msg/JoyFeedbackArray Documentation + + + +
+

sensor_msgs/msg/JoyFeedbackArray Message

+
+

File: sensor_msgs/msg/JoyFeedbackArray.msg

+

Raw Message Definition

+
+
# This message publishes values for multiple feedback at once.

+ JoyFeedback[] array
+
+

Compact Message Definition

+
+ sensor_msgs/msg/JoyFeedback[] array
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/msg/LaserEcho.html b/static/api/html/sensor_msgs/msg/LaserEcho.html new file mode 100644 index 00000000..ab94580b --- /dev/null +++ b/static/api/html/sensor_msgs/msg/LaserEcho.html @@ -0,0 +1,29 @@ + + + + + msg/LaserEcho Documentation + + + +
+

sensor_msgs/msg/LaserEcho Message

+
+

File: sensor_msgs/msg/LaserEcho.msg

+

Raw Message Definition

+
+
# This message is a submessage of MultiEchoLaserScan and is not intended

+
# to be used separately.

+
+
#float32[] echoes # Multiple values of ranges or intensities.

+
# # Each array represents data from the same angle increment.

+
+

Compact Message Definition

+
+ float[] echoes
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/msg/LaserScan.html b/static/api/html/sensor_msgs/msg/LaserScan.html new file mode 100644 index 00000000..9e3c8317 --- /dev/null +++ b/static/api/html/sensor_msgs/msg/LaserScan.html @@ -0,0 +1,63 @@ + + + + + msg/LaserScan Documentation + + + +
+

sensor_msgs/msg/LaserScan Message

+
+

File: sensor_msgs/msg/LaserScan.msg

+

Raw Message Definition

+
+
# Single scan from a planar laser range-finder

+
#

+
# If you have another ranging device with different behavior (e.g. a sonar

+
# array), please find or create a different message, since applications

+
# will make fairly laser-specific assumptions about this data

+
+
#std_msgs/Header header # timestamp in the header is the acquisition time of

+
# # the first ray in the scan.

+
#

+
# # in frame frame_id, angles are measured around

+
# # the positive Z axis (counterclockwise, if Z is up)

+
# # with zero angle being forward along the x axis

+
+
#float32 angle_min # start angle of the scan [rad]

+
#float32 angle_max # end angle of the scan [rad]

+
#float32 angle_increment # angular distance between measurements [rad]

+
+
#float32 time_increment # time between measurements [seconds] - if your scanner

+
# # is moving, this will be used in interpolating position

+
# # of 3d points

+
#float32 scan_time # time between scans [seconds]

+
+
#float32 range_min # minimum range value [m]

+
#float32 range_max # maximum range value [m]

+
+
#float32[] ranges # range data [m]

+
# # (Note: values < range_min or > range_max should be discarded)

+
#float32[] intensities # intensity data [device-specific units]. If your

+
# # device does not provide intensities, please leave

+
# # the array empty.

+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ float angle_min
+ float angle_max
+ float angle_increment
+ float time_increment
+ float scan_time
+ float range_min
+ float range_max
+ float[] ranges
+ float[] intensities
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/msg/MagneticField.html b/static/api/html/sensor_msgs/msg/MagneticField.html new file mode 100644 index 00000000..68972db0 --- /dev/null +++ b/static/api/html/sensor_msgs/msg/MagneticField.html @@ -0,0 +1,47 @@ + + + + + msg/MagneticField Documentation + + + +
+

sensor_msgs/msg/MagneticField Message

+
+

File: sensor_msgs/msg/MagneticField.msg

+

Raw Message Definition

+
+
# Measurement of the Magnetic Field vector at a specific location.

+
#

+
# If the covariance of the measurement is known, it should be filled in.

+
# If all you know is the variance of each measurement, e.g. from the datasheet,

+
# just put those along the diagonal.

+
# A covariance matrix of all zeros will be interpreted as "covariance unknown",

+
# and to use the data a covariance will have to be assumed or gotten from some

+
# other source.

+
+
#std_msgs/Header header # timestamp is the time the

+
# # field was measured

+
# # frame_id is the location and orientation

+
# # of the field measurement

+
+
#geometry_msgs/Vector3 magnetic_field # x, y, and z components of the

+
# # field vector in Tesla

+
# # If your sensor does not output 3 axes,

+
# # put NaNs in the components not reported.

+
+
#float64[9] magnetic_field_covariance # Row major about x, y, z axes

+
# # 0 is interpreted as variance unknown

+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ geometry_msgs/msg/Vector3 magnetic_field
+ double[9] magnetic_field_covariance
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/msg/MultiDOFJointState.html b/static/api/html/sensor_msgs/msg/MultiDOFJointState.html new file mode 100644 index 00000000..bfd22136 --- /dev/null +++ b/static/api/html/sensor_msgs/msg/MultiDOFJointState.html @@ -0,0 +1,54 @@ + + + + + msg/MultiDOFJointState Documentation + + + +
+

sensor_msgs/msg/MultiDOFJointState Message

+
+

File: sensor_msgs/msg/MultiDOFJointState.msg

+

Raw Message Definition

+
+
# Representation of state for joints with multiple degrees of freedom,

+
# following the structure of JointState which can only represent a single degree of freedom.

+
#

+
# It is assumed that a joint in a system corresponds to a transform that gets applied

+
# along the kinematic chain. For example, a planar joint (as in URDF) is 3DOF (x, y, yaw)

+
# and those 3DOF can be expressed as a transformation matrix, and that transformation

+
# matrix can be converted back to (x, y, yaw)

+
#

+
# Each joint is uniquely identified by its name

+
# The header specifies the time at which the joint states were recorded. All the joint states

+
# in one message have to be recorded at the same time.

+
#

+
# This message consists of a multiple arrays, one for each part of the joint state.

+
# The goal is to make each of the fields optional. When e.g. your joints have no

+
# wrench associated with them, you can leave the wrench array empty.

+
#

+
# All arrays in this message should have the same size, or be empty.

+
# This is the only way to uniquely associate the joint name with the correct

+
# states.

+
+ std_msgs/Header header
+
+ string[] joint_names
+ geometry_msgs/Transform[] transforms
+ geometry_msgs/Twist[] twist
+ geometry_msgs/Wrench[] wrench
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ string[] joint_names
+ geometry_msgs/msg/Transform[] transforms
+ geometry_msgs/msg/Twist[] twist
+ geometry_msgs/msg/Wrench[] wrench
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/msg/MultiEchoLaserScan.html b/static/api/html/sensor_msgs/msg/MultiEchoLaserScan.html new file mode 100644 index 00000000..2f8bc54d --- /dev/null +++ b/static/api/html/sensor_msgs/msg/MultiEchoLaserScan.html @@ -0,0 +1,65 @@ + + + + + msg/MultiEchoLaserScan Documentation + + + +
+

sensor_msgs/msg/MultiEchoLaserScan Message

+
+

File: sensor_msgs/msg/MultiEchoLaserScan.msg

+

Raw Message Definition

+
+
# Single scan from a multi-echo planar laser range-finder

+
#

+
# If you have another ranging device with different behavior (e.g. a sonar

+
# array), please find or create a different message, since applications

+
# will make fairly laser-specific assumptions about this data

+
+
#std_msgs/Header header # timestamp in the header is the acquisition time of

+
# # the first ray in the scan.

+
#

+
# # in frame frame_id, angles are measured around

+
# # the positive Z axis (counterclockwise, if Z is up)

+
# # with zero angle being forward along the x axis

+
+
#float32 angle_min # start angle of the scan [rad]

+
#float32 angle_max # end angle of the scan [rad]

+
#float32 angle_increment # angular distance between measurements [rad]

+
+
#float32 time_increment # time between measurements [seconds] - if your scanner

+
# # is moving, this will be used in interpolating position

+
# # of 3d points

+
#float32 scan_time # time between scans [seconds]

+
+
#float32 range_min # minimum range value [m]

+
#float32 range_max # maximum range value [m]

+
+
#LaserEcho[] ranges # range data [m]

+
# # (Note: NaNs, values < range_min or > range_max should be discarded)

+
# # +Inf measurements are out of range

+
# # -Inf measurements are too close to determine exact distance.

+
#LaserEcho[] intensities # intensity data [device-specific units]. If your

+
# # device does not provide intensities, please leave

+
# # the array empty.

+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ float angle_min
+ float angle_max
+ float angle_increment
+ float time_increment
+ float scan_time
+ float range_min
+ float range_max
+ sensor_msgs/msg/LaserEcho[] ranges
+ sensor_msgs/msg/LaserEcho[] intensities
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/msg/NavSatFix.html b/static/api/html/sensor_msgs/msg/NavSatFix.html new file mode 100644 index 00000000..a4ba0a85 --- /dev/null +++ b/static/api/html/sensor_msgs/msg/NavSatFix.html @@ -0,0 +1,79 @@ + + + + + msg/NavSatFix Documentation + + + +
+

sensor_msgs/msg/NavSatFix Message

+
+

File: sensor_msgs/msg/NavSatFix.msg

+

Raw Message Definition

+
+
# Navigation Satellite fix for any Global Navigation Satellite System

+
#

+
# Specified using the WGS 84 reference ellipsoid

+
+
# header.stamp specifies the ROS time for this measurement (the

+
# corresponding satellite time may be reported using the

+
# sensor_msgs/TimeReference message).

+
#

+
# header.frame_id is the frame of reference reported by the satellite

+
# receiver, usually the location of the antenna. This is a

+
# Euclidean frame relative to the vehicle, not a reference

+
# ellipsoid.

+ std_msgs/Header header
+
+
# Satellite fix status information.

+ NavSatStatus status
+
+
# Latitude [degrees]. Positive is north of equator; negative is south.

+ float64 latitude
+
+
# Longitude [degrees]. Positive is east of prime meridian; negative is west.

+ float64 longitude
+
+
# Altitude [m]. Positive is above the WGS 84 ellipsoid

+
# (quiet NaN if no altitude is available).

+ float64 altitude
+
+
# Position covariance [m^2] defined relative to a tangential plane

+
# through the reported position. The components are East, North, and

+
# Up (ENU), in row-major order.

+
#

+
# Beware: this coordinate system exhibits singularities at the poles.

+ float64[9] position_covariance
+
+
# If the covariance of the fix is known, fill it in completely. If the

+
# GPS receiver provides the variance of each measurement, put them

+
# along the diagonal. If only Dilution of Precision is available,

+
# estimate an approximate covariance from that.

+
+ uint8 COVARIANCE_TYPE_UNKNOWN = 0
+ uint8 COVARIANCE_TYPE_APPROXIMATED = 1
+ uint8 COVARIANCE_TYPE_DIAGONAL_KNOWN = 2
+ uint8 COVARIANCE_TYPE_KNOWN = 3
+
+ uint8 position_covariance_type
+
+

Compact Message Definition

+
+ uint8 COVARIANCE_TYPE_UNKNOWN=0
+ uint8 COVARIANCE_TYPE_APPROXIMATED=1
+ uint8 COVARIANCE_TYPE_DIAGONAL_KNOWN=2
+ uint8 COVARIANCE_TYPE_KNOWN=3
+ std_msgs/msg/Header header
+ sensor_msgs/msg/NavSatStatus status
+ double latitude
+ double longitude
+ double altitude
+ double[9] position_covariance
+ uint8 position_covariance_type
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/msg/NavSatStatus.html b/static/api/html/sensor_msgs/msg/NavSatStatus.html new file mode 100644 index 00000000..ee09db48 --- /dev/null +++ b/static/api/html/sensor_msgs/msg/NavSatStatus.html @@ -0,0 +1,59 @@ + + + + + msg/NavSatStatus Documentation + + + +
+

sensor_msgs/msg/NavSatStatus Message

+
+

File: sensor_msgs/msg/NavSatStatus.msg

+

Raw Message Definition

+
+
# Navigation Satellite fix status for any Global Navigation Satellite System.

+
#

+
# Whether to output an augmented fix is determined by both the fix

+
# type and the last time differential corrections were received. A

+
# fix is valid when status >= STATUS_FIX.

+
+
#int8 STATUS_UNKNOWN = -2 # status is not yet set

+
#int8 STATUS_NO_FIX = -1 # unable to fix position

+
#int8 STATUS_FIX = 0 # unaugmented fix

+
#int8 STATUS_SBAS_FIX = 1 # with satellite-based augmentation

+
#int8 STATUS_GBAS_FIX = 2 # with ground-based augmentation

+
+
#int8 status -2 # STATUS_UNKNOWN

+
+
# Bits defining which Global Navigation Satellite System signals were

+
# used by the receiver.

+
+
#uint16 SERVICE_UNKNOWN = 0 # Remember service is a bitfield, so checking (service & SERVICE_UNKNOWN) will not work. Use == instead.

+ uint16 SERVICE_GPS = 1
+ uint16 SERVICE_GLONASS = 2
+
#uint16 SERVICE_COMPASS = 4 # includes BeiDou.

+ uint16 SERVICE_GALILEO = 8
+
+ uint16 service
+
+

Compact Message Definition

+
+ int8 STATUS_UNKNOWN=-2
+ int8 STATUS_NO_FIX=-1
+ int8 STATUS_FIX=0
+ int8 STATUS_SBAS_FIX=1
+ int8 STATUS_GBAS_FIX=2
+ uint16 SERVICE_UNKNOWN=0
+ uint16 SERVICE_GPS=1
+ uint16 SERVICE_GLONASS=2
+ uint16 SERVICE_COMPASS=4
+ uint16 SERVICE_GALILEO=8
+ int8 status=-2
+ uint16 service
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/msg/PointCloud.html b/static/api/html/sensor_msgs/msg/PointCloud.html new file mode 100644 index 00000000..5a20c119 --- /dev/null +++ b/static/api/html/sensor_msgs/msg/PointCloud.html @@ -0,0 +1,43 @@ + + + + + msg/PointCloud Documentation + + + +
+

sensor_msgs/msg/PointCloud Message

+
+

File: sensor_msgs/msg/PointCloud.msg

+

Raw Message Definition

+
+
# THIS MESSAGE IS DEPRECATED AS OF FOXY

+
# Please use sensor_msgs/PointCloud2

+
+
# This message holds a collection of 3d points, plus optional additional

+
# information about each point.

+
+
# Time of sensor data acquisition, coordinate frame ID.

+ std_msgs/Header header
+
+
# Array of 3d points. Each Point32 should be interpreted as a 3d point

+
# in the frame given in the header.

+ geometry_msgs/Point32[] points
+
+
# Each channel should have the same number of elements as points array,

+
# and the data in each channel should correspond 1:1 with each point.

+
# Channel names in common practice are listed in ChannelFloat32.msg.

+ ChannelFloat32[] channels
+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ geometry_msgs/msg/Point32[] points
+ sensor_msgs/msg/ChannelFloat32[] channels
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/msg/PointCloud2.html b/static/api/html/sensor_msgs/msg/PointCloud2.html new file mode 100644 index 00000000..f0c0b0b7 --- /dev/null +++ b/static/api/html/sensor_msgs/msg/PointCloud2.html @@ -0,0 +1,58 @@ + + + + + msg/PointCloud2 Documentation + + + +
+

sensor_msgs/msg/PointCloud2 Message

+
+

File: sensor_msgs/msg/PointCloud2.msg

+

Raw Message Definition

+
+
# This message holds a collection of N-dimensional points, which may

+
# contain additional information such as normals, intensity, etc. The

+
# point data is stored as a binary blob, its layout described by the

+
# contents of the "fields" array.

+
#

+
# The point cloud data may be organized 2d (image-like) or 1d (unordered).

+
# Point clouds organized as 2d images may be produced by camera depth sensors

+
# such as stereo or time-of-flight.

+
+
# Time of sensor data acquisition, and the coordinate frame ID (for 3d points).

+ std_msgs/Header header
+
+
# 2D structure of the point cloud. If the cloud is unordered, height is

+
# 1 and width is the length of the point cloud.

+ uint32 height
+ uint32 width
+
+
# Describes the channels and their layout in the binary data blob.

+ PointField[] fields
+
+
#bool is_bigendian # Is this data bigendian?

+
#uint32 point_step # Length of a point in bytes

+
#uint32 row_step # Length of a row in bytes

+
#uint8[] data # Actual point data, size is (row_step*height)

+
+
#bool is_dense # True if there are no invalid points

+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ uint32 height
+ uint32 width
+ sensor_msgs/msg/PointField[] fields
+ boolean is_bigendian
+ uint32 point_step
+ uint32 row_step
+ uint8[] data
+ boolean is_dense
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/msg/PointField.html b/static/api/html/sensor_msgs/msg/PointField.html new file mode 100644 index 00000000..f1b276bb --- /dev/null +++ b/static/api/html/sensor_msgs/msg/PointField.html @@ -0,0 +1,51 @@ + + + + + msg/PointField Documentation + + + +
+

sensor_msgs/msg/PointField Message

+
+

File: sensor_msgs/msg/PointField.msg

+

Raw Message Definition

+
+
# This message holds the description of one point entry in the

+
# PointCloud2 message format.

+ uint8 INT8 = 1
+ uint8 UINT8 = 2
+ uint8 INT16 = 3
+ uint8 UINT16 = 4
+ uint8 INT32 = 5
+ uint8 UINT32 = 6
+ uint8 FLOAT32 = 7
+ uint8 FLOAT64 = 8
+
+
# Common PointField names are x, y, z, intensity, rgb, rgba

+
#string name # Name of field

+
#uint32 offset # Offset from start of point struct

+
#uint8 datatype # Datatype enumeration, see above

+
#uint32 count # How many elements in the field

+
+

Compact Message Definition

+
+ uint8 INT8=1
+ uint8 UINT8=2
+ uint8 INT16=3
+ uint8 UINT16=4
+ uint8 INT32=5
+ uint8 UINT32=6
+ uint8 FLOAT32=7
+ uint8 FLOAT64=8
+ string name
+ uint32 offset
+ uint8 datatype
+ uint32 count
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/msg/Range.html b/static/api/html/sensor_msgs/msg/Range.html new file mode 100644 index 00000000..a3c1a77b --- /dev/null +++ b/static/api/html/sensor_msgs/msg/Range.html @@ -0,0 +1,74 @@ + + + + + msg/Range Documentation + + + +
+

sensor_msgs/msg/Range Message

+
+

File: sensor_msgs/msg/Range.msg

+

Raw Message Definition

+
+
# Single range reading from an active ranger that emits energy and reports

+
# one range reading that is valid along an arc at the distance measured.

+
# This message is not appropriate for laser scanners. See the LaserScan

+
# message if you are working with a laser scanner.

+
#

+
# This message also can represent a fixed-distance (binary) ranger. This

+
# sensor will have min_range===max_range===distance of detection.

+
# These sensors follow REP 117 and will output -Inf if the object is detected

+
# and +Inf if the object is outside of the detection range.

+
+
#std_msgs/Header header # timestamp in the header is the time the ranger

+
# # returned the distance reading

+
+
# Radiation type enums

+
# If you want a value added to this list, send an email to the ros-users list

+ uint8 ULTRASOUND=0
+ uint8 INFRARED=1
+
+
#uint8 radiation_type # the type of radiation used by the sensor

+
# # (sound, IR, etc) [enum]

+
+
#float32 field_of_view # the size of the arc that the distance reading is

+
# # valid for [rad]

+
# # the object causing the range reading may have

+
# # been anywhere within -field_of_view/2 and

+
# # field_of_view/2 at the measured range.

+
# # 0 angle corresponds to the x-axis of the sensor.

+
+
#float32 min_range # minimum range value [m]

+
#float32 max_range # maximum range value [m]

+
# # Fixed distance rangers require min_range==max_range

+
+
#float32 range # range data [m]

+
# # (Note: values < range_min or > range_max should be discarded)

+
# # Fixed distance rangers only output -Inf or +Inf.

+
# # -Inf represents a detection within fixed distance.

+
# # (Detection too close to the sensor to quantify)

+
# # +Inf represents no detection within the fixed distance.

+
# # (Object out of range)

+
+
#float32 variance # variance of the range sensor

+
# # 0 is interpreted as variance unknown

+
+

Compact Message Definition

+
+ uint8 ULTRASOUND=0
+ uint8 INFRARED=1
+ std_msgs/msg/Header header
+ uint8 radiation_type
+ float field_of_view
+ float min_range
+ float max_range
+ float range
+ float variance
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/msg/RegionOfInterest.html b/static/api/html/sensor_msgs/msg/RegionOfInterest.html new file mode 100644 index 00000000..9428867e --- /dev/null +++ b/static/api/html/sensor_msgs/msg/RegionOfInterest.html @@ -0,0 +1,47 @@ + + + + + msg/RegionOfInterest Documentation + + + +
+

sensor_msgs/msg/RegionOfInterest Message

+
+

File: sensor_msgs/msg/RegionOfInterest.msg

+

Raw Message Definition

+
+
# This message is used to specify a region of interest within an image.

+
#

+
# When used to specify the ROI setting of the camera when the image was

+
# taken, the height and width fields should either match the height and

+
# width fields for the associated image; or height = width = 0

+
# indicates that the full resolution image was captured.

+
+
#uint32 x_offset # Leftmost pixel of the ROI

+
# # (0 if the ROI includes the left edge of the image)

+
#uint32 y_offset # Topmost pixel of the ROI

+
# # (0 if the ROI includes the top edge of the image)

+
#uint32 height # Height of ROI

+
#uint32 width # Width of ROI

+
+
# True if a distinct rectified ROI should be calculated from the "raw"

+
# ROI in this message. Typically this should be False if the full image

+
# is captured (ROI not used), and True if a subwindow is captured (ROI

+
# used).

+ bool do_rectify
+
+

Compact Message Definition

+
+ uint32 x_offset
+ uint32 y_offset
+ uint32 height
+ uint32 width
+ boolean do_rectify
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/msg/RelativeHumidity.html b/static/api/html/sensor_msgs/msg/RelativeHumidity.html new file mode 100644 index 00000000..2cb51bf1 --- /dev/null +++ b/static/api/html/sensor_msgs/msg/RelativeHumidity.html @@ -0,0 +1,39 @@ + + + + + msg/RelativeHumidity Documentation + + + +
+

sensor_msgs/msg/RelativeHumidity Message

+
+

File: sensor_msgs/msg/RelativeHumidity.msg

+

Raw Message Definition

+
+
# Single reading from a relative humidity sensor.

+
# Defines the ratio of partial pressure of water vapor to the saturated vapor

+
# pressure at a temperature.

+
+
#std_msgs/Header header # timestamp of the measurement

+
# # frame_id is the location of the humidity sensor

+
+
#float64 relative_humidity # Expression of the relative humidity

+
# # from 0.0 to 1.0.

+
# # 0.0 is no partial pressure of water vapor

+
# # 1.0 represents partial pressure of saturation

+
+
#float64 variance # 0 is interpreted as variance unknown

+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ double relative_humidity
+ double variance
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/msg/Temperature.html b/static/api/html/sensor_msgs/msg/Temperature.html new file mode 100644 index 00000000..430aab6f --- /dev/null +++ b/static/api/html/sensor_msgs/msg/Temperature.html @@ -0,0 +1,34 @@ + + + + + msg/Temperature Documentation + + + +
+

sensor_msgs/msg/Temperature Message

+
+

File: sensor_msgs/msg/Temperature.msg

+

Raw Message Definition

+
+
# Single temperature reading.

+
+
#std_msgs/Header header # timestamp is the time the temperature was measured

+
# # frame_id is the location of the temperature reading

+
+
#float64 temperature # Measurement of the Temperature in Degrees Celsius.

+
+
#float64 variance # 0 is interpreted as variance unknown.

+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ double temperature
+ double variance
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/msg/TimeReference.html b/static/api/html/sensor_msgs/msg/TimeReference.html new file mode 100644 index 00000000..579e5528 --- /dev/null +++ b/static/api/html/sensor_msgs/msg/TimeReference.html @@ -0,0 +1,33 @@ + + + + + msg/TimeReference Documentation + + + +
+

sensor_msgs/msg/TimeReference Message

+
+

File: sensor_msgs/msg/TimeReference.msg

+

Raw Message Definition

+
+
# Measurement from an external time source not actively synchronized with the system clock.

+
+
#std_msgs/Header header # stamp is system time for which measurement was valid

+
# # frame_id is not used

+
+
#builtin_interfaces/Time time_ref # corresponding time from this external source

+
#string source # (optional) name of time source

+
+

Compact Message Definition

+
+ std_msgs/msg/Header header
+ builtin_interfaces/msg/Time time_ref
+ string source
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/sensor_msgs/srv/SetCameraInfo.html b/static/api/html/sensor_msgs/srv/SetCameraInfo.html new file mode 100644 index 00000000..070697b9 --- /dev/null +++ b/static/api/html/sensor_msgs/srv/SetCameraInfo.html @@ -0,0 +1,39 @@ + + + + + srv/SetCameraInfo Documentation + + + +
+

sensor_msgs/srv/SetCameraInfo Service

+
+

File: sensor_msgs/srv/SetCameraInfo.msg

+

Raw Message Definition

+
+
# This service requests that a camera stores the given CameraInfo as that

+
# camera's calibration information.

+
#

+
# The width and height in the camera_info field should match what the

+
# camera is currently outputting on its camera_info topic, and the camera

+
# will assume that the region of the imager that is being referred to is

+
# the region that the camera is currently capturing.

+
+
#sensor_msgs/CameraInfo camera_info # The camera_info to store

+ ---
+
#bool success # True if the call succeeded

+
#string status_message # Used to give details about success

+
+

Compact Message Definition

+
+ boolean success
+ string status_message
+
+ sensor_msgs/msg/CameraInfo camera_info
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/index-msg.html b/static/api/html/std_msgs/index-msg.html new file mode 100644 index 00000000..8c81f8d4 --- /dev/null +++ b/static/api/html/std_msgs/index-msg.html @@ -0,0 +1,46 @@ + + + + + std_msgs Message / Service / Action Documentation + + + +
+

std_msgs Message Documentation

+ +

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/Bool.html b/static/api/html/std_msgs/msg/Bool.html new file mode 100644 index 00000000..34de489e --- /dev/null +++ b/static/api/html/std_msgs/msg/Bool.html @@ -0,0 +1,30 @@ + + + + + msg/Bool Documentation + + + +
+

std_msgs/msg/Bool Message

+
+

File: std_msgs/msg/Bool.msg

+

Raw Message Definition

+
+
# This was originally provided as an example message.

+
# It is deprecated as of Foxy

+
# It is recommended to create your own semantically meaningful message.

+
# However if you would like to continue using this please use the equivalent in example_msgs.

+
+ bool data
+
+

Compact Message Definition

+
+ boolean data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/Byte.html b/static/api/html/std_msgs/msg/Byte.html new file mode 100644 index 00000000..f22614c3 --- /dev/null +++ b/static/api/html/std_msgs/msg/Byte.html @@ -0,0 +1,30 @@ + + + + + msg/Byte Documentation + + + +
+

std_msgs/msg/Byte Message

+
+

File: std_msgs/msg/Byte.msg

+

Raw Message Definition

+
+
# This was originally provided as an example message.

+
# It is deprecated as of Foxy

+
# It is recommended to create your own semantically meaningful message.

+
# However if you would like to continue using this please use the equivalent in example_msgs.

+
+ byte data
+
+

Compact Message Definition

+
+ octet data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/ByteMultiArray.html b/static/api/html/std_msgs/msg/ByteMultiArray.html new file mode 100644 index 00000000..ae39b6fe --- /dev/null +++ b/static/api/html/std_msgs/msg/ByteMultiArray.html @@ -0,0 +1,35 @@ + + + + + msg/ByteMultiArray Documentation + + + +
+

std_msgs/msg/ByteMultiArray Message

+
+

File: std_msgs/msg/ByteMultiArray.msg

+

Raw Message Definition

+
+
# This was originally provided as an example message.

+
# It is deprecated as of Foxy

+
# It is recommended to create your own semantically meaningful message.

+
# However if you would like to continue using this please use the equivalent in example_msgs.

+
+
# Please look at the MultiArrayLayout message definition for

+
# documentation on all multiarrays.

+
+
#MultiArrayLayout layout # specification of data layout

+
#byte[] data # array of data

+
+

Compact Message Definition

+
+ std_msgs/msg/MultiArrayLayout layout
+ octet[] data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/Char.html b/static/api/html/std_msgs/msg/Char.html new file mode 100644 index 00000000..607aed80 --- /dev/null +++ b/static/api/html/std_msgs/msg/Char.html @@ -0,0 +1,30 @@ + + + + + msg/Char Documentation + + + +
+

std_msgs/msg/Char Message

+
+

File: std_msgs/msg/Char.msg

+

Raw Message Definition

+
+
# This was originally provided as an example message.

+
# It is deprecated as of Foxy

+
# It is recommended to create your own semantically meaningful message.

+
# However if you would like to continue using this please use the equivalent in example_msgs.

+
+ char data
+
+

Compact Message Definition

+
+ uint8 data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/ColorRGBA.html b/static/api/html/std_msgs/msg/ColorRGBA.html new file mode 100644 index 00000000..d9170dd8 --- /dev/null +++ b/static/api/html/std_msgs/msg/ColorRGBA.html @@ -0,0 +1,31 @@ + + + + + msg/ColorRGBA Documentation + + + +
+

std_msgs/msg/ColorRGBA Message

+
+

File: std_msgs/msg/ColorRGBA.msg

+

Raw Message Definition

+
+ float32 r
+ float32 g
+ float32 b
+ float32 a
+
+

Compact Message Definition

+
+ float r
+ float g
+ float b
+ float a
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/Empty.html b/static/api/html/std_msgs/msg/Empty.html new file mode 100644 index 00000000..cebead23 --- /dev/null +++ b/static/api/html/std_msgs/msg/Empty.html @@ -0,0 +1,23 @@ + + + + + msg/Empty Documentation + + + +
+

std_msgs/msg/Empty Message

+
+

File: std_msgs/msg/Empty.msg

+

Raw Message Definition

+
+
+

Compact Message Definition

+
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/Float32.html b/static/api/html/std_msgs/msg/Float32.html new file mode 100644 index 00000000..1568b204 --- /dev/null +++ b/static/api/html/std_msgs/msg/Float32.html @@ -0,0 +1,30 @@ + + + + + msg/Float32 Documentation + + + +
+

std_msgs/msg/Float32 Message

+
+

File: std_msgs/msg/Float32.msg

+

Raw Message Definition

+
+
# This was originally provided as an example message.

+
# It is deprecated as of Foxy

+
# It is recommended to create your own semantically meaningful message.

+
# However if you would like to continue using this please use the equivalent in example_msgs.

+
+ float32 data
+
+

Compact Message Definition

+
+ float data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/Float32MultiArray.html b/static/api/html/std_msgs/msg/Float32MultiArray.html new file mode 100644 index 00000000..0d96b7c8 --- /dev/null +++ b/static/api/html/std_msgs/msg/Float32MultiArray.html @@ -0,0 +1,35 @@ + + + + + msg/Float32MultiArray Documentation + + + +
+

std_msgs/msg/Float32MultiArray Message

+
+

File: std_msgs/msg/Float32MultiArray.msg

+

Raw Message Definition

+
+
# This was originally provided as an example message.

+
# It is deprecated as of Foxy

+
# It is recommended to create your own semantically meaningful message.

+
# However if you would like to continue using this please use the equivalent in example_msgs.

+
+
# Please look at the MultiArrayLayout message definition for

+
# documentation on all multiarrays.

+
+
#MultiArrayLayout layout # specification of data layout

+
#float32[] data # array of data

+
+

Compact Message Definition

+
+ std_msgs/msg/MultiArrayLayout layout
+ float[] data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/Float64.html b/static/api/html/std_msgs/msg/Float64.html new file mode 100644 index 00000000..0f340f7a --- /dev/null +++ b/static/api/html/std_msgs/msg/Float64.html @@ -0,0 +1,30 @@ + + + + + msg/Float64 Documentation + + + +
+

std_msgs/msg/Float64 Message

+
+

File: std_msgs/msg/Float64.msg

+

Raw Message Definition

+
+
# This was originally provided as an example message.

+
# It is deprecated as of Foxy

+
# It is recommended to create your own semantically meaningful message.

+
# However if you would like to continue using this please use the equivalent in example_msgs.

+
+ float64 data
+
+

Compact Message Definition

+
+ double data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/Float64MultiArray.html b/static/api/html/std_msgs/msg/Float64MultiArray.html new file mode 100644 index 00000000..3dce7080 --- /dev/null +++ b/static/api/html/std_msgs/msg/Float64MultiArray.html @@ -0,0 +1,35 @@ + + + + + msg/Float64MultiArray Documentation + + + +
+

std_msgs/msg/Float64MultiArray Message

+
+

File: std_msgs/msg/Float64MultiArray.msg

+

Raw Message Definition

+
+
# This was originally provided as an example message.

+
# It is deprecated as of Foxy

+
# It is recommended to create your own semantically meaningful message.

+
# However if you would like to continue using this please use the equivalent in example_msgs.

+
+
# Please look at the MultiArrayLayout message definition for

+
# documentation on all multiarrays.

+
+
#MultiArrayLayout layout # specification of data layout

+
#float64[] data # array of data

+
+

Compact Message Definition

+
+ std_msgs/msg/MultiArrayLayout layout
+ double[] data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/Header.html b/static/api/html/std_msgs/msg/Header.html new file mode 100644 index 00000000..ea4a0644 --- /dev/null +++ b/static/api/html/std_msgs/msg/Header.html @@ -0,0 +1,34 @@ + + + + + msg/Header Documentation + + + +
+

std_msgs/msg/Header Message

+
+

File: std_msgs/msg/Header.msg

+

Raw Message Definition

+
+
# Standard metadata for higher-level stamped data types.

+
# This is generally used to communicate timestamped data

+
# in a particular coordinate frame.

+
+
# Two-integer timestamp that is expressed as seconds and nanoseconds.

+ builtin_interfaces/Time stamp
+
+
# Transform frame with which this data is associated.

+ string frame_id
+
+

Compact Message Definition

+
+ builtin_interfaces/msg/Time stamp
+ string frame_id
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/Int16.html b/static/api/html/std_msgs/msg/Int16.html new file mode 100644 index 00000000..731a0310 --- /dev/null +++ b/static/api/html/std_msgs/msg/Int16.html @@ -0,0 +1,30 @@ + + + + + msg/Int16 Documentation + + + +
+

std_msgs/msg/Int16 Message

+
+

File: std_msgs/msg/Int16.msg

+

Raw Message Definition

+
+
# This was originally provided as an example message.

+
# It is deprecated as of Foxy

+
# It is recommended to create your own semantically meaningful message.

+
# However if you would like to continue using this please use the equivalent in example_msgs.

+
+ int16 data
+
+

Compact Message Definition

+
+ int16 data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/Int16MultiArray.html b/static/api/html/std_msgs/msg/Int16MultiArray.html new file mode 100644 index 00000000..cdb4651d --- /dev/null +++ b/static/api/html/std_msgs/msg/Int16MultiArray.html @@ -0,0 +1,35 @@ + + + + + msg/Int16MultiArray Documentation + + + +
+

std_msgs/msg/Int16MultiArray Message

+
+

File: std_msgs/msg/Int16MultiArray.msg

+

Raw Message Definition

+
+
# This was originally provided as an example message.

+
# It is deprecated as of Foxy

+
# It is recommended to create your own semantically meaningful message.

+
# However if you would like to continue using this please use the equivalent in example_msgs.

+
+
# Please look at the MultiArrayLayout message definition for

+
# documentation on all multiarrays.

+
+
#MultiArrayLayout layout # specification of data layout

+
#int16[] data # array of data

+
+

Compact Message Definition

+
+ std_msgs/msg/MultiArrayLayout layout
+ int16[] data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/Int32.html b/static/api/html/std_msgs/msg/Int32.html new file mode 100644 index 00000000..3eb7fe2a --- /dev/null +++ b/static/api/html/std_msgs/msg/Int32.html @@ -0,0 +1,30 @@ + + + + + msg/Int32 Documentation + + + +
+

std_msgs/msg/Int32 Message

+
+

File: std_msgs/msg/Int32.msg

+

Raw Message Definition

+
+
# This was originally provided as an example message.

+
# It is deprecated as of Foxy

+
# It is recommended to create your own semantically meaningful message.

+
# However if you would like to continue using this please use the equivalent in example_msgs.

+
+ int32 data
+
+

Compact Message Definition

+
+ int32 data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/Int32MultiArray.html b/static/api/html/std_msgs/msg/Int32MultiArray.html new file mode 100644 index 00000000..975ba3f7 --- /dev/null +++ b/static/api/html/std_msgs/msg/Int32MultiArray.html @@ -0,0 +1,35 @@ + + + + + msg/Int32MultiArray Documentation + + + +
+

std_msgs/msg/Int32MultiArray Message

+
+

File: std_msgs/msg/Int32MultiArray.msg

+

Raw Message Definition

+
+
# This was originally provided as an example message.

+
# It is deprecated as of Foxy

+
# It is recommended to create your own semantically meaningful message.

+
# However if you would like to continue using this please use the equivalent in example_msgs.

+
+
# Please look at the MultiArrayLayout message definition for

+
# documentation on all multiarrays.

+
+
#MultiArrayLayout layout # specification of data layout

+
#int32[] data # array of data

+
+

Compact Message Definition

+
+ std_msgs/msg/MultiArrayLayout layout
+ int32[] data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/Int64.html b/static/api/html/std_msgs/msg/Int64.html new file mode 100644 index 00000000..f33aff13 --- /dev/null +++ b/static/api/html/std_msgs/msg/Int64.html @@ -0,0 +1,30 @@ + + + + + msg/Int64 Documentation + + + +
+

std_msgs/msg/Int64 Message

+
+

File: std_msgs/msg/Int64.msg

+

Raw Message Definition

+
+
# This was originally provided as an example message.

+
# It is deprecated as of Foxy

+
# It is recommended to create your own semantically meaningful message.

+
# However if you would like to continue using this please use the equivalent in example_msgs.

+
+ int64 data
+
+

Compact Message Definition

+
+ int64 data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/Int64MultiArray.html b/static/api/html/std_msgs/msg/Int64MultiArray.html new file mode 100644 index 00000000..9a2652b0 --- /dev/null +++ b/static/api/html/std_msgs/msg/Int64MultiArray.html @@ -0,0 +1,35 @@ + + + + + msg/Int64MultiArray Documentation + + + +
+

std_msgs/msg/Int64MultiArray Message

+
+

File: std_msgs/msg/Int64MultiArray.msg

+

Raw Message Definition

+
+
# This was originally provided as an example message.

+
# It is deprecated as of Foxy

+
# It is recommended to create your own semantically meaningful message.

+
# However if you would like to continue using this please use the equivalent in example_msgs.

+
+
# Please look at the MultiArrayLayout message definition for

+
# documentation on all multiarrays.

+
+
#MultiArrayLayout layout # specification of data layout

+
#int64[] data # array of data

+
+

Compact Message Definition

+
+ std_msgs/msg/MultiArrayLayout layout
+ int64[] data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/Int8.html b/static/api/html/std_msgs/msg/Int8.html new file mode 100644 index 00000000..d12a13cf --- /dev/null +++ b/static/api/html/std_msgs/msg/Int8.html @@ -0,0 +1,30 @@ + + + + + msg/Int8 Documentation + + + +
+

std_msgs/msg/Int8 Message

+
+

File: std_msgs/msg/Int8.msg

+

Raw Message Definition

+
+
# This was originally provided as an example message.

+
# It is deprecated as of Foxy

+
# It is recommended to create your own semantically meaningful message.

+
# However if you would like to continue using this please use the equivalent in example_msgs.

+
+ int8 data
+
+

Compact Message Definition

+
+ int8 data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/Int8MultiArray.html b/static/api/html/std_msgs/msg/Int8MultiArray.html new file mode 100644 index 00000000..6822b012 --- /dev/null +++ b/static/api/html/std_msgs/msg/Int8MultiArray.html @@ -0,0 +1,35 @@ + + + + + msg/Int8MultiArray Documentation + + + +
+

std_msgs/msg/Int8MultiArray Message

+
+

File: std_msgs/msg/Int8MultiArray.msg

+

Raw Message Definition

+
+
# This was originally provided as an example message.

+
# It is deprecated as of Foxy

+
# It is recommended to create your own semantically meaningful message.

+
# However if you would like to continue using this please use the equivalent in example_msgs.

+
+
# Please look at the MultiArrayLayout message definition for

+
# documentation on all multiarrays.

+
+
#MultiArrayLayout layout # specification of data layout

+
#int8[] data # array of data

+
+

Compact Message Definition

+
+ std_msgs/msg/MultiArrayLayout layout
+ int8[] data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/MultiArrayDimension.html b/static/api/html/std_msgs/msg/MultiArrayDimension.html new file mode 100644 index 00000000..8c6efd3b --- /dev/null +++ b/static/api/html/std_msgs/msg/MultiArrayDimension.html @@ -0,0 +1,34 @@ + + + + + msg/MultiArrayDimension Documentation + + + +
+

std_msgs/msg/MultiArrayDimension Message

+
+

File: std_msgs/msg/MultiArrayDimension.msg

+

Raw Message Definition

+
+
# This was originally provided as an example message.

+
# It is deprecated as of Foxy

+
# It is recommended to create your own semantically meaningful message.

+
# However if you would like to continue using this please use the equivalent in example_msgs.

+
+
#string label # label of given dimension

+
#uint32 size # size of given dimension (in type units)

+
#uint32 stride # stride of given dimension

+
+

Compact Message Definition

+
+ string label
+ uint32 size
+ uint32 stride
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/MultiArrayLayout.html b/static/api/html/std_msgs/msg/MultiArrayLayout.html new file mode 100644 index 00000000..dd51a2f2 --- /dev/null +++ b/static/api/html/std_msgs/msg/MultiArrayLayout.html @@ -0,0 +1,56 @@ + + + + + msg/MultiArrayLayout Documentation + + + +
+

std_msgs/msg/MultiArrayLayout Message

+
+

File: std_msgs/msg/MultiArrayLayout.msg

+

Raw Message Definition

+
+
# This was originally provided as an example message.

+
# It is deprecated as of Foxy

+
# It is recommended to create your own semantically meaningful message.

+
# However if you would like to continue using this please use the equivalent in example_msgs.

+
+
# The multiarray declares a generic multi-dimensional array of a

+
# particular data type. Dimensions are ordered from outer most

+
# to inner most.

+
#

+
# Accessors should ALWAYS be written in terms of dimension stride

+
# and specified outer-most dimension first.

+
#

+
# multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]

+
#

+
# A standard, 3-channel 640x480 image with interleaved color channels

+
# would be specified as:

+
#

+
# dim[0].label = "height"

+
# dim[0].size = 480

+
# dim[0].stride = 3*640*480 = 921600 (note dim[0] stride is just size of image)

+
# dim[1].label = "width"

+
# dim[1].size = 640

+
# dim[1].stride = 3*640 = 1920

+
# dim[2].label = "channel"

+
# dim[2].size = 3

+
# dim[2].stride = 3

+
#

+
# multiarray(i,j,k) refers to the ith row, jth column, and kth channel.

+
+
#MultiArrayDimension[] dim # Array of dimension properties

+
#uint32 data_offset # padding bytes at front of data

+
+

Compact Message Definition

+
+ std_msgs/msg/MultiArrayDimension[] dim
+ uint32 data_offset
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/String.html b/static/api/html/std_msgs/msg/String.html new file mode 100644 index 00000000..b6c0fb8d --- /dev/null +++ b/static/api/html/std_msgs/msg/String.html @@ -0,0 +1,30 @@ + + + + + msg/String Documentation + + + +
+

std_msgs/msg/String Message

+
+

File: std_msgs/msg/String.msg

+

Raw Message Definition

+
+
# This was originally provided as an example message.

+
# It is deprecated as of Foxy

+
# It is recommended to create your own semantically meaningful message.

+
# However if you would like to continue using this please use the equivalent in example_msgs.

+
+ string data
+
+

Compact Message Definition

+
+ string data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/UInt16.html b/static/api/html/std_msgs/msg/UInt16.html new file mode 100644 index 00000000..da2f4944 --- /dev/null +++ b/static/api/html/std_msgs/msg/UInt16.html @@ -0,0 +1,30 @@ + + + + + msg/UInt16 Documentation + + + +
+

std_msgs/msg/UInt16 Message

+
+

File: std_msgs/msg/UInt16.msg

+

Raw Message Definition

+
+
# This was originally provided as an example message.

+
# It is deprecated as of Foxy

+
# It is recommended to create your own semantically meaningful message.

+
# However if you would like to continue using this please use the equivalent in example_msgs.

+
+ uint16 data
+
+

Compact Message Definition

+
+ uint16 data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/UInt16MultiArray.html b/static/api/html/std_msgs/msg/UInt16MultiArray.html new file mode 100644 index 00000000..3315fa86 --- /dev/null +++ b/static/api/html/std_msgs/msg/UInt16MultiArray.html @@ -0,0 +1,35 @@ + + + + + msg/UInt16MultiArray Documentation + + + +
+

std_msgs/msg/UInt16MultiArray Message

+
+

File: std_msgs/msg/UInt16MultiArray.msg

+

Raw Message Definition

+
+
# This was originally provided as an example message.

+
# It is deprecated as of Foxy

+
# It is recommended to create your own semantically meaningful message.

+
# However if you would like to continue using this please use the equivalent in example_msgs.

+
+
# Please look at the MultiArrayLayout message definition for

+
# documentation on all multiarrays.

+
+
#MultiArrayLayout layout # specification of data layout

+
#uint16[] data # array of data

+
+

Compact Message Definition

+
+ std_msgs/msg/MultiArrayLayout layout
+ uint16[] data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/UInt32.html b/static/api/html/std_msgs/msg/UInt32.html new file mode 100644 index 00000000..8179b152 --- /dev/null +++ b/static/api/html/std_msgs/msg/UInt32.html @@ -0,0 +1,30 @@ + + + + + msg/UInt32 Documentation + + + +
+

std_msgs/msg/UInt32 Message

+
+

File: std_msgs/msg/UInt32.msg

+

Raw Message Definition

+
+
# This was originally provided as an example message.

+
# It is deprecated as of Foxy

+
# It is recommended to create your own semantically meaningful message.

+
# However if you would like to continue using this please use the equivalent in example_msgs.

+
+ uint32 data
+
+

Compact Message Definition

+
+ uint32 data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/UInt32MultiArray.html b/static/api/html/std_msgs/msg/UInt32MultiArray.html new file mode 100644 index 00000000..2533dae3 --- /dev/null +++ b/static/api/html/std_msgs/msg/UInt32MultiArray.html @@ -0,0 +1,35 @@ + + + + + msg/UInt32MultiArray Documentation + + + +
+

std_msgs/msg/UInt32MultiArray Message

+
+

File: std_msgs/msg/UInt32MultiArray.msg

+

Raw Message Definition

+
+
# This was originally provided as an example message.

+
# It is deprecated as of Foxy

+
# It is recommended to create your own semantically meaningful message.

+
# However if you would like to continue using this please use the equivalent in example_msgs.

+
+
# Please look at the MultiArrayLayout message definition for

+
# documentation on all multiarrays.

+
+
#MultiArrayLayout layout # specification of data layout

+
#uint32[] data # array of data

+
+

Compact Message Definition

+
+ std_msgs/msg/MultiArrayLayout layout
+ uint32[] data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/UInt64.html b/static/api/html/std_msgs/msg/UInt64.html new file mode 100644 index 00000000..075a17ba --- /dev/null +++ b/static/api/html/std_msgs/msg/UInt64.html @@ -0,0 +1,30 @@ + + + + + msg/UInt64 Documentation + + + +
+

std_msgs/msg/UInt64 Message

+
+

File: std_msgs/msg/UInt64.msg

+

Raw Message Definition

+
+
# This was originally provided as an example message.

+
# It is deprecated as of Foxy

+
# It is recommended to create your own semantically meaningful message.

+
# However if you would like to continue using this please use the equivalent in example_msgs.

+
+ uint64 data
+
+

Compact Message Definition

+
+ uint64 data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/UInt64MultiArray.html b/static/api/html/std_msgs/msg/UInt64MultiArray.html new file mode 100644 index 00000000..ec88c3fc --- /dev/null +++ b/static/api/html/std_msgs/msg/UInt64MultiArray.html @@ -0,0 +1,35 @@ + + + + + msg/UInt64MultiArray Documentation + + + +
+

std_msgs/msg/UInt64MultiArray Message

+
+

File: std_msgs/msg/UInt64MultiArray.msg

+

Raw Message Definition

+
+
# This was originally provided as an example message.

+
# It is deprecated as of Foxy

+
# It is recommended to create your own semantically meaningful message.

+
# However if you would like to continue using this please use the equivalent in example_msgs.

+
+
# Please look at the MultiArrayLayout message definition for

+
# documentation on all multiarrays.

+
+
#MultiArrayLayout layout # specification of data layout

+
#uint64[] data # array of data

+
+

Compact Message Definition

+
+ std_msgs/msg/MultiArrayLayout layout
+ uint64[] data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/UInt8.html b/static/api/html/std_msgs/msg/UInt8.html new file mode 100644 index 00000000..06ca2039 --- /dev/null +++ b/static/api/html/std_msgs/msg/UInt8.html @@ -0,0 +1,30 @@ + + + + + msg/UInt8 Documentation + + + +
+

std_msgs/msg/UInt8 Message

+
+

File: std_msgs/msg/UInt8.msg

+

Raw Message Definition

+
+
# This was originally provided as an example message.

+
# It is deprecated as of Foxy

+
# It is recommended to create your own semantically meaningful message.

+
# However if you would like to continue using this please use the equivalent in example_msgs.

+
+ uint8 data
+
+

Compact Message Definition

+
+ uint8 data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_msgs/msg/UInt8MultiArray.html b/static/api/html/std_msgs/msg/UInt8MultiArray.html new file mode 100644 index 00000000..d0b39e64 --- /dev/null +++ b/static/api/html/std_msgs/msg/UInt8MultiArray.html @@ -0,0 +1,35 @@ + + + + + msg/UInt8MultiArray Documentation + + + +
+

std_msgs/msg/UInt8MultiArray Message

+
+

File: std_msgs/msg/UInt8MultiArray.msg

+

Raw Message Definition

+
+
# This was originally provided as an example message.

+
# It is deprecated as of Foxy

+
# It is recommended to create your own semantically meaningful message.

+
# However if you would like to continue using this please use the equivalent in example_msgs.

+
+
# Please look at the MultiArrayLayout message definition for

+
# documentation on all multiarrays.

+
+
#MultiArrayLayout layout # specification of data layout

+
#uint8[] data # array of data

+
+

Compact Message Definition

+
+ std_msgs/msg/MultiArrayLayout layout
+ uint8[] data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_srvs/index-msg.html b/static/api/html/std_srvs/index-msg.html new file mode 100644 index 00000000..9e214a59 --- /dev/null +++ b/static/api/html/std_srvs/index-msg.html @@ -0,0 +1,19 @@ + + + + + std_srvs Message / Service / Action Documentation + + + +
+

std_srvs Service Documentation

+ +

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_srvs/srv/Empty.html b/static/api/html/std_srvs/srv/Empty.html new file mode 100644 index 00000000..fb4f7028 --- /dev/null +++ b/static/api/html/std_srvs/srv/Empty.html @@ -0,0 +1,25 @@ + + + + + srv/Empty Documentation + + + +
+

std_srvs/srv/Empty Service

+
+

File: std_srvs/srv/Empty.msg

+

Raw Message Definition

+
+ ---
+
+

Compact Message Definition

+
+
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_srvs/srv/SetBool.html b/static/api/html/std_srvs/srv/SetBool.html new file mode 100644 index 00000000..28988340 --- /dev/null +++ b/static/api/html/std_srvs/srv/SetBool.html @@ -0,0 +1,31 @@ + + + + + srv/SetBool Documentation + + + +
+

std_srvs/srv/SetBool Service

+
+

File: std_srvs/srv/SetBool.msg

+

Raw Message Definition

+
+
#bool data # e.g. for hardware enabling / disabling

+ ---
+
#bool success # indicate successful run of triggered service

+
#string message # informational, e.g. for error messages

+
+

Compact Message Definition

+
+ boolean success
+ string message
+
+ boolean data
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/std_srvs/srv/Trigger.html b/static/api/html/std_srvs/srv/Trigger.html new file mode 100644 index 00000000..c21faedd --- /dev/null +++ b/static/api/html/std_srvs/srv/Trigger.html @@ -0,0 +1,29 @@ + + + + + srv/Trigger Documentation + + + +
+

std_srvs/srv/Trigger Service

+
+

File: std_srvs/srv/Trigger.msg

+

Raw Message Definition

+
+ ---
+
#bool success # indicate successful run of triggered service

+
#string message # informational, e.g. for error messages

+
+

Compact Message Definition

+
+ boolean success
+ string message
+
+
+
+

autogenerated on Jun 19 2025 15:17:06

+
+ + diff --git a/static/api/html/styles.css b/static/api/html/styles.css new file mode 100644 index 00000000..57b42377 --- /dev/null +++ b/static/api/html/styles.css @@ -0,0 +1,60 @@ +body { + font-family: Arial, Helvetica, sans-serif; +} +a { + text-decoration: none; + color: #2b7fcf; +} +a:link { } +a:hover, a:focus { + text-decoration: underline; +} + +h3 { + font-size: 1.1em; + line-height: 1.1em; + margin-top: 0.769em; + border-bottom-width: 1px; + border-bottom-style: dotted; + border-bottom-color: #545454; + padding-bottom: 3px; + margin-bottom: 5px; +} + +.packages { + margin-top: 10px; +} +.nav-link { + font-size: 0.9em; +} +.subgroup { + margin: 5px 10px 10px -15px; +} +.greybox { + padding: 1px; + background-color: #eee; + border: 1px solid #333; +} +hr { + width: 100%; + height: 1px; + border-top: 0; + color: #000; +} +.compact_definition-msg { + width: auto; + border: 1px solid #333; + padding: 10px; +} + +.raw-msg { + font-family: monospace; + width: auto; + padding: 10px; + border: 1px solid #333; +} + +.footer { + font-size: small; + font-style: italic; +} From 5264fb45a60d5a99b9b7c4885135b4603389cc49 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jos=C3=A9=20Mastrangelo?= Date: Tue, 19 Aug 2025 08:49:15 -0400 Subject: [PATCH 02/10] added a using the api page --- .../version-2.0.0/api/autonomy_api.mdx | 117 ++++++++++++-- .../version-2.0.0/api/using_the_api.mdx | 152 ++++++++++++++++++ 2 files changed, 258 insertions(+), 11 deletions(-) create mode 100644 outdoornav_user_manual_versioned_docs/version-2.0.0/api/using_the_api.mdx diff --git a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/autonomy_api.mdx b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/autonomy_api.mdx index 59231e66..57849697 100644 --- a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/autonomy_api.mdx +++ b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/autonomy_api.mdx @@ -8,7 +8,7 @@ toc_max_heading_level: 4 :::note -All nodes, topics, and services are namespace prefixed with the robot +All nodes, topics, and services are namespace prefixed with the robot serial number. ::: @@ -32,6 +32,8 @@ All nodes, topics, and services are namespace prefixed with the robot | autonomy/status | [clearpath_navigation_msgs/msg/AutonomyStatus](pathname:///api/html/clearpath_navigation_msgs/msg/AutonomyStatus.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | | control_selection/current_mode | [clearpath_control_msgs/msg/ControlMode](pathname:///api/html/clearpath_control_msgs/msg/ControlMode.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | | control_selection/current_state | [clearpath_control_msgs/msg/ControlSelectionState](pathname:///api/html/clearpath_control_msgs/msg/ControlSelectionState.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | +| docking/docking_server/path | [nav_msgs/msg/Path](https://github.com/ros2/common_interfaces/blob/jazzy/nav_msgs/msg/Path.msg) | Lidar scan data | +| docking/undocking_server/path | [nav_msgs/msg/Path](https://github.com/ros2/common_interfaces/blob/jazzy/nav_msgs/msg/Path.msg) | Lidar scan data | | goto/preview | [clearpath_navigation_msgs/msg/GoToPreview](pathname:///api/html/clearpath_navigation_msgs/msg/GoToPreview.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | | localization/datum | [sensor_msgs/msg/NavSatFix](https://github.com/ros2/common_interfaces/blob/jazzy/sensor_msgs/msg/NavSatFix.msg) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | | localization/fix | [sensor_msgs/msg/NavSatFix](https://github.com/ros2/common_interfaces/blob/jazzy/sensor_msgs/msg/NavSatFix.msg) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | @@ -39,16 +41,109 @@ All nodes, topics, and services are namespace prefixed with the robot | mission/preview | [clearpath_navigation_msgs/msg/MissionPreview](pathname:///api/html/clearpath_navigation_msgs/msg/MissionPreview.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | | mission_manager/state | [clearpath_mission_manager_msgs/msg/StorageState](pathname:///api/html/clearpath_navigation_msgs/msg/StorageState.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | | mission_manager/network_maps_validity | [clearpath_mission_manager_msgs/msg/NetworkMapValidityState](pathname:///api/html/clearpath_navigation_msgs/msg/NetworkMapValidityState.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | - -[change to navigation/speed_limit]: # -| speed_limit | [clearpath_navigation_msgs/msg/GoToPreview](pathname:///api/html/clearpath_navigation_msgs/msg/GoToPreview.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | - - - - -| Topic | Message type | Description | QoS | -| :---------------------- | :----------------------------------------------------------------------------------------------------------- | :-------------- | :-------------------------------------------- | +| speed_limit | [clearpath_navigation_msgs/msg/GoToPreview](https://github.com/ros-navigation/navigation2/blob/main/nav2_msgs/msg/SpeedLimit.msg) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | | ui/heartbeat | [geometry_msgs/msg/TwistStamped](https://github.com/ros2/common_interfaces/blob/jazzy/geometry_msgs/msg/TwistStamped.msg) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | | ui_teleop/cmd_vel | [geometry_msgs/msg/TwistStamped](https://github.com/ros2/common_interfaces/blob/jazzy/geometry_msgs/msg/TwistStamped.msg) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | - +# Services + +| Service | Service type | Description | +| :---------------------- | :----------------------------------------------------------------------------------------------------------- | :-------------- | +| control_selection/set_mode | [clearpath_control_msgs/srv/SetControlMode](pathname:///api/html/clearpath_control_msgs/srv/SetControlMode.html) | Lidar scan data | +| control_selection/pause | [std_srvs/srv/SetBool](https://docs.ros2.org/foxy/api/std_srvs/srv/SetBool.html) | Lidar scan data | +| control_selection/resume | [std_srvs/srv/SetBool](https://docs.ros2.org/foxy/api/std_srvs/srv/SetBool.html) | Lidar scan data | +| docking/docking_server/dock | [std_srvs/srv/Trigger](https://docs.ros2.org/foxy/api/std_srvs/srv/Trigger.html) | Lidar scan data | +| docking/docking_server/run_docking | [clearpath_dock_msgs/srv/RunDocking](pathname:///api/html/clearpath_dock_msgs/srv/RunDocking.html) | Lidar scan data | +| docking/undocking_server/undock | [std_srvs/srv/Trigger](https://docs.ros2.org/foxy/api/std_srvs/srv/Trigger.html) | Lidar scan data | +| docking/undocking_server/run_undocking | [clearpath_dock_msgs/srv/RunUndocking](pathname:///api/html/clearpath_dock_msgs/srv/RunUndocking.html) | Lidar scan data | +| docking/dock_manager/add_dock | [clearpath_dock_msgs/srv/AddDock](pathname:///api/html/clearpath_dock_msgs/srv/AddDock.html) | | +| docking/dock_manager/clear_data | [std_srvs/srv/Trigger](https://docs.ros2.org/foxy/api/std_srvs/srv/Trigger.html) | | +| docking/dock_manager/delete_dock | [clearpath_dock_msgs/srv/DeleteDock](pathname:///api/html/clearpath_dock_msgs/srv/DeleteDock.html) | | +| docking/dock_manager/export | [clearpath_dock_msgs/srv/ExportData](pathname:///api/html/clearpath_dock_msgs/srv/ExportData.html) | | +| docking/dock_manager/get_database | [clearpath_dock_msgs/srv/GetDockDatabase](pathname:///api/html/clearpath_dock_msgs/srv/GetDockDatabase.html) | | +| docking/dock_manager/get_dock | [clearpath_dock_msgs/srv/GetDock](pathname:///api/html/clearpath_dock_msgs/srv/GetDock.html) | | +| docking/dock_manager/import | [clearpath_dock_msgs/srv/ImportData](pathname:///api/html/clearpath_dock_msgs/srv/ImportData.html) | | +| docking/dock_manager/update_dock | [clearpath_dock_msgs/srv/UpdateDock](pathname:///api/html/clearpath_dock_msgs/srv/UpdateDock.html) | | +| docking/dock_localizer/add_dock_current_pose| [clearpath_dock_msgs/srv/AddDockCurrentPose](pathname:///api/html/clearpath_dock_msgs/srv/AddDockCurrentPose.html) | | +| docking/dock_localizer/get_dock_poses| [clearpath_dock_msgs/srv/GetDockPoses](pathname:///api/html/clearpath_dock_msgs/srv/GetDockPoses.html) | | +| docking/dock_localizer/survey_dock| [clearpath_dock_msgs/srv/SurveyDock](pathname:///api/html/clearpath_dock_msgs/srv/SurveyDock.html) | | +| localization/lat_lon_to_xy | [clearpath_localization_msgs/srv/ConvertLatLonToCartesian](pathname:///api/html/clearpath_localization_msgs/srv/ConvertLatLonToCartesian.html) | | +| localization/lat_lon_to_xy_array | [clearpath_localization_msgs/srv/ConvertLatLonToCartesianArray](pathname:///api/html/clearpath_localization_msgs/srv/ConvertLatLonToCartesianArray.html)) | | +| localization/set_datum | [clearpath_localization_msgs/srv/SetDatum](pathname:///api/html/clearpath_localization_msgs/srv/SetDatum.html)) | | +| localization/xy_to_lat_lon | [clearpath_localization_msgs/srv/ConvertCartesianToLatLon](pathname:///api/html/clearpath_localization_msgs/srv/ConvertCartesianToLatLon.html)) | | +| localization/xy_to_lat_lon_array | [clearpath_localization_msgs/srv/ConvertCartesianToLatLonArray](pathname:///api/html/clearpath_localization_msgs/srv/ConvertCartesianToLatLonArray.html)) | | +| log_manager/delete_log | [clearpath_logger_msgs/srv/DeleteLog](pathname:///api/html/clearpath_logger_msgs/srv/DeleteLog.html) | | +| log_manager/start_recording | [std_srvs/srv/Trigger](https://docs.ros2.org/foxy/api/std_srvs/srv/Trigger.html) | | +| log_manager/stop_recording | [std_srvs/srv/Trigger](https://docs.ros2.org/foxy/api/std_srvs/srv/Trigger.html) | | +| mission_manager/add_network_edge | [clearpath_mission_manager_msgs/srv/AddNetworkEdge](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddNetworkEdge.html) | | +| mission_manager/add_network_path | [clearpath_mission_manager_msgs/srv/AddNetworkPath](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddNetworkPath.html) | | +| mission_manager/add_network_point | [clearpath_mission_manager_msgs/srv/AddNetworkPoint](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddNetworkPoint.html) | | +| mission_manager/add_tag | [clearpath_mission_manager_msgs/srv/AddRemoveTag](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveTag.html) | | +| mission_manager/add_task_to_start | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | | +| mission_manager/add_task_to_stop | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | | +| mission_manager/add_task_to_waypoint | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | | +| mission_manager/add_waypoint_to_mission | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | | +| mission_manager/clone_mission | [clearpath_mission_manager_msgs/srv/CloneMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/CloneMission.html) | | +| mission_manager/clone_network_map | [clearpath_mission_manager_msgs/srv/CloneNetworkMap](pathname:///api/html/clearpath_mission_manager_msgs/srv/CloneNetworkMap.html) | | +| mission_manager/clone_network_mission | [clearpath_mission_manager_msgs/srv/CloneNetworkMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/CloneNetworkMission.html) | | +| mission_manager/clone_point_of_interest | [clearpath_mission_manager_msgs/srv/ClonePointOfInterest](pathname:///api/html/clearpath_mission_manager_msgs/srv/ClonePointOfInterest.html) | | +| mission_manager/clone_task | [clearpath_mission_manager_msgs/srv/GetTask](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetTask.html) | | +| mission_manager/clone_waypoint | [clearpath_mission_manager_msgs/srv/GetWaypoint](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetWaypoint.html) | | +| mission_manager/create_mission | [clearpath_mission_manager_msgs/srv/CreateMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/CreateMission.html) | | +| mission_manager/create_network_map | [clearpath_mission_manager_msgs/srv/CreateNetworkMap](pathname:///api/html/clearpath_mission_manager_msgs/srv/CreateNetworkMap.html) | | +| mission_manager/create_network_mission | [clearpath_mission_manager_msgs/srv/CreateNetworkMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/CreateNetworkMission.html) | | +| mission_manager/create_point_of_interest | [clearpath_mission_manager_msgs/srv/CreatePointOfInterest](pathname:///api/html/clearpath_mission_manager_msgs/srv/CreatePointOfInterest.html) | | +| mission_manager/create_task | [clearpath_mission_manager_msgs/srv/CreateTask](pathname:///api/html/clearpath_mission_manager_msgs/srv/CreateTask.html) | | +| mission_manager/create_waypoint | [clearpath_mission_manager_msgs/srv/CreateWaypoint](pathname:///api/html/clearpath_mission_manager_msgs/srv/CreateWaypoint.html) | | +| mission_manager/create_waypoint_from_poi | [clearpath_mission_manager_msgs/srv/CreateWaypointFromPoi](pathname:///api/html/clearpath_mission_manager_msgs/srv/CreateWaypointFromPoi.html) | | +| mission_manager/delete_all | [clearpath_mission_manager_msgs/srv/DeleteEverything](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteEverything.html) | | +| mission_manager/delete_mission | [clearpath_mission_manager_msgs/srv/DeleteById](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteById.html) | | +| mission_manager/delete_missions | [clearpath_mission_manager_msgs/srv/DeleteMultiple](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteMultiple.html) | | +| mission_manager/delete_network_edge | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | | +| mission_manager/delete_network_edges | [clearpath_mission_manager_msgs/srv/DeleteMultiple](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteMultiple.html) | | +| mission_manager/delete_network_map | [clearpath_mission_manager_msgs/srv/DeleteById](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteById.html) | | +| mission_manager/delete_network_mission | [clearpath_mission_manager_msgs/srv/DeleteById](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteById.html) | | +| mission_manager/delete_network_point | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | | +| mission_manager/delete_network_points | [clearpath_mission_manager_msgs/srv/DeleteMultiple](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteMultiple.html) | | +| mission_manager/delete_orphan_objects | [clearpath_mission_manager_msgs/srv/DeleteEverything](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteEverything.html) | | +| mission_manager/delete_point_of_interest | [clearpath_mission_manager_msgs/srv/DeleteById](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteById.html) | | +| mission_manager/delete_task | [clearpath_mission_manager_msgs/srv/DeleteById](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteById.html) | | +| mission_manager/delete_tasks | [clearpath_mission_manager_msgs/srv/DeleteMultiple](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteMultiple.html) | | +| mission_manager/delete_waypoint | [clearpath_mission_manager_msgs/srv/DeleteById](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteById.html) | | +| mission_manager/delete_waypoints | [clearpath_mission_manager_msgs/srv/DeleteMultiple](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteMultiple.html) | | +| mission_manager/remove_tag | [clearpath_mission_manager_msgs/srv/AddRemoveTag](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveTag.html) | | +| mission_manager/export | [clearpath_mission_manager_msgs/srv/ExportData](pathname:///api/html/clearpath_mission_manager_msgs/srv/ExportData.html) | | +| mission_manager/get_all | [clearpath_mission_manager_msgs/srv/GetEverything](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetEverything.html) | | +| mission_manager/get_all_missions | [clearpath_mission_manager_msgs/srv/GetAllMissions](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetAllMissions.html) | | +| mission_manager/get_all_network_maps | [clearpath_mission_manager_msgs/srv/GetAllNetworkMaps](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetAllNetworkMaps.html) | | +| mission_manager/get_all_network_missions | [clearpath_mission_manager_msgs/srv/GetAllNetworkMissions](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetAllNetworkMissions.html) | | +| mission_manager/get_all_points_of_interest | [clearpath_mission_manager_msgs/srv/GetAllPointsOfInterest](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetAllPointsOfInterest.html) | | +| mission_manager/get_all_tasks | [clearpath_mission_manager_msgs/srv/GetAllTasks](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetAllTasks.html) | | +| mission_manager/get_all_waypoints | [clearpath_mission_manager_msgs/srv/GetAllWaypoints](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetAllWaypoints.html) | | +| mission_manager/get_mission | [clearpath_mission_manager_msgs/srv/GetMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetMission.html) | | +| mission_manager/get_network_map | [clearpath_mission_manager_msgs/srv/GetNetworkMap](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetNetworkMap.html) | | +| mission_manager/get_network_mission | [clearpath_mission_manager_msgs/srv/GetNetworkMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetNetworkMission.html) | | +| mission_manager/get_point_of_interest | [clearpath_mission_manager_msgs/srv/GetPointOfInterest](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetPointOfInterest.html) | | +| mission_manager/get_task | [clearpath_mission_manager_msgs/srv/GetTask](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetTask.html) | | +| mission_manager/get_waypoint | [clearpath_mission_manager_msgs/srv/GetWaypoint](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetWaypoint.html) | | +| mission_manager/import | [clearpath_mission_manager_msgs/srv/ImportData](pathname:///api/html/clearpath_mission_manager_msgs/srv/ImportData.html) | | +| mission_manager/import_mission | [clearpath_mission_manager_msgs/srv/ImportMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/ImportMission.html) | | +| mission_manager/import_network_map | [clearpath_mission_manager_msgs/srv/ImportNetworkMap](pathname:///api/html/clearpath_mission_manager_msgs/srv/ImportNetworkMap.html) | | +| mission_manager/import_network_mission | [clearpath_mission_manager_msgs/srv/ImportNetworkMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/ImportNetworkMission.html) | | +| mission_manager/remove_task_from_start | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | | +| mission_manager/remove_task_from_stop | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | | +| mission_manager/remove_task_from_waypoint | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | | +| mission_manager/remove_waypoint_from_mission | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | | +| mission_manager/restore | [clearpath_mission_manager_msgs/srv/ImportData](pathname:///api/html/clearpath_mission_manager_msgs/srv/ImportData.html) | | +| mission_manager/split_network_edge | [clearpath_mission_manager_msgs/srv/SplitNetworkEdge](pathname:///api/html/clearpath_mission_manager_msgs/srv/SplitNetworkEdge.html) | | +| mission_manager/update_mission | [clearpath_mission_manager_msgs/srv/UpdateMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateMission.html) | | +| mission_manager/update_network_edge | [clearpath_mission_manager_msgs/srv/UpdateNetworkEdge](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkEdge.html) | | +| mission_manager/update_network_edges | [clearpath_mission_manager_msgs/srv/UpdateNetworkEdges](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkEdges.html) | | +| mission_manager/update_network_map | [clearpath_mission_manager_msgs/srv/UpdateNetworkMap](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkMap.html) | | +| mission_manager/update_network_mission | [clearpath_mission_manager_msgs/srv/UpdateNetworkMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/AdUpdateNetworkMissiondNetworkEdge.html) | | +| mission_manager/update_network_point | [clearpath_mission_manager_msgs/srv/UpdateNetworkPoint](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkPoint.html) | | +| mission_manager/update_network_points | [clearpath_mission_manager_msgs/srv/UpdateNetworkPoints](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkPoints.html) | | +| mission_manager/update_point_of_interest | [clearpath_mission_manager_msgs/srv/UpdatePointOfInterest](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdatePointOfInterest.html) | | +| mission_manager/update_task | [clearpath_mission_manager_msgs/srv/UpdateTask](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateTask.html) | | +| mission_manager/update_waypoint | [clearpath_mission_manager_msgs/srv/UpdateWaypoint](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateWaypoint.html) | | +| mission_manager/validate_network_map | [clearpath_mission_manager_msgs/srv/ValidateNetworkMap](pathname:///api/html/clearpath_mission_manager_msgs/srv/ValidateNetworkMap.html) | | \ No newline at end of file diff --git a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/using_the_api.mdx b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/using_the_api.mdx new file mode 100644 index 00000000..f9eb85b8 --- /dev/null +++ b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/using_the_api.mdx @@ -0,0 +1,152 @@ +--- +title: Using the API +sidebar_label: Using the API +sidebar_position: 3 +toc_min_heading_level: 2 +toc_max_heading_level: 4 +--- + +:::note + +All nodes, topics, and services are namespace prefixed with the robot serial number. + +::: + + +## Monitor the Robot + +### Localization + +Topic: localization/odom +Topic: localization/fix + + +## Commanding the Robot + +To command a robot, we provide action interfaces that are defined in our Autonomy API. +Below, are the `action_name`, `action_type`, and `pkg_name` for each required action. +The user is then able to write their own C++ or Python action client using this +information. + +### Start a mission + +action_name: autonomy/network_mission + +pkg_name: clearpath_navigation_msgs + +action_type: ExecuteNetworkMissionByUuid + +### Start a Mission from a specific goal + +action_name: autonomy/network_mission_from_goal + +pkg_name: clearpath_navigation_msgs + +action_type: ExecuteNetworkMissionFromGoal + +### Send the robot to a location in the network + +action_name: autonomy/network_goto + +pkg_name: clearpath_navigation_msgs + +action_type: ExecuteNetworkGoTo + +### Send the robot to a point of interest (POI) + +action_name: autonomy/network_goto_poi + +pkg_name: clearpath_navigation_msgs + +action_type: ExecuteNetworkGoToPOI + +### Pause navigation + +Service: control_selection/pause + +### Resume navigation + +Service: control_selection/resume + +### Stop all autonomy actions + +Service: autonomy/stop + + +## Docking the robot + +### Local docking + +action_name: autonomy/local_dock + +pkg_name: clearpath_dock_msgs + +action_type: Dock + +### Local undocking + +action_name: autonomy/local_undock + +pkg_name: clearpath_dock_msgs + +action_type: Undock + +### Network docking + +action_name: autonomy/network_dock + +pkg_name: clearpath_dock_msgs + +action_type: NetworkDock + +# [Action Client (C++)](https://docs.ros.org/en/foxy/Tutorials/Intermediate/Writing-an-Action-Server-Client/Cpp.html#writing-an-action-client) +```cpp +#include "action_tutorials_interfaces/action/fibonacci.hpp" + +#include "rclcpp/rclcpp.hpp" +#include "rclcpp_action/rclcpp_action.hpp" +#include "rclcpp_components/register_node_macro.hpp" + +... + using = action_tutorials_interfaces::action::; + using GoalHandle = rclcpp_action::ClientGoalHandle; + +... + this->client_ptr_ = rclcpp_action::create_client<>( + this, ); + +... + auto goal_msg = ::Goal(); + auto send_goal_options = rclcpp_action::Client<>::SendGoalOptions(); + +... + this->client_ptr_->async_send_goal(goal_msg, send_goal_options); +``` + +# [Action Client (Python)](https://docs.ros.org/en/foxy/Tutorials/Intermediate/Writing-an-Action-Server-Client/Py.html#writing-an-action-client) + +```python +from .action import + +... + + self._action_client = ActionClient(self, , ) + +... + goal_msgs = .Goal() + self._action_client.wait_for_server() + self._action_client.send_goal_async(goal_msg) +``` + + +# Terminal Command-line + +In order to command the robot from the command-line, you will need to run the +following command, where the `--feedack` argument will allow the user to view +the action feedbacks message: + +```bash +ros2 action send_goal --feedback +``` + +The `values` are based on the actions message type. From b41cb7cca70d1eb3a7d307cc391ea78535bca5de Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jos=C3=A9=20Mastrangelo?= Date: Mon, 25 Aug 2025 10:19:12 -0400 Subject: [PATCH 03/10] visual as table --- .../version-2.0.0/api/autonomy_api.mdx | 38 ++++-- .../version-2.0.0/api/using_the_api.mdx | 111 +++++++++++------- 2 files changed, 94 insertions(+), 55 deletions(-) diff --git a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/autonomy_api.mdx b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/autonomy_api.mdx index 57849697..05cb54d1 100644 --- a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/autonomy_api.mdx +++ b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/autonomy_api.mdx @@ -5,6 +5,7 @@ sidebar_position: 2 toc_min_heading_level: 2 toc_max_heading_level: 4 --- +# Autonomy API Endpoints :::note @@ -13,7 +14,7 @@ All nodes, topics, and services are namespace prefixed with the robot serial num ::: -# Topic Subscribers +# Subscribers | Topic | Message type | Description | QoS | | :---------------------- | :----------------------------------------------------------------------------------------------------------- | :-------------- | :-------------------------------------------- | @@ -22,8 +23,7 @@ All nodes, topics, and services are namespace prefixed with the robot serial num | joy_teleop/cmd_vel | [geometry_msgs/msg/TwistStamped](https://github.com/ros2/common_interfaces/blob/jazzy/geometry_msgs/msg/TwistStamped.msg) | Velocity commands from joystick inputs | [System Default](/docs/ros/api/overview#system-default) | -# Topic Publishers - +# Publishers | Topic | Message type | Description | QoS | | :---------------------- | :----------------------------------------------------------------------------------------------------------- | :-------------- | :-------------------------------------------- | @@ -39,8 +39,8 @@ All nodes, topics, and services are namespace prefixed with the robot serial num | localization/fix | [sensor_msgs/msg/NavSatFix](https://github.com/ros2/common_interfaces/blob/jazzy/sensor_msgs/msg/NavSatFix.msg) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | | localization/odom | [nav_msgs/msg/Odometry](https://github.com/ros2/common_interfaces/blob/jazzy/nav_msgs/msg/Odometry.msg) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | | mission/preview | [clearpath_navigation_msgs/msg/MissionPreview](pathname:///api/html/clearpath_navigation_msgs/msg/MissionPreview.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | -| mission_manager/state | [clearpath_mission_manager_msgs/msg/StorageState](pathname:///api/html/clearpath_navigation_msgs/msg/StorageState.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | -| mission_manager/network_maps_validity | [clearpath_mission_manager_msgs/msg/NetworkMapValidityState](pathname:///api/html/clearpath_navigation_msgs/msg/NetworkMapValidityState.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | +| mission_manager/state | [clearpath_mission_manager_msgs/msg/StorageState](pathname:///api/html/clearpath_mission_manager_msgs/msg/StorageState.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | +| mission_manager/network_maps_validity | [clearpath_mission_manager_msgs/msg/NetworkMapValidityState](pathname:///api/html/clearpath_mission_manager_msgs/msg/NetworkMapValidityState.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | | speed_limit | [clearpath_navigation_msgs/msg/GoToPreview](https://github.com/ros-navigation/navigation2/blob/main/nav2_msgs/msg/SpeedLimit.msg) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | | ui/heartbeat | [geometry_msgs/msg/TwistStamped](https://github.com/ros2/common_interfaces/blob/jazzy/geometry_msgs/msg/TwistStamped.msg) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | | ui_teleop/cmd_vel | [geometry_msgs/msg/TwistStamped](https://github.com/ros2/common_interfaces/blob/jazzy/geometry_msgs/msg/TwistStamped.msg) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | @@ -49,6 +49,7 @@ All nodes, topics, and services are namespace prefixed with the robot serial num | Service | Service type | Description | | :---------------------- | :----------------------------------------------------------------------------------------------------------- | :-------------- | +| autonomy/stop | [std_srvs/srv/Trigger](https://docs.ros2.org/foxy/api/std_srvs/srv/Trigger.html) | Lidar scan data | | control_selection/set_mode | [clearpath_control_msgs/srv/SetControlMode](pathname:///api/html/clearpath_control_msgs/srv/SetControlMode.html) | Lidar scan data | | control_selection/pause | [std_srvs/srv/SetBool](https://docs.ros2.org/foxy/api/std_srvs/srv/SetBool.html) | Lidar scan data | | control_selection/resume | [std_srvs/srv/SetBool](https://docs.ros2.org/foxy/api/std_srvs/srv/SetBool.html) | Lidar scan data | @@ -68,10 +69,10 @@ All nodes, topics, and services are namespace prefixed with the robot serial num | docking/dock_localizer/get_dock_poses| [clearpath_dock_msgs/srv/GetDockPoses](pathname:///api/html/clearpath_dock_msgs/srv/GetDockPoses.html) | | | docking/dock_localizer/survey_dock| [clearpath_dock_msgs/srv/SurveyDock](pathname:///api/html/clearpath_dock_msgs/srv/SurveyDock.html) | | | localization/lat_lon_to_xy | [clearpath_localization_msgs/srv/ConvertLatLonToCartesian](pathname:///api/html/clearpath_localization_msgs/srv/ConvertLatLonToCartesian.html) | | -| localization/lat_lon_to_xy_array | [clearpath_localization_msgs/srv/ConvertLatLonToCartesianArray](pathname:///api/html/clearpath_localization_msgs/srv/ConvertLatLonToCartesianArray.html)) | | -| localization/set_datum | [clearpath_localization_msgs/srv/SetDatum](pathname:///api/html/clearpath_localization_msgs/srv/SetDatum.html)) | | -| localization/xy_to_lat_lon | [clearpath_localization_msgs/srv/ConvertCartesianToLatLon](pathname:///api/html/clearpath_localization_msgs/srv/ConvertCartesianToLatLon.html)) | | -| localization/xy_to_lat_lon_array | [clearpath_localization_msgs/srv/ConvertCartesianToLatLonArray](pathname:///api/html/clearpath_localization_msgs/srv/ConvertCartesianToLatLonArray.html)) | | +| localization/lat_lon_to_xy_array | [clearpath_localization_msgs/srv/ConvertLatLonToCartesianArray](pathname:///api/html/clearpath_localization_msgs/srv/ConvertLatLonToCartesianArray.html) | | +| localization/set_datum | [clearpath_localization_msgs/srv/SetDatum](pathname:///api/html/clearpath_localization_msgs/srv/SetDatum.html) | | +| localization/xy_to_lat_lon | [clearpath_localization_msgs/srv/ConvertCartesianToLatLon](pathname:///api/html/clearpath_localization_msgs/srv/ConvertCartesianToLatLon.html) | | +| localization/xy_to_lat_lon_array | [clearpath_localization_msgs/srv/ConvertCartesianToLatLonArray](pathname:///api/html/clearpath_localization_msgs/srv/ConvertCartesianToLatLonArray.html) | | | log_manager/delete_log | [clearpath_logger_msgs/srv/DeleteLog](pathname:///api/html/clearpath_logger_msgs/srv/DeleteLog.html) | | | log_manager/start_recording | [std_srvs/srv/Trigger](https://docs.ros2.org/foxy/api/std_srvs/srv/Trigger.html) | | | log_manager/stop_recording | [std_srvs/srv/Trigger](https://docs.ros2.org/foxy/api/std_srvs/srv/Trigger.html) | | @@ -146,4 +147,21 @@ All nodes, topics, and services are namespace prefixed with the robot serial num | mission_manager/update_point_of_interest | [clearpath_mission_manager_msgs/srv/UpdatePointOfInterest](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdatePointOfInterest.html) | | | mission_manager/update_task | [clearpath_mission_manager_msgs/srv/UpdateTask](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateTask.html) | | | mission_manager/update_waypoint | [clearpath_mission_manager_msgs/srv/UpdateWaypoint](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateWaypoint.html) | | -| mission_manager/validate_network_map | [clearpath_mission_manager_msgs/srv/ValidateNetworkMap](pathname:///api/html/clearpath_mission_manager_msgs/srv/ValidateNetworkMap.html) | | \ No newline at end of file +| mission_manager/validate_network_map | [clearpath_mission_manager_msgs/srv/ValidateNetworkMap](pathname:///api/html/clearpath_mission_manager_msgs/srv/ValidateNetworkMap.html) | | +| safety/watchdogs/add_communication_watchdog | [clearpath_safety_msgs/srv/AddCommunicationWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/AddCommunicationWatchdog.html) | | +| safety/watchdogs/add_communication_watchdog | [clearpath_safety_msgs/srv/AddCommunicationWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/AddCommunicationWatchdog.html) | | +| safety/watchdogs/add_communication_watchdog | [clearpath_safety_msgs/srv/AddCommunicationWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/AddCommunicationWatchdog.html) | | +| safety/watchdogs/add_communication_watchdog | [clearpath_safety_msgs/srv/AddCommunicationWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/AddCommunicationWatchdog.html) | | +| safety/watchdogs/add_communication_watchdog | [clearpath_safety_msgs/srv/AddCommunicationWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/AddCommunicationWatchdog.html) | | + +# Actions + +| Action Name | Action type | Description | +| :---------------------- | :----------------------------------------------------------------------------------------------------------- | :-------------- | +| autonomy/network_mission | [clearpath_navigation_msgs/action/ExecuteNetworkMissionByUuid](pathname:///api/html/clearpath_navigation_msgs/action/ExecuteNetworkMissionByUuid.html) | Lidar scan data | +| autonomy/network_miission_from_goal | [clearpath_navigation_msgs/action/ExecuteNetworkMissionFromGoal](pathname:///api/html/clearpath_navigation_msgs/action/ExecuteNetworkMissionFromGoal.html) | Lidar scan data | +| autonomy/network_goto | [clearpath_navigation_msgs/action/ExecuteNetworkGoTo](pathname:///api/html/clearpath_navigation_msgs/action/ExecuteNetworkGoTo.html) | Lidar scan data | +| autonomy/network_goto_poi | [clearpath_navigation_msgs/action/ExecuteNetworkGoToPOI](pathname:///api/html/clearpath_navigation_msgs/action/ExecuteNetworkGoToPOI.html) | Lidar scan data | +| autonomy/local_dock | [clearpath_dock_msgs/action/Dock](pathname:///api/html/clearpath_dock_msgs/action/Dock.html) | Lidar scan data | +| autonomy/local_undock | [clearpath_dock_msgs/action/Undock](pathname:///api/html/clearpath_dock_msgs/action/Undock.html) | Lidar scan data | +| autonomy/network_dock | [clearpath_dock_msgs/action/NetworkDock](pathname:///api/html/clearpath_dock_msgs/action/NetworkDock.html) | Lidar scan data | diff --git a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/using_the_api.mdx b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/using_the_api.mdx index f9eb85b8..caf72c85 100644 --- a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/using_the_api.mdx +++ b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/using_the_api.mdx @@ -18,6 +18,7 @@ All nodes, topics, and services are namespace prefixed with the robot serial num ### Localization Topic: localization/odom + Topic: localization/fix @@ -30,76 +31,96 @@ information. ### Start a mission -action_name: autonomy/network_mission - -pkg_name: clearpath_navigation_msgs - -action_type: ExecuteNetworkMissionByUuid +| | | +| :---------------------- | :--------------| +| `action_name` | autonomy/network_mission | +| `pkg_name` | clearpath_navigation_msgs | +| `action_type` | ExecuteNetworkMissionByUuid | ### Start a Mission from a specific goal -action_name: autonomy/network_mission_from_goal - -pkg_name: clearpath_navigation_msgs +| | | +| :---------------------- | :--------------| +| `action_name` | autonomy/network_mission_from_goal | +| `pkg_name` | clearpath_navigation_msgs | +| `action_type` | ExecuteNetworkMissionFromGoal | -action_type: ExecuteNetworkMissionFromGoal -### Send the robot to a location in the network +### Send the robot to a location in the map -action_name: autonomy/network_goto - -pkg_name: clearpath_navigation_msgs - -action_type: ExecuteNetworkGoTo +| | | +| :---------------------- | :--------------| +| `action_name` | autonomy/network_goto | +| `pkg_name` | clearpath_navigation_msgs | +| `action_type` | ExecuteNetworkGoTo | ### Send the robot to a point of interest (POI) -action_name: autonomy/network_goto_poi - -pkg_name: clearpath_navigation_msgs - -action_type: ExecuteNetworkGoToPOI - -### Pause navigation - -Service: control_selection/pause - -### Resume navigation +| | | +| :---------------------- | :--------------| +| `action_name` | autonomy/network_goto_poi | +| `pkg_name` | clearpath_navigation_msgs | +| `action_type` | ExecuteNetworkGoToPOI | -Service: control_selection/resume +## Docking the robot -### Stop all autonomy actions +### Local docking -Service: autonomy/stop +| | | +| :---------------------- | :--------------| +| `action_name` | autonomy/local_dock | +| `pkg_name` | clearpath_navigation_msgs | +| `action_type` | Dock | +### Local undocking -## Docking the robot +| | | +| :---------------------- | :--------------| +| `action_name` | autonomy/local_undock | +| `pkg_name` | clearpath_navigation_msgs | +| `action_type` | Undock | -### Local docking +`action_name`: autonomy/local_undock -action_name: autonomy/local_dock +`pkg_name`: clearpath_dock_msgs -pkg_name: clearpath_dock_msgs +`action_type`: Undock -action_type: Dock +### Network docking -### Local undocking +| | | +| :---------------------- | :--------------| +| `action_name` | autonomy/network_dock | +| `pkg_name` | clearpath_navigation_msgs | +| `action_type` | NetworkDock | -action_name: autonomy/local_undock +## Navigation Control -pkg_name: clearpath_dock_msgs +### Pause navigation -action_type: Undock +| | | +| :---------------------- | :--------------| +| `service_name` | control_selection/pause | +| `pkg_name` | std_srvs | +| `service_type` | SetBool | -### Network docking +### Resume navigation -action_name: autonomy/network_dock +| | | +| :---------------------- | :--------------| +| `service_name` | control_selection/resume | +| `pkg_name` | std_srvs | +| `service_type` | SetBool | -pkg_name: clearpath_dock_msgs +### Stop all autonomy actions -action_type: NetworkDock +| | | +| :---------------------- | :--------------| +| `service_name` | autonomy/stop| +| `pkg_name` | std_srvs | +| `service_type` | Trigger | -# [Action Client (C++)](https://docs.ros.org/en/foxy/Tutorials/Intermediate/Writing-an-Action-Server-Client/Cpp.html#writing-an-action-client) +## [Action Client (C++)](https://docs.ros.org/en/foxy/Tutorials/Intermediate/Writing-an-Action-Server-Client/Cpp.html#writing-an-action-client) ```cpp #include "action_tutorials_interfaces/action/fibonacci.hpp" @@ -123,7 +144,7 @@ action_type: NetworkDock this->client_ptr_->async_send_goal(goal_msg, send_goal_options); ``` -# [Action Client (Python)](https://docs.ros.org/en/foxy/Tutorials/Intermediate/Writing-an-Action-Server-Client/Py.html#writing-an-action-client) +## [Action Client (Python)](https://docs.ros.org/en/foxy/Tutorials/Intermediate/Writing-an-Action-Server-Client/Py.html#writing-an-action-client) ```python from .action import @@ -139,7 +160,7 @@ from .action import ``` -# Terminal Command-line +## Terminal Command-line In order to command the robot from the command-line, you will need to run the following command, where the `--feedack` argument will allow the user to view From 005d757f53b3726c94a9418fb03932c40745ab52 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jos=C3=A9=20Mastrangelo?= Date: Mon, 8 Sep 2025 10:06:17 -0400 Subject: [PATCH 04/10] change headings --- .../version-2.0.0/api/_category_.json | 2 +- .../api/api_endpoints/_category_.json | 4 + .../api/api_endpoints/autonomy_api.mdx | 115 ++++++ .../api/api_endpoints/mission_manager_api.mdx | 99 +++++ .../api/api_examples/_category_.json | 4 + .../api_examples/api_examples_overview.mdx | 15 + .../api/api_examples/run_basic_mission.mdx | 15 + .../api/{ => api_examples}/using_the_api.mdx | 337 +++++++++--------- .../version-2.0.0/api/api_overview.mdx | 37 +- .../version-2.0.0/api/autonomy_api.mdx | 167 --------- 10 files changed, 443 insertions(+), 352 deletions(-) create mode 100644 outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/_category_.json create mode 100644 outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/autonomy_api.mdx create mode 100644 outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/mission_manager_api.mdx create mode 100644 outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_examples/_category_.json create mode 100644 outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_examples/api_examples_overview.mdx create mode 100644 outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_examples/run_basic_mission.mdx rename outdoornav_user_manual_versioned_docs/version-2.0.0/api/{ => api_examples}/using_the_api.mdx (91%) delete mode 100644 outdoornav_user_manual_versioned_docs/version-2.0.0/api/autonomy_api.mdx diff --git a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/_category_.json b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/_category_.json index 79c71658..d9a89b34 100644 --- a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/_category_.json +++ b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/_category_.json @@ -1,4 +1,4 @@ { - "label": "Application Programming Interface", + "label": "API", "position": 7 } diff --git a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/_category_.json b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/_category_.json new file mode 100644 index 00000000..ff29bf08 --- /dev/null +++ b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/_category_.json @@ -0,0 +1,4 @@ +{ + "label": "Endpoints", + "position": 2 +} diff --git a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/autonomy_api.mdx b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/autonomy_api.mdx new file mode 100644 index 00000000..587c60d6 --- /dev/null +++ b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/autonomy_api.mdx @@ -0,0 +1,115 @@ +--- +title: Autonomy API Endpoints +sidebar_label: Autonomy API +sidebar_position: 2 +toc_min_heading_level: 2 +toc_max_heading_level: 4 +--- + +:::note + +All nodes, topics, and services are namespace prefixed with the robot serial number. + +::: + +  + +## Subscribers {#autonomy-subscribers} + +  + +| Topic | Message type | Description | QoS | +| :---------------------- | :----------------------------------------------------------------------------------------------------------- | :-------------- | :-------------------------------------------- | +| platform/cmd_vel_out | [geometry_msgs/msg/TwistStamped](https://github.com/ros2/common_interfaces/blob/jazzy/geometry_msgs/msg/TwistStamped.msg) | Continuous platform level velocity output | [System Default](/docs/ros/api/overview#system-default) | +| platform/odom | [nav_msgs/msg/Odometry](https://github.com/ros2/common_interfaces/blob/jazzy/nav_msgs/msg/Odometry.msg) | Platform wheel odometry | [System Default](/docs/ros/api/overview#system-default) | +| joy_teleop/cmd_vel | [geometry_msgs/msg/TwistStamped](https://github.com/ros2/common_interfaces/blob/jazzy/geometry_msgs/msg/TwistStamped.msg) | Velocity commands from joystick inputs | [System Default](/docs/ros/api/overview#system-default) | + +  + +## Publishers {#autonomy-publishers} + +  + +| Topic | Message type | Description | QoS | +| :---------------------- | :----------------------------------------------------------------------------------------------------------- | :-------------- | :-------------------------------------------- | +| autonomy/config | [clearpath_navigation_msgs/msg/AutonomyConfig](pathname:///api/html/clearpath_navigation_msgs/msg/AutonomyConfig.html) | Autonomy configuration | [System Default](/docs/ros/api/overview#system-default) | +| autonomy/initial_path | [nav_msgs/msg/Path](https://github.com/ros2/common_interfaces/blob/jazzy/nav_msgs/msg/Path.msg) | Initial Path computed by autonomy | [System Default](/docs/ros/api/overview#system-default) | +| autonomy/status | [clearpath_navigation_msgs/msg/AutonomyStatus](pathname:///api/html/clearpath_navigation_msgs/msg/AutonomyStatus.html) | Status of the autonomy | [System Default](/docs/ros/api/overview#system-default) | +| control_selection/current_mode | [clearpath_control_msgs/msg/ControlMode](pathname:///api/html/clearpath_control_msgs/msg/ControlMode.html) | Current control mode (NEUTRAL, MANUAL, AUTONOMY). | [System Default](/docs/ros/api/overview#system-default) | +| control_selection/control_state | [clearpath_control_msgs/msg/ControlSelectionState](pathname:///api/html/clearpath_control_msgs/msg/ControlSelectionState.html) | Complete state of control selection node. | [System Default](/docs/ros/api/overview#system-default) | +| docking/docking_server/path | [nav_msgs/msg/Path](https://github.com/ros2/common_interfaces/blob/jazzy/nav_msgs/msg/Path.msg) | Docking path | +| docking/undocking_server/path | [nav_msgs/msg/Path](https://github.com/ros2/common_interfaces/blob/jazzy/nav_msgs/msg/Path.msg) | Undocking path | +| goto/preview | [clearpath_navigation_msgs/msg/GoToPreview](pathname:///api/html/clearpath_navigation_msgs/msg/GoToPreview.html) | Preview points for a GoTo execution | [System Default](/docs/ros/api/overview#system-default) | +| localization/datum | [sensor_msgs/msg/NavSatFix](https://github.com/ros2/common_interfaces/blob/jazzy/sensor_msgs/msg/NavSatFix.msg) | Map origin (0, 0), specified as the datum | [System Default](/docs/ros/api/overview#system-default) | +| localization/fix | [sensor_msgs/msg/NavSatFix](https://github.com/ros2/common_interfaces/blob/jazzy/sensor_msgs/msg/NavSatFix.msg) | Platform lat/lon coordinates | [System Default](/docs/ros/api/overview#system-default) | +| localization/odom | [nav_msgs/msg/Odometry](https://github.com/ros2/common_interfaces/blob/jazzy/nav_msgs/msg/Odometry.msg) | Platform map coordinates | [System Default](/docs/ros/api/overview#system-default) | +| mission/preview | [clearpath_navigation_msgs/msg/MissionPreview](pathname:///api/html/clearpath_navigation_msgs/msg/MissionPreview.html) | Preview points for a mission execution | [System Default](/docs/ros/api/overview#system-default) | +| speed_limit | [clearpath_navigation_msgs/msg/GoToPreview](https://github.com/ros-navigation/navigation2/blob/main/nav2_msgs/msg/SpeedLimit.msg) | Current navigation speed limit | [System Default](/docs/ros/api/overview#system-default) | +| ui/heartbeat | [geometry_msgs/msg/TwistStamped](https://github.com/ros2/common_interfaces/blob/jazzy/geometry_msgs/msg/TwistStamped.msg) | Heartbeat of the UI | [System Default](/docs/ros/api/overview#system-default) | +| ui_teleop/cmd_vel | [geometry_msgs/msg/TwistStamped](https://github.com/ros2/common_interfaces/blob/jazzy/geometry_msgs/msg/TwistStamped.msg) | Velocity commands fron the UI joystick | [System Default](/docs/ros/api/overview#system-default) | + +  + +## Services {#autonomy-services} + +  + +| Service | Service type | Description | +| :---------------------- | :----------------------------------------------------------------------------------------------------------- | :-------------- | +| autonomy/stop | [std_srvs/srv/Trigger](https://docs.ros2.org/foxy/api/std_srvs/srv/Trigger.html) | Stop all autonomy executions | +| control_selection/set_mode | [clearpath_control_msgs/srv/SetControlMode](pathname:///api/html/clearpath_control_msgs/srv/SetControlMode.html) | Set the control mode | +| control_selection/pause | [std_srvs/srv/SetBool](https://docs.ros2.org/foxy/api/std_srvs/srv/SetBool.html) | Pause execution | +| control_selection/resume | [std_srvs/srv/SetBool](https://docs.ros2.org/foxy/api/std_srvs/srv/SetBool.html) | Resume execution | +| docking/dock_manager/add_dock | [clearpath_dock_msgs/srv/AddDock](pathname:///api/html/clearpath_dock_msgs/srv/AddDock.html) | Add a dock | +| docking/dock_manager/clear_data | [std_srvs/srv/Trigger](https://docs.ros2.org/foxy/api/std_srvs/srv/Trigger.html) | Clear all dock data | +| docking/dock_manager/delete_dock | [clearpath_dock_msgs/srv/DeleteDock](pathname:///api/html/clearpath_dock_msgs/srv/DeleteDock.html) | Delete a dock | +| docking/dock_manager/export | [clearpath_dock_msgs/srv/ExportData](pathname:///api/html/clearpath_dock_msgs/srv/ExportData.html) | Export dock data | +| docking/dock_manager/get_database | [clearpath_dock_msgs/srv/GetDockDatabase](pathname:///api/html/clearpath_dock_msgs/srv/GetDockDatabase.html) | Returns the entire dock database | +| docking/dock_manager/get_dock | [clearpath_dock_msgs/srv/GetDock](pathname:///api/html/clearpath_dock_msgs/srv/GetDock.html) | Returns a docks info | +| docking/dock_manager/import | [clearpath_dock_msgs/srv/ImportData](pathname:///api/html/clearpath_dock_msgs/srv/ImportData.html) | Import a dock | +| docking/dock_manager/update_dock | [clearpath_dock_msgs/srv/UpdateDock](pathname:///api/html/clearpath_dock_msgs/srv/UpdateDock.html) | Update a docks information | +| docking/dock_localizer/add_dock_current_pose| [clearpath_dock_msgs/srv/AddDockCurrentPose](pathname:///api/html/clearpath_dock_msgs/srv/AddDockCurrentPose.html) | Add a dock with the current pose | +| docking/dock_localizer/get_dock_poses| [clearpath_dock_msgs/srv/GetDockPoses](pathname:///api/html/clearpath_dock_msgs/srv/GetDockPoses.html) | Return the dock and predock poses of a specific dock | +| docking/dock_localizer/survey_dock| [clearpath_dock_msgs/srv/SurveyDock](pathname:///api/html/clearpath_dock_msgs/srv/SurveyDock.html) | Survey the docks position | +| localization/lat_lon_to_xy | [clearpath_localization_msgs/srv/ConvertLatLonToCartesian](pathname:///api/html/clearpath_localization_msgs/srv/ConvertLatLonToCartesian.html) | Convert lat/lon condinate to map XY coordinate | +| localization/lat_lon_to_xy_array | [clearpath_localization_msgs/srv/ConvertLatLonToCartesianArray](pathname:///api/html/clearpath_localization_msgs/srv/ConvertLatLonToCartesianArray.html) | Convert a set of lat/lon coordinates to map XY coordinates | +| localization/set_datum | [clearpath_localization_msgs/srv/SetDatum](pathname:///api/html/clearpath_localization_msgs/srv/SetDatum.html) | Set the datum | +| localization/xy_to_lat_lon | [clearpath_localization_msgs/srv/ConvertCartesianToLatLon](pathname:///api/html/clearpath_localization_msgs/srv/ConvertCartesianToLatLon.html) | Convert map XY coordinate to lat/lon coordinate | +| localization/xy_to_lat_lon_array | [clearpath_localization_msgs/srv/ConvertCartesianToLatLonArray](pathname:///api/html/clearpath_localization_msgs/srv/ConvertCartesianToLatLonArray.html) | Convert a set of map XY coordinates to lat/lon coordinates | +| log_manager/delete_log | [clearpath_logger_msgs/srv/DeleteLog](pathname:///api/html/clearpath_logger_msgs/srv/DeleteLog.html) | Delete a secific log | +| log_manager/start_recording | [std_srvs/srv/Trigger](https://docs.ros2.org/foxy/api/std_srvs/srv/Trigger.html) | Start logging data | +| log_manager/stop_recording | [std_srvs/srv/Trigger](https://docs.ros2.org/foxy/api/std_srvs/srv/Trigger.html) | Stop logging data | +| safety/watchdogs/add_communication_watchdog | [clearpath_safety_msgs/srv/AddCommunicationWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/AddCommunicationWatchdog.html) | Create a new Communication watchdog | +| safety/watchdogs/add_heartbeat_watchdog | [clearpath_safety_msgs/srv/AddHeartbeatWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/AddHeartbeatWatchdog.html) | Create a new Heartbeat watchdog | +| safety/watchdogs/add_inclination_watchdog | [clearpath_safety_msgs/srv/AddInclinationWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/AddInclinationWatchdog.html) | Create a new Inclination watchdog | +| safety/watchdogs/add_num_points_watchdog | [clearpath_safety_msgs/srv/AddNumPointsWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/AddNumPointsWatchdog.html) | Create a new NumPoints watchdog | +| safety/watchdogs/add_odom_covariance_watchdog | [clearpath_safety_msgs/srv/AddOdomCovarianceWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/AddOdomCovarianceWatchdog.html) | Create a new OdomCovariance watchdog | +| safety/watchdogs/add_rtk_fix_watchdog | [clearpath_safety_msgs/srv/AddRtkFixWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/AddRtkFixWatchdog.html) | Create a new RTKFix watchdog | +| safety/watchdogs/add_topic_data_watchdog | [clearpath_safety_msgs/srv/AddTopicDataWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/AddTopicDataWatchdog.html) | Create a new TopicData watchdog | +| safety/watchdogs/add_trigger_watchdog | [clearpath_safety_msgs/srv/AddTriggerWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/AddTriggerWatchdog.html) | Create a new Trigger watchdog | +| safety/watchdogs/enable_all | [std_srvs/srv/SetBool](https://docs.ros2.org/foxy/api/std_srvs/srv/SetBool.html) | Enable/disable all watchdogs | +| safety/watchdogs/remove_watchdog | [clearpath_safety_msgs/srv/RemoveWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/RemoveWatchdog.html) | Remove/delete a watchdog | +| safety/watchdogs/update_communication_watchdog | [clearpath_safety_msgs/srv/UpdateCommunicationWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/UpdateCommunicationWatchdog.html) | Create a new Communication watchdog | +| safety/watchdogs/update_heartbeat_watchdog | [clearpath_safety_msgs/srv/UpdateHeartbeatWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/UpdateHeartbeatWatchdog.html) | Create a new Heartbeat watchdog | +| safety/watchdogs/update_inclination_watchdog | [clearpath_safety_msgs/srv/UpdateInclinationWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/UpdateInclinationWatchdog.html) | Create a new Inclination watchdog | +| safety/watchdogs/update_num_points_watchdog | [clearpath_safety_msgs/srv/UpdateNumPointsWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/UpdateNumPointsWatchdog.html) | Create a new NumPoints watchdog | +| safety/watchdogs/update_odom_covariance_watchdog | [clearpath_safety_msgs/srv/UpdateOdomCovarianceWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/UpdateOdomCovarianceWatchdog.html) | Create a new OdomCovariance watchdog | +| safety/watchdogs/update_rtk_fix_watchdog | [clearpath_safety_msgs/srv/UpdateRtkFixWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/UpdateRtkFixWatchdog.html) | Create a new RTKFix watchdog | +| safety/watchdogs/update_topic_data_watchdog | [clearpath_safety_msgs/srv/UpdateTopicDataWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/UpdateTopicDataWatchdog.html) | Create a new TopicData watchdog | +| safety/watchdogs/update_trigger_watchdog | [clearpath_safety_msgs/srv/UpdateTriggerWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/UpdateTriggerWatchdog.html) | Create a new Trigger watchdog | + +  + +## Actions {#autonomy-actions} + +  + +| Action Name | Action type | Description | +| :---------------------- | :----------------------------------------------------------------------------------------------------------- | :-------------- | +| autonomy/network_mission | [clearpath_navigation_msgs/action/ExecuteNetworkMissionByUuid](pathname:///api/html/clearpath_navigation_msgs/action/ExecuteNetworkMissionByUuid.html) | Execute an autonomous mission | +| autonomy/network_mission_from_goal | [clearpath_navigation_msgs/action/ExecuteNetworkMissionFromGoal](pathname:///api/html/clearpath_navigation_msgs/action/ExecuteNetworkMissionFromGoal.html) | Execute and autonomous mission, starting from a specific goal | +| autonomy/network_goto | [clearpath_navigation_msgs/action/ExecuteNetworkGoTo](pathname:///api/html/clearpath_navigation_msgs/action/ExecuteNetworkGoTo.html) | Send platform to location | +| autonomy/network_goto_poi | [clearpath_navigation_msgs/action/ExecuteNetworkGoToPOI](pathname:///api/html/clearpath_navigation_msgs/action/ExecuteNetworkGoToPOI.html) | Send platform to a point of interest | +| autonomy/local_dock | [clearpath_dock_msgs/action/Dock](pathname:///api/html/clearpath_dock_msgs/action/Dock.html) | Dock the platform (charge target must be visible by platform 2D lidar sensor) | +| autonomy/local_undock | [clearpath_dock_msgs/action/Undock](pathname:///api/html/clearpath_dock_msgs/action/Undock.html) | Undock the platform (charge target must be visible by the 2D lidar sensor) | +| autonomy/network_dock | [clearpath_dock_msgs/action/NetworkDock](pathname:///api/html/clearpath_dock_msgs/action/NetworkDock.html) | Send robot to charger (charger must be in the driveable space of the map) | diff --git a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/mission_manager_api.mdx b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/mission_manager_api.mdx new file mode 100644 index 00000000..fe8d4dde --- /dev/null +++ b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/mission_manager_api.mdx @@ -0,0 +1,99 @@ +--- +title: Mission Manager API Endpoints +sidebar_label: Mission Manager API +sidebar_position: 3 +toc_min_heading_level: 2 +toc_max_heading_level: 4 +--- + +:::note + +All nodes, topics, and services are namespace prefixed with the robot serial number. + +::: + +  + +## Publishers {#mission-manager-publishers} + +  + +| Topic | Message type | Description | QoS | +| :---------------------- | :----------------------------------------------------------------------------------------------------------- | :-------------- | :-------------------------------------------- | +| mission_manager/state | [clearpath_mission_manager_msgs/msg/StorageState](pathname:///api/html/clearpath_mission_manager_msgs/msg/StorageState.html) | Database containing all map/mission data | Latched | +| mission_manager/network_maps_validity | [clearpath_mission_manager_msgs/msg/NetworkMapValidityState](pathname:///api/html/clearpath_mission_manager_msgs/msg/NetworkMapValidityState.html) | Validity state of all maps | Latched | + +  + +## Services {#mission-manager-services} + +  + +| Service | Service type | Description | +| :---------------------- | :----------------------------------------------------------------------------------------------------------- | :-------------- | +| mission_manager/add_network_edge | [clearpath_mission_manager_msgs/srv/AddNetworkEdge](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddNetworkEdge.html) | Add edge to network map | +| mission_manager/add_network_path | [clearpath_mission_manager_msgs/srv/AddNetworkPath](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddNetworkPath.html) | Add a path to map | +| mission_manager/add_network_point | [clearpath_mission_manager_msgs/srv/AddNetworkPoint](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddNetworkPoint.html) | Add a map point | +| mission_manager/add_tag | [clearpath_mission_manager_msgs/srv/AddRemoveTag](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveTag.html) | Add tag to map point | +| mission_manager/add_task_to_start | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | Add task to list of start tasks | +| mission_manager/add_task_to_stop | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | Add task to list of stop tasks | +| mission_manager/add_task_to_waypoint | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | Add task to a Goal point | +| mission_manager/add_waypoint_to_mission | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | Add Goal to mission | +| mission_manager/clone_mission | [clearpath_mission_manager_msgs/srv/CloneMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/CloneMission.html) | Clone mission | +| mission_manager/clone_network_map | [clearpath_mission_manager_msgs/srv/CloneNetworkMap](pathname:///api/html/clearpath_mission_manager_msgs/srv/CloneNetworkMap.html) | Clone map | +| mission_manager/clone_network_mission | [clearpath_mission_manager_msgs/srv/CloneNetworkMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/CloneNetworkMission.html) | Clone mission | +| mission_manager/clone_point_of_interest | [clearpath_mission_manager_msgs/srv/ClonePointOfInterest](pathname:///api/html/clearpath_mission_manager_msgs/srv/ClonePointOfInterest.html) | Clone point of interest | +| mission_manager/clone_task | [clearpath_mission_manager_msgs/srv/GetTask](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetTask.html) | Clone task | +| mission_manager/clone_waypoint | [clearpath_mission_manager_msgs/srv/GetWaypoint](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetWaypoint.html) | Clone goal | +| mission_manager/create_network_map | [clearpath_mission_manager_msgs/srv/CreateNetworkMap](pathname:///api/html/clearpath_mission_manager_msgs/srv/CreateNetworkMap.html) | Create map | +| mission_manager/create_network_mission | [clearpath_mission_manager_msgs/srv/CreateNetworkMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/CreateNetworkMission.html) | Create mission | +| mission_manager/create_point_of_interest | [clearpath_mission_manager_msgs/srv/CreatePointOfInterest](pathname:///api/html/clearpath_mission_manager_msgs/srv/CreatePointOfInterest.html) | Create point of interest | +| mission_manager/create_task | [clearpath_mission_manager_msgs/srv/CreateTask](pathname:///api/html/clearpath_mission_manager_msgs/srv/CreateTask.html) | Create task | +| mission_manager/create_waypoint | [clearpath_mission_manager_msgs/srv/CreateWaypoint](pathname:///api/html/clearpath_mission_manager_msgs/srv/CreateWaypoint.html) | Create Goal | +| mission_manager/create_waypoint_from_poi | [clearpath_mission_manager_msgs/srv/CreateWaypointFromPoi](pathname:///api/html/clearpath_mission_manager_msgs/srv/CreateWaypointFromPoi.html) | Create Goal from point of interest | +| mission_manager/delete_all | [clearpath_mission_manager_msgs/srv/DeleteEverything](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteEverything.html) | Delete all mission/map/poi data | +| mission_manager/delete_network_edge | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | Delete map edge | +| mission_manager/delete_network_edges | [clearpath_mission_manager_msgs/srv/DeleteMultiple](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteMultiple.html) | Delete map edges | +| mission_manager/delete_network_map | [clearpath_mission_manager_msgs/srv/DeleteById](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteById.html) | Delete map | +| mission_manager/delete_network_mission | [clearpath_mission_manager_msgs/srv/DeleteById](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteById.html) | Delete mission | +| mission_manager/delete_network_point | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | Delete map point | +| mission_manager/delete_network_points | [clearpath_mission_manager_msgs/srv/DeleteMultiple](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteMultiple.html) | Delete map points | +| mission_manager/delete_orphan_objects | [clearpath_mission_manager_msgs/srv/DeleteEverything](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteEverything.html) | Delete orphaned objects | +| mission_manager/delete_point_of_interest | [clearpath_mission_manager_msgs/srv/DeleteById](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteById.html) | Delete point of interest | +| mission_manager/delete_task | [clearpath_mission_manager_msgs/srv/DeleteById](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteById.html) | Delete task | +| mission_manager/delete_tasks | [clearpath_mission_manager_msgs/srv/DeleteMultiple](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteMultiple.html) | Delete tasks | +| mission_manager/delete_waypoint | [clearpath_mission_manager_msgs/srv/DeleteById](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteById.html) | Delete Goal | +| mission_manager/delete_waypoints | [clearpath_mission_manager_msgs/srv/DeleteMultiple](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteMultiple.html) | Delete Goals | +| mission_manager/remove_tag | [clearpath_mission_manager_msgs/srv/AddRemoveTag](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveTag.html) | Remove tag from item | +| mission_manager/export | [clearpath_mission_manager_msgs/srv/ExportData](pathname:///api/html/clearpath_mission_manager_msgs/srv/ExportData.html) | Export mission/map/poi database | +| mission_manager/get_all | [clearpath_mission_manager_msgs/srv/GetEverything](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetEverything.html) | Return all map/mission/poi data | +| mission_manager/get_all_network_maps | [clearpath_mission_manager_msgs/srv/GetAllNetworkMaps](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetAllNetworkMaps.html) | Return all maps | +| mission_manager/get_all_network_missions | [clearpath_mission_manager_msgs/srv/GetAllNetworkMissions](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetAllNetworkMissions.html) | Return all missions | +| mission_manager/get_all_points_of_interest | [clearpath_mission_manager_msgs/srv/GetAllPointsOfInterest](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetAllPointsOfInterest.html) | Return all points of interest | +| mission_manager/get_all_tasks | [clearpath_mission_manager_msgs/srv/GetAllTasks](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetAllTasks.html) | Return all tasks | +| mission_manager/get_all_waypoints | [clearpath_mission_manager_msgs/srv/GetAllWaypoints](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetAllWaypoints.html) | Return all goals | +| mission_manager/get_network_map | [clearpath_mission_manager_msgs/srv/GetNetworkMap](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetNetworkMap.html) | Return specific map | +| mission_manager/get_network_mission | [clearpath_mission_manager_msgs/srv/GetNetworkMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetNetworkMission.html) | Return specific mission | +| mission_manager/get_point_of_interest | [clearpath_mission_manager_msgs/srv/GetPointOfInterest](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetPointOfInterest.html) | Return specific point of interest | +| mission_manager/get_task | [clearpath_mission_manager_msgs/srv/GetTask](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetTask.html) | Return specific task | +| mission_manager/get_waypoint | [clearpath_mission_manager_msgs/srv/GetWaypoint](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetWaypoint.html) | Return specific goal | +| mission_manager/import | [clearpath_mission_manager_msgs/srv/ImportData](pathname:///api/html/clearpath_mission_manager_msgs/srv/ImportData.html) | Import mission/map/poi data to database | +| mission_manager/import_mission | [clearpath_mission_manager_msgs/srv/ImportMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/ImportMission.html) | Import mission to database | +| mission_manager/import_network_map | [clearpath_mission_manager_msgs/srv/ImportNetworkMap](pathname:///api/html/clearpath_mission_manager_msgs/srv/ImportNetworkMap.html) | Inport map to database | +| mission_manager/import_network_mission | [clearpath_mission_manager_msgs/srv/ImportNetworkMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/ImportNetworkMission.html) | Import mission to database | +| mission_manager/remove_task_from_start | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | Remove task from list of start tasks | +| mission_manager/remove_task_from_stop | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | Remove task from list of stop tasks| +| mission_manager/remove_task_from_waypoint | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | Remove task from goal | +| mission_manager/remove_waypoint_from_mission | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | Remove goal from mission | +| mission_manager/restore | [clearpath_mission_manager_msgs/srv/ImportData](pathname:///api/html/clearpath_mission_manager_msgs/srv/ImportData.html) | Restore data from a file | +| mission_manager/split_network_edge | [clearpath_mission_manager_msgs/srv/SplitNetworkEdge](pathname:///api/html/clearpath_mission_manager_msgs/srv/SplitNetworkEdge.html) | Split a map edge | +| mission_manager/update_network_edge | [clearpath_mission_manager_msgs/srv/UpdateNetworkEdge](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkEdge.html) | Update map edge | +| mission_manager/update_network_edges | [clearpath_mission_manager_msgs/srv/UpdateNetworkEdges](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkEdges.html) | Update map edges | +| mission_manager/update_network_map | [clearpath_mission_manager_msgs/srv/UpdateNetworkMap](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkMap.html) | Update map | +| mission_manager/update_network_mission | [clearpath_mission_manager_msgs/srv/UpdateNetworkMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkMissiond.html) | Update mission | +| mission_manager/update_network_point | [clearpath_mission_manager_msgs/srv/UpdateNetworkPoint](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkPoint.html) | Update map point | +| mission_manager/update_network_points | [clearpath_mission_manager_msgs/srv/UpdateNetworkPoints](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkPoints.html) | UPdate map points | +| mission_manager/update_point_of_interest | [clearpath_mission_manager_msgs/srv/UpdatePointOfInterest](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdatePointOfInterest.html) | Update points of interestt | +| mission_manager/update_task | [clearpath_mission_manager_msgs/srv/UpdateTask](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateTask.html) | Update task | +| mission_manager/update_waypoint | [clearpath_mission_manager_msgs/srv/UpdateWaypoint](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateWaypoint.html) | Update goal | +| mission_manager/validate_network_map | [clearpath_mission_manager_msgs/srv/ValidateNetworkMap](pathname:///api/html/clearpath_mission_manager_msgs/srv/ValidateNetworkMap.html) | Check validity of specific map | diff --git a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_examples/_category_.json b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_examples/_category_.json new file mode 100644 index 00000000..62e826ee --- /dev/null +++ b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_examples/_category_.json @@ -0,0 +1,4 @@ +{ + "label": "Examples", + "position": 3 +} diff --git a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_examples/api_examples_overview.mdx b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_examples/api_examples_overview.mdx new file mode 100644 index 00000000..c1a68cdc --- /dev/null +++ b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_examples/api_examples_overview.mdx @@ -0,0 +1,15 @@ +--- +title: API Examples Overview +sidebar_label: Overview +sidebar_position: 1 +toc_min_heading_level: 2 +toc_max_heading_level: 4 +--- + +:::note + +API examples will be available in version 2.2 (near the end of 2025). +For urgent concerns regarding the API, please contact +[customer support](../../support.mdx) + +::: \ No newline at end of file diff --git a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_examples/run_basic_mission.mdx b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_examples/run_basic_mission.mdx new file mode 100644 index 00000000..f9ac8358 --- /dev/null +++ b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_examples/run_basic_mission.mdx @@ -0,0 +1,15 @@ +--- +title: Run a Basic Mission +sidebar_label: Run a Basic Mission +sidebar_position: 3 +toc_min_heading_level: 2 +toc_max_heading_level: 4 +--- + +:::note + +API examples will be available in version 2.2 (near the end of 2025). +For urgent concerns regarding the API, please contact +[customer support](../../support.mdx) + +::: diff --git a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/using_the_api.mdx b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_examples/using_the_api.mdx similarity index 91% rename from outdoornav_user_manual_versioned_docs/version-2.0.0/api/using_the_api.mdx rename to outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_examples/using_the_api.mdx index caf72c85..d44f718f 100644 --- a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/using_the_api.mdx +++ b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_examples/using_the_api.mdx @@ -1,173 +1,164 @@ ---- -title: Using the API -sidebar_label: Using the API -sidebar_position: 3 -toc_min_heading_level: 2 -toc_max_heading_level: 4 ---- - -:::note - -All nodes, topics, and services are namespace prefixed with the robot serial number. - -::: - - -## Monitor the Robot - -### Localization - -Topic: localization/odom - -Topic: localization/fix - - -## Commanding the Robot - -To command a robot, we provide action interfaces that are defined in our Autonomy API. -Below, are the `action_name`, `action_type`, and `pkg_name` for each required action. -The user is then able to write their own C++ or Python action client using this -information. - -### Start a mission - -| | | -| :---------------------- | :--------------| -| `action_name` | autonomy/network_mission | -| `pkg_name` | clearpath_navigation_msgs | -| `action_type` | ExecuteNetworkMissionByUuid | - -### Start a Mission from a specific goal - -| | | -| :---------------------- | :--------------| -| `action_name` | autonomy/network_mission_from_goal | -| `pkg_name` | clearpath_navigation_msgs | -| `action_type` | ExecuteNetworkMissionFromGoal | - - -### Send the robot to a location in the map - -| | | -| :---------------------- | :--------------| -| `action_name` | autonomy/network_goto | -| `pkg_name` | clearpath_navigation_msgs | -| `action_type` | ExecuteNetworkGoTo | - -### Send the robot to a point of interest (POI) - -| | | -| :---------------------- | :--------------| -| `action_name` | autonomy/network_goto_poi | -| `pkg_name` | clearpath_navigation_msgs | -| `action_type` | ExecuteNetworkGoToPOI | - -## Docking the robot - -### Local docking - -| | | -| :---------------------- | :--------------| -| `action_name` | autonomy/local_dock | -| `pkg_name` | clearpath_navigation_msgs | -| `action_type` | Dock | - -### Local undocking - -| | | -| :---------------------- | :--------------| -| `action_name` | autonomy/local_undock | -| `pkg_name` | clearpath_navigation_msgs | -| `action_type` | Undock | - -`action_name`: autonomy/local_undock - -`pkg_name`: clearpath_dock_msgs - -`action_type`: Undock - -### Network docking - -| | | -| :---------------------- | :--------------| -| `action_name` | autonomy/network_dock | -| `pkg_name` | clearpath_navigation_msgs | -| `action_type` | NetworkDock | - -## Navigation Control - -### Pause navigation - -| | | -| :---------------------- | :--------------| -| `service_name` | control_selection/pause | -| `pkg_name` | std_srvs | -| `service_type` | SetBool | - -### Resume navigation - -| | | -| :---------------------- | :--------------| -| `service_name` | control_selection/resume | -| `pkg_name` | std_srvs | -| `service_type` | SetBool | - -### Stop all autonomy actions - -| | | -| :---------------------- | :--------------| -| `service_name` | autonomy/stop| -| `pkg_name` | std_srvs | -| `service_type` | Trigger | - -## [Action Client (C++)](https://docs.ros.org/en/foxy/Tutorials/Intermediate/Writing-an-Action-Server-Client/Cpp.html#writing-an-action-client) -```cpp -#include "action_tutorials_interfaces/action/fibonacci.hpp" - -#include "rclcpp/rclcpp.hpp" -#include "rclcpp_action/rclcpp_action.hpp" -#include "rclcpp_components/register_node_macro.hpp" - -... - using = action_tutorials_interfaces::action::; - using GoalHandle = rclcpp_action::ClientGoalHandle; - -... - this->client_ptr_ = rclcpp_action::create_client<>( - this, ); - -... - auto goal_msg = ::Goal(); - auto send_goal_options = rclcpp_action::Client<>::SendGoalOptions(); - -... - this->client_ptr_->async_send_goal(goal_msg, send_goal_options); -``` - -## [Action Client (Python)](https://docs.ros.org/en/foxy/Tutorials/Intermediate/Writing-an-Action-Server-Client/Py.html#writing-an-action-client) - -```python -from .action import - -... - - self._action_client = ActionClient(self, , ) - -... - goal_msgs = .Goal() - self._action_client.wait_for_server() - self._action_client.send_goal_async(goal_msg) -``` - - -## Terminal Command-line - -In order to command the robot from the command-line, you will need to run the -following command, where the `--feedack` argument will allow the user to view -the action feedbacks message: - -```bash -ros2 action send_goal --feedback -``` - -The `values` are based on the actions message type. +--- +title: Using the API +sidebar_label: Using the API +sidebar_position: 2 +toc_min_heading_level: 2 +toc_max_heading_level: 4 +--- + +:::note + +All action names and service names are namespace prefixed with the robot serial number. + +::: + + +## Commanding the Robot + +To command a robot, we provide action interfaces that are defined in our Autonomy API. +Below, are the `action_name`, `action_type`, and `pkg_name` for each required action. +The user is then able to write their own C++ or Python action client using this +information. + +### Start a mission + +| | | +| :---------------------- | :--------------| +| `action_name` | autonomy/network_mission | +| `pkg_name` | clearpath_navigation_msgs | +| `action_type` | ExecuteNetworkMissionByUuid | + +### Start a Mission from a specific goal + +| | | +| :---------------------- | :--------------| +| `action_name` | autonomy/network_mission_from_goal | +| `pkg_name` | clearpath_navigation_msgs | +| `action_type` | ExecuteNetworkMissionFromGoal | + + +### Send the robot to a location in the map + +| | | +| :---------------------- | :--------------| +| `action_name` | autonomy/network_goto | +| `pkg_name` | clearpath_navigation_msgs | +| `action_type` | ExecuteNetworkGoTo | + +### Send the robot to a point of interest (POI) + +| | | +| :---------------------- | :--------------| +| `action_name` | autonomy/network_goto_poi | +| `pkg_name` | clearpath_navigation_msgs | +| `action_type` | ExecuteNetworkGoToPOI | + +## Docking the robot + +### Local docking + +| | | +| :---------------------- | :--------------| +| `action_name` | autonomy/local_dock | +| `pkg_name` | clearpath_navigation_msgs | +| `action_type` | Dock | + +### Local undocking + +| | | +| :---------------------- | :--------------| +| `action_name` | autonomy/local_undock | +| `pkg_name` | clearpath_navigation_msgs | +| `action_type` | Undock | + +`action_name`: autonomy/local_undock + +`pkg_name`: clearpath_dock_msgs + +`action_type`: Undock + +### Network docking + +| | | +| :---------------------- | :--------------| +| `action_name` | autonomy/network_dock | +| `pkg_name` | clearpath_navigation_msgs | +| `action_type` | NetworkDock | + +## Navigation Control + +### Pause navigation + +| | | +| :---------------------- | :--------------| +| `service_name` | control_selection/pause | +| `pkg_name` | std_srvs | +| `service_type` | SetBool | + +### Resume navigation + +| | | +| :---------------------- | :--------------| +| `service_name` | control_selection/resume | +| `pkg_name` | std_srvs | +| `service_type` | SetBool | + +### Stop all autonomy actions + +| | | +| :---------------------- | :--------------| +| `service_name` | autonomy/stop| +| `pkg_name` | std_srvs | +| `service_type` | Trigger | + +## [Action Client (C++)](https://docs.ros.org/en/foxy/Tutorials/Intermediate/Writing-an-Action-Server-Client/Cpp.html#writing-an-action-client) +```cpp +#include "action_tutorials_interfaces/action/fibonacci.hpp" + +#include "rclcpp/rclcpp.hpp" +#include "rclcpp_action/rclcpp_action.hpp" +#include "rclcpp_components/register_node_macro.hpp" + +... + using = action_tutorials_interfaces::action::; + using GoalHandle = rclcpp_action::ClientGoalHandle; + +... + this->client_ptr_ = rclcpp_action::create_client<>( + this, ); + +... + auto goal_msg = ::Goal(); + auto send_goal_options = rclcpp_action::Client<>::SendGoalOptions(); + +... + this->client_ptr_->async_send_goal(goal_msg, send_goal_options); +``` + +## [Action Client (Python)](https://docs.ros.org/en/foxy/Tutorials/Intermediate/Writing-an-Action-Server-Client/Py.html#writing-an-action-client) + +```python +from .action import + +... + + self._action_client = ActionClient(self, , ) + +... + goal_msgs = .Goal() + self._action_client.wait_for_server() + self._action_client.send_goal_async(goal_msg) +``` + + +## Terminal Command-line + +In order to command the robot from the command-line, you will need to run the +following command, where the `--feedack` argument will allow the user to view +the action feedbacks message: + +```bash +ros2 action send_goal --feedback +``` + +The `values` are based on the actions message type. diff --git a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_overview.mdx b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_overview.mdx index 3c6055d6..08cc545d 100644 --- a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_overview.mdx +++ b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_overview.mdx @@ -1,6 +1,6 @@ --- title: API Overview -sidebar_label: API Overview +sidebar_label: Overview sidebar_position: 1 toc_min_heading_level: 2 toc_max_heading_level: 4 @@ -12,15 +12,30 @@ may wish to develop their own graphical user interfaces \-- for those users, the Application Programming Interface (API) provides the flexibility to do so. This is illustrated in the figure below. -
-
- -
Interconnection between OutdoorNav Software and UGV Controller
-
-
- The API is, at present, a [ROS 2 Jazzy](https://docs.ros.org/en/jazzy/index.html) API. -The message and services types for the API are defined at: -https://github.com/clearpathrobotics/clearpath_msgs/tree/onav-ros2/clearpath_outdoornav_msgs +The API is divided into two sections, whose details are provided below: + +- [Autonomy API](./api_endpoints/autonomy_api): The set of [ROS + Topics](http://wiki.ros.org/Topics) that are used for monitoring and + controlling the the hardware platform through the OutdoorNav + autonomy software. + - [Topics Subscribed to by Autonomy](./api_endpoints/autonomy_api.mdx#autonomy-subscribers): + The set of [ROS Topics](http://wiki.ros.org/Topics) + subscribed to by OutdoorNav Software, typically published by the + client for directing OutdoorNav operation. + - [Topics Published by Autonomy](./api_endpoints/autonomy_api.mdx#autonomy-publishers): + The set of [ROS Topics](http://wiki.ros.org/Topics) published by + OutdoorNav Software, to be subscribed to by the UGV. + - [Services Exported by Autonomy](./api_endpoints/autonomy_api#autonomy-services): + The set of [ROS Services](http://wiki.ros.org/Services) provided + by OutdoorNav Software, for use by the client to modify/control + the behaviour of the Autonomy. + - [Actions Exported by Autonomy](./api_endpoints/autonomy_api#autonomy-actions): + The set of [ROS Actions](http://wiki.ros.org/actionlib) provided + by OutdoorNav Software, for use by the client to modify/control + the behaviour of the Autonomy. +- [Mission Manager API](./api_endpoints/mission_manager_api): The set of [ROS + Services](http://wiki.ros.org/Services) that are used for creating, deleting, + and modifying OutdoorNav Missions +- [API Examples](./api_examples/api_examples_overview): Example code to come. -More details on the API will be provided in a future release of the documentation. \ No newline at end of file diff --git a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/autonomy_api.mdx b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/autonomy_api.mdx deleted file mode 100644 index 05cb54d1..00000000 --- a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/autonomy_api.mdx +++ /dev/null @@ -1,167 +0,0 @@ ---- -title: Autonomy API -sidebar_label: Autonomy API -sidebar_position: 2 -toc_min_heading_level: 2 -toc_max_heading_level: 4 ---- -# Autonomy API Endpoints - -:::note - -All nodes, topics, and services are namespace prefixed with the robot serial number. - -::: - - -# Subscribers - -| Topic | Message type | Description | QoS | -| :---------------------- | :----------------------------------------------------------------------------------------------------------- | :-------------- | :-------------------------------------------- | -| platform/cmd_vel_out | [geometry_msgs/msg/TwistStamped](https://github.com/ros2/common_interfaces/blob/jazzy/geometry_msgs/msg/TwistStamped.msg) | | [System Default](/docs/ros/api/overview#system-default) | -| platform/odom | [nav_msgs/msg/Odometry](https://github.com/ros2/common_interfaces/blob/jazzy/nav_msgs/msg/Odometry.msg) | Platform wheel odometry | [System Default](/docs/ros/api/overview#system-default) | -| joy_teleop/cmd_vel | [geometry_msgs/msg/TwistStamped](https://github.com/ros2/common_interfaces/blob/jazzy/geometry_msgs/msg/TwistStamped.msg) | Velocity commands from joystick inputs | [System Default](/docs/ros/api/overview#system-default) | - - -# Publishers - -| Topic | Message type | Description | QoS | -| :---------------------- | :----------------------------------------------------------------------------------------------------------- | :-------------- | :-------------------------------------------- | -| autonomy/config | [clearpath_navigation_msgs/msg/AutonomyConfig](pathname:///api/html/clearpath_navigation_msgs/msg/AutonomyConfig.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | -| autonomy/initial_path | [nav_msgs/msg/Path](https://github.com/ros2/common_interfaces/blob/jazzy/nav_msgs/msg/Path.msg) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | -| autonomy/status | [clearpath_navigation_msgs/msg/AutonomyStatus](pathname:///api/html/clearpath_navigation_msgs/msg/AutonomyStatus.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | -| control_selection/current_mode | [clearpath_control_msgs/msg/ControlMode](pathname:///api/html/clearpath_control_msgs/msg/ControlMode.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | -| control_selection/current_state | [clearpath_control_msgs/msg/ControlSelectionState](pathname:///api/html/clearpath_control_msgs/msg/ControlSelectionState.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | -| docking/docking_server/path | [nav_msgs/msg/Path](https://github.com/ros2/common_interfaces/blob/jazzy/nav_msgs/msg/Path.msg) | Lidar scan data | -| docking/undocking_server/path | [nav_msgs/msg/Path](https://github.com/ros2/common_interfaces/blob/jazzy/nav_msgs/msg/Path.msg) | Lidar scan data | -| goto/preview | [clearpath_navigation_msgs/msg/GoToPreview](pathname:///api/html/clearpath_navigation_msgs/msg/GoToPreview.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | -| localization/datum | [sensor_msgs/msg/NavSatFix](https://github.com/ros2/common_interfaces/blob/jazzy/sensor_msgs/msg/NavSatFix.msg) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | -| localization/fix | [sensor_msgs/msg/NavSatFix](https://github.com/ros2/common_interfaces/blob/jazzy/sensor_msgs/msg/NavSatFix.msg) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | -| localization/odom | [nav_msgs/msg/Odometry](https://github.com/ros2/common_interfaces/blob/jazzy/nav_msgs/msg/Odometry.msg) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | -| mission/preview | [clearpath_navigation_msgs/msg/MissionPreview](pathname:///api/html/clearpath_navigation_msgs/msg/MissionPreview.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | -| mission_manager/state | [clearpath_mission_manager_msgs/msg/StorageState](pathname:///api/html/clearpath_mission_manager_msgs/msg/StorageState.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | -| mission_manager/network_maps_validity | [clearpath_mission_manager_msgs/msg/NetworkMapValidityState](pathname:///api/html/clearpath_mission_manager_msgs/msg/NetworkMapValidityState.html) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | -| speed_limit | [clearpath_navigation_msgs/msg/GoToPreview](https://github.com/ros-navigation/navigation2/blob/main/nav2_msgs/msg/SpeedLimit.msg) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | -| ui/heartbeat | [geometry_msgs/msg/TwistStamped](https://github.com/ros2/common_interfaces/blob/jazzy/geometry_msgs/msg/TwistStamped.msg) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | -| ui_teleop/cmd_vel | [geometry_msgs/msg/TwistStamped](https://github.com/ros2/common_interfaces/blob/jazzy/geometry_msgs/msg/TwistStamped.msg) | Lidar scan data | [System Default](/docs/ros/api/overview#system-default) | - -# Services - -| Service | Service type | Description | -| :---------------------- | :----------------------------------------------------------------------------------------------------------- | :-------------- | -| autonomy/stop | [std_srvs/srv/Trigger](https://docs.ros2.org/foxy/api/std_srvs/srv/Trigger.html) | Lidar scan data | -| control_selection/set_mode | [clearpath_control_msgs/srv/SetControlMode](pathname:///api/html/clearpath_control_msgs/srv/SetControlMode.html) | Lidar scan data | -| control_selection/pause | [std_srvs/srv/SetBool](https://docs.ros2.org/foxy/api/std_srvs/srv/SetBool.html) | Lidar scan data | -| control_selection/resume | [std_srvs/srv/SetBool](https://docs.ros2.org/foxy/api/std_srvs/srv/SetBool.html) | Lidar scan data | -| docking/docking_server/dock | [std_srvs/srv/Trigger](https://docs.ros2.org/foxy/api/std_srvs/srv/Trigger.html) | Lidar scan data | -| docking/docking_server/run_docking | [clearpath_dock_msgs/srv/RunDocking](pathname:///api/html/clearpath_dock_msgs/srv/RunDocking.html) | Lidar scan data | -| docking/undocking_server/undock | [std_srvs/srv/Trigger](https://docs.ros2.org/foxy/api/std_srvs/srv/Trigger.html) | Lidar scan data | -| docking/undocking_server/run_undocking | [clearpath_dock_msgs/srv/RunUndocking](pathname:///api/html/clearpath_dock_msgs/srv/RunUndocking.html) | Lidar scan data | -| docking/dock_manager/add_dock | [clearpath_dock_msgs/srv/AddDock](pathname:///api/html/clearpath_dock_msgs/srv/AddDock.html) | | -| docking/dock_manager/clear_data | [std_srvs/srv/Trigger](https://docs.ros2.org/foxy/api/std_srvs/srv/Trigger.html) | | -| docking/dock_manager/delete_dock | [clearpath_dock_msgs/srv/DeleteDock](pathname:///api/html/clearpath_dock_msgs/srv/DeleteDock.html) | | -| docking/dock_manager/export | [clearpath_dock_msgs/srv/ExportData](pathname:///api/html/clearpath_dock_msgs/srv/ExportData.html) | | -| docking/dock_manager/get_database | [clearpath_dock_msgs/srv/GetDockDatabase](pathname:///api/html/clearpath_dock_msgs/srv/GetDockDatabase.html) | | -| docking/dock_manager/get_dock | [clearpath_dock_msgs/srv/GetDock](pathname:///api/html/clearpath_dock_msgs/srv/GetDock.html) | | -| docking/dock_manager/import | [clearpath_dock_msgs/srv/ImportData](pathname:///api/html/clearpath_dock_msgs/srv/ImportData.html) | | -| docking/dock_manager/update_dock | [clearpath_dock_msgs/srv/UpdateDock](pathname:///api/html/clearpath_dock_msgs/srv/UpdateDock.html) | | -| docking/dock_localizer/add_dock_current_pose| [clearpath_dock_msgs/srv/AddDockCurrentPose](pathname:///api/html/clearpath_dock_msgs/srv/AddDockCurrentPose.html) | | -| docking/dock_localizer/get_dock_poses| [clearpath_dock_msgs/srv/GetDockPoses](pathname:///api/html/clearpath_dock_msgs/srv/GetDockPoses.html) | | -| docking/dock_localizer/survey_dock| [clearpath_dock_msgs/srv/SurveyDock](pathname:///api/html/clearpath_dock_msgs/srv/SurveyDock.html) | | -| localization/lat_lon_to_xy | [clearpath_localization_msgs/srv/ConvertLatLonToCartesian](pathname:///api/html/clearpath_localization_msgs/srv/ConvertLatLonToCartesian.html) | | -| localization/lat_lon_to_xy_array | [clearpath_localization_msgs/srv/ConvertLatLonToCartesianArray](pathname:///api/html/clearpath_localization_msgs/srv/ConvertLatLonToCartesianArray.html) | | -| localization/set_datum | [clearpath_localization_msgs/srv/SetDatum](pathname:///api/html/clearpath_localization_msgs/srv/SetDatum.html) | | -| localization/xy_to_lat_lon | [clearpath_localization_msgs/srv/ConvertCartesianToLatLon](pathname:///api/html/clearpath_localization_msgs/srv/ConvertCartesianToLatLon.html) | | -| localization/xy_to_lat_lon_array | [clearpath_localization_msgs/srv/ConvertCartesianToLatLonArray](pathname:///api/html/clearpath_localization_msgs/srv/ConvertCartesianToLatLonArray.html) | | -| log_manager/delete_log | [clearpath_logger_msgs/srv/DeleteLog](pathname:///api/html/clearpath_logger_msgs/srv/DeleteLog.html) | | -| log_manager/start_recording | [std_srvs/srv/Trigger](https://docs.ros2.org/foxy/api/std_srvs/srv/Trigger.html) | | -| log_manager/stop_recording | [std_srvs/srv/Trigger](https://docs.ros2.org/foxy/api/std_srvs/srv/Trigger.html) | | -| mission_manager/add_network_edge | [clearpath_mission_manager_msgs/srv/AddNetworkEdge](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddNetworkEdge.html) | | -| mission_manager/add_network_path | [clearpath_mission_manager_msgs/srv/AddNetworkPath](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddNetworkPath.html) | | -| mission_manager/add_network_point | [clearpath_mission_manager_msgs/srv/AddNetworkPoint](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddNetworkPoint.html) | | -| mission_manager/add_tag | [clearpath_mission_manager_msgs/srv/AddRemoveTag](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveTag.html) | | -| mission_manager/add_task_to_start | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | | -| mission_manager/add_task_to_stop | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | | -| mission_manager/add_task_to_waypoint | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | | -| mission_manager/add_waypoint_to_mission | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | | -| mission_manager/clone_mission | [clearpath_mission_manager_msgs/srv/CloneMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/CloneMission.html) | | -| mission_manager/clone_network_map | [clearpath_mission_manager_msgs/srv/CloneNetworkMap](pathname:///api/html/clearpath_mission_manager_msgs/srv/CloneNetworkMap.html) | | -| mission_manager/clone_network_mission | [clearpath_mission_manager_msgs/srv/CloneNetworkMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/CloneNetworkMission.html) | | -| mission_manager/clone_point_of_interest | [clearpath_mission_manager_msgs/srv/ClonePointOfInterest](pathname:///api/html/clearpath_mission_manager_msgs/srv/ClonePointOfInterest.html) | | -| mission_manager/clone_task | [clearpath_mission_manager_msgs/srv/GetTask](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetTask.html) | | -| mission_manager/clone_waypoint | [clearpath_mission_manager_msgs/srv/GetWaypoint](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetWaypoint.html) | | -| mission_manager/create_mission | [clearpath_mission_manager_msgs/srv/CreateMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/CreateMission.html) | | -| mission_manager/create_network_map | [clearpath_mission_manager_msgs/srv/CreateNetworkMap](pathname:///api/html/clearpath_mission_manager_msgs/srv/CreateNetworkMap.html) | | -| mission_manager/create_network_mission | [clearpath_mission_manager_msgs/srv/CreateNetworkMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/CreateNetworkMission.html) | | -| mission_manager/create_point_of_interest | [clearpath_mission_manager_msgs/srv/CreatePointOfInterest](pathname:///api/html/clearpath_mission_manager_msgs/srv/CreatePointOfInterest.html) | | -| mission_manager/create_task | [clearpath_mission_manager_msgs/srv/CreateTask](pathname:///api/html/clearpath_mission_manager_msgs/srv/CreateTask.html) | | -| mission_manager/create_waypoint | [clearpath_mission_manager_msgs/srv/CreateWaypoint](pathname:///api/html/clearpath_mission_manager_msgs/srv/CreateWaypoint.html) | | -| mission_manager/create_waypoint_from_poi | [clearpath_mission_manager_msgs/srv/CreateWaypointFromPoi](pathname:///api/html/clearpath_mission_manager_msgs/srv/CreateWaypointFromPoi.html) | | -| mission_manager/delete_all | [clearpath_mission_manager_msgs/srv/DeleteEverything](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteEverything.html) | | -| mission_manager/delete_mission | [clearpath_mission_manager_msgs/srv/DeleteById](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteById.html) | | -| mission_manager/delete_missions | [clearpath_mission_manager_msgs/srv/DeleteMultiple](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteMultiple.html) | | -| mission_manager/delete_network_edge | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | | -| mission_manager/delete_network_edges | [clearpath_mission_manager_msgs/srv/DeleteMultiple](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteMultiple.html) | | -| mission_manager/delete_network_map | [clearpath_mission_manager_msgs/srv/DeleteById](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteById.html) | | -| mission_manager/delete_network_mission | [clearpath_mission_manager_msgs/srv/DeleteById](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteById.html) | | -| mission_manager/delete_network_point | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | | -| mission_manager/delete_network_points | [clearpath_mission_manager_msgs/srv/DeleteMultiple](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteMultiple.html) | | -| mission_manager/delete_orphan_objects | [clearpath_mission_manager_msgs/srv/DeleteEverything](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteEverything.html) | | -| mission_manager/delete_point_of_interest | [clearpath_mission_manager_msgs/srv/DeleteById](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteById.html) | | -| mission_manager/delete_task | [clearpath_mission_manager_msgs/srv/DeleteById](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteById.html) | | -| mission_manager/delete_tasks | [clearpath_mission_manager_msgs/srv/DeleteMultiple](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteMultiple.html) | | -| mission_manager/delete_waypoint | [clearpath_mission_manager_msgs/srv/DeleteById](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteById.html) | | -| mission_manager/delete_waypoints | [clearpath_mission_manager_msgs/srv/DeleteMultiple](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteMultiple.html) | | -| mission_manager/remove_tag | [clearpath_mission_manager_msgs/srv/AddRemoveTag](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveTag.html) | | -| mission_manager/export | [clearpath_mission_manager_msgs/srv/ExportData](pathname:///api/html/clearpath_mission_manager_msgs/srv/ExportData.html) | | -| mission_manager/get_all | [clearpath_mission_manager_msgs/srv/GetEverything](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetEverything.html) | | -| mission_manager/get_all_missions | [clearpath_mission_manager_msgs/srv/GetAllMissions](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetAllMissions.html) | | -| mission_manager/get_all_network_maps | [clearpath_mission_manager_msgs/srv/GetAllNetworkMaps](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetAllNetworkMaps.html) | | -| mission_manager/get_all_network_missions | [clearpath_mission_manager_msgs/srv/GetAllNetworkMissions](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetAllNetworkMissions.html) | | -| mission_manager/get_all_points_of_interest | [clearpath_mission_manager_msgs/srv/GetAllPointsOfInterest](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetAllPointsOfInterest.html) | | -| mission_manager/get_all_tasks | [clearpath_mission_manager_msgs/srv/GetAllTasks](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetAllTasks.html) | | -| mission_manager/get_all_waypoints | [clearpath_mission_manager_msgs/srv/GetAllWaypoints](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetAllWaypoints.html) | | -| mission_manager/get_mission | [clearpath_mission_manager_msgs/srv/GetMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetMission.html) | | -| mission_manager/get_network_map | [clearpath_mission_manager_msgs/srv/GetNetworkMap](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetNetworkMap.html) | | -| mission_manager/get_network_mission | [clearpath_mission_manager_msgs/srv/GetNetworkMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetNetworkMission.html) | | -| mission_manager/get_point_of_interest | [clearpath_mission_manager_msgs/srv/GetPointOfInterest](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetPointOfInterest.html) | | -| mission_manager/get_task | [clearpath_mission_manager_msgs/srv/GetTask](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetTask.html) | | -| mission_manager/get_waypoint | [clearpath_mission_manager_msgs/srv/GetWaypoint](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetWaypoint.html) | | -| mission_manager/import | [clearpath_mission_manager_msgs/srv/ImportData](pathname:///api/html/clearpath_mission_manager_msgs/srv/ImportData.html) | | -| mission_manager/import_mission | [clearpath_mission_manager_msgs/srv/ImportMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/ImportMission.html) | | -| mission_manager/import_network_map | [clearpath_mission_manager_msgs/srv/ImportNetworkMap](pathname:///api/html/clearpath_mission_manager_msgs/srv/ImportNetworkMap.html) | | -| mission_manager/import_network_mission | [clearpath_mission_manager_msgs/srv/ImportNetworkMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/ImportNetworkMission.html) | | -| mission_manager/remove_task_from_start | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | | -| mission_manager/remove_task_from_stop | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | | -| mission_manager/remove_task_from_waypoint | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | | -| mission_manager/remove_waypoint_from_mission | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | | -| mission_manager/restore | [clearpath_mission_manager_msgs/srv/ImportData](pathname:///api/html/clearpath_mission_manager_msgs/srv/ImportData.html) | | -| mission_manager/split_network_edge | [clearpath_mission_manager_msgs/srv/SplitNetworkEdge](pathname:///api/html/clearpath_mission_manager_msgs/srv/SplitNetworkEdge.html) | | -| mission_manager/update_mission | [clearpath_mission_manager_msgs/srv/UpdateMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateMission.html) | | -| mission_manager/update_network_edge | [clearpath_mission_manager_msgs/srv/UpdateNetworkEdge](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkEdge.html) | | -| mission_manager/update_network_edges | [clearpath_mission_manager_msgs/srv/UpdateNetworkEdges](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkEdges.html) | | -| mission_manager/update_network_map | [clearpath_mission_manager_msgs/srv/UpdateNetworkMap](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkMap.html) | | -| mission_manager/update_network_mission | [clearpath_mission_manager_msgs/srv/UpdateNetworkMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/AdUpdateNetworkMissiondNetworkEdge.html) | | -| mission_manager/update_network_point | [clearpath_mission_manager_msgs/srv/UpdateNetworkPoint](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkPoint.html) | | -| mission_manager/update_network_points | [clearpath_mission_manager_msgs/srv/UpdateNetworkPoints](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkPoints.html) | | -| mission_manager/update_point_of_interest | [clearpath_mission_manager_msgs/srv/UpdatePointOfInterest](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdatePointOfInterest.html) | | -| mission_manager/update_task | [clearpath_mission_manager_msgs/srv/UpdateTask](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateTask.html) | | -| mission_manager/update_waypoint | [clearpath_mission_manager_msgs/srv/UpdateWaypoint](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateWaypoint.html) | | -| mission_manager/validate_network_map | [clearpath_mission_manager_msgs/srv/ValidateNetworkMap](pathname:///api/html/clearpath_mission_manager_msgs/srv/ValidateNetworkMap.html) | | -| safety/watchdogs/add_communication_watchdog | [clearpath_safety_msgs/srv/AddCommunicationWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/AddCommunicationWatchdog.html) | | -| safety/watchdogs/add_communication_watchdog | [clearpath_safety_msgs/srv/AddCommunicationWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/AddCommunicationWatchdog.html) | | -| safety/watchdogs/add_communication_watchdog | [clearpath_safety_msgs/srv/AddCommunicationWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/AddCommunicationWatchdog.html) | | -| safety/watchdogs/add_communication_watchdog | [clearpath_safety_msgs/srv/AddCommunicationWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/AddCommunicationWatchdog.html) | | -| safety/watchdogs/add_communication_watchdog | [clearpath_safety_msgs/srv/AddCommunicationWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/AddCommunicationWatchdog.html) | | - -# Actions - -| Action Name | Action type | Description | -| :---------------------- | :----------------------------------------------------------------------------------------------------------- | :-------------- | -| autonomy/network_mission | [clearpath_navigation_msgs/action/ExecuteNetworkMissionByUuid](pathname:///api/html/clearpath_navigation_msgs/action/ExecuteNetworkMissionByUuid.html) | Lidar scan data | -| autonomy/network_miission_from_goal | [clearpath_navigation_msgs/action/ExecuteNetworkMissionFromGoal](pathname:///api/html/clearpath_navigation_msgs/action/ExecuteNetworkMissionFromGoal.html) | Lidar scan data | -| autonomy/network_goto | [clearpath_navigation_msgs/action/ExecuteNetworkGoTo](pathname:///api/html/clearpath_navigation_msgs/action/ExecuteNetworkGoTo.html) | Lidar scan data | -| autonomy/network_goto_poi | [clearpath_navigation_msgs/action/ExecuteNetworkGoToPOI](pathname:///api/html/clearpath_navigation_msgs/action/ExecuteNetworkGoToPOI.html) | Lidar scan data | -| autonomy/local_dock | [clearpath_dock_msgs/action/Dock](pathname:///api/html/clearpath_dock_msgs/action/Dock.html) | Lidar scan data | -| autonomy/local_undock | [clearpath_dock_msgs/action/Undock](pathname:///api/html/clearpath_dock_msgs/action/Undock.html) | Lidar scan data | -| autonomy/network_dock | [clearpath_dock_msgs/action/NetworkDock](pathname:///api/html/clearpath_dock_msgs/action/NetworkDock.html) | Lidar scan data | From a2f587682569a1c501fb187d90166fb3487b6c7b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jos=C3=A9=20Mastrangelo?= Date: Thu, 11 Sep 2025 09:26:01 -0400 Subject: [PATCH 05/10] moved changes made to 2.0.0 to the docs_outdoornav_usesr_manual folder --- .../api/_category_.json | 2 +- .../api/api_endpoints/_category_.json | 4 + .../api/api_endpoints/autonomy_api.mdx | 115 ++++++++++++ .../api/api_endpoints/mission_manager_api.mdx | 99 +++++++++++ .../api/api_examples/_category_.json | 4 + .../api_examples/api_examples_overview.mdx | 15 ++ .../api/api_examples/run_basic_mission.mdx | 15 ++ .../api/api_examples/using_the_api.mdx | 164 ++++++++++++++++++ .../api/api_overview.mdx | 37 ++-- .../web_user_interface/ui_overview.mdx | 2 +- 10 files changed, 444 insertions(+), 13 deletions(-) create mode 100644 docs_outdoornav_user_manual/api/api_endpoints/_category_.json create mode 100644 docs_outdoornav_user_manual/api/api_endpoints/autonomy_api.mdx create mode 100644 docs_outdoornav_user_manual/api/api_endpoints/mission_manager_api.mdx create mode 100644 docs_outdoornav_user_manual/api/api_examples/_category_.json create mode 100644 docs_outdoornav_user_manual/api/api_examples/api_examples_overview.mdx create mode 100644 docs_outdoornav_user_manual/api/api_examples/run_basic_mission.mdx create mode 100644 docs_outdoornav_user_manual/api/api_examples/using_the_api.mdx diff --git a/docs_outdoornav_user_manual/api/_category_.json b/docs_outdoornav_user_manual/api/_category_.json index 79c71658..d9a89b34 100644 --- a/docs_outdoornav_user_manual/api/_category_.json +++ b/docs_outdoornav_user_manual/api/_category_.json @@ -1,4 +1,4 @@ { - "label": "Application Programming Interface", + "label": "API", "position": 7 } diff --git a/docs_outdoornav_user_manual/api/api_endpoints/_category_.json b/docs_outdoornav_user_manual/api/api_endpoints/_category_.json new file mode 100644 index 00000000..ff29bf08 --- /dev/null +++ b/docs_outdoornav_user_manual/api/api_endpoints/_category_.json @@ -0,0 +1,4 @@ +{ + "label": "Endpoints", + "position": 2 +} diff --git a/docs_outdoornav_user_manual/api/api_endpoints/autonomy_api.mdx b/docs_outdoornav_user_manual/api/api_endpoints/autonomy_api.mdx new file mode 100644 index 00000000..587c60d6 --- /dev/null +++ b/docs_outdoornav_user_manual/api/api_endpoints/autonomy_api.mdx @@ -0,0 +1,115 @@ +--- +title: Autonomy API Endpoints +sidebar_label: Autonomy API +sidebar_position: 2 +toc_min_heading_level: 2 +toc_max_heading_level: 4 +--- + +:::note + +All nodes, topics, and services are namespace prefixed with the robot serial number. + +::: + +  + +## Subscribers {#autonomy-subscribers} + +  + +| Topic | Message type | Description | QoS | +| :---------------------- | :----------------------------------------------------------------------------------------------------------- | :-------------- | :-------------------------------------------- | +| platform/cmd_vel_out | [geometry_msgs/msg/TwistStamped](https://github.com/ros2/common_interfaces/blob/jazzy/geometry_msgs/msg/TwistStamped.msg) | Continuous platform level velocity output | [System Default](/docs/ros/api/overview#system-default) | +| platform/odom | [nav_msgs/msg/Odometry](https://github.com/ros2/common_interfaces/blob/jazzy/nav_msgs/msg/Odometry.msg) | Platform wheel odometry | [System Default](/docs/ros/api/overview#system-default) | +| joy_teleop/cmd_vel | [geometry_msgs/msg/TwistStamped](https://github.com/ros2/common_interfaces/blob/jazzy/geometry_msgs/msg/TwistStamped.msg) | Velocity commands from joystick inputs | [System Default](/docs/ros/api/overview#system-default) | + +  + +## Publishers {#autonomy-publishers} + +  + +| Topic | Message type | Description | QoS | +| :---------------------- | :----------------------------------------------------------------------------------------------------------- | :-------------- | :-------------------------------------------- | +| autonomy/config | [clearpath_navigation_msgs/msg/AutonomyConfig](pathname:///api/html/clearpath_navigation_msgs/msg/AutonomyConfig.html) | Autonomy configuration | [System Default](/docs/ros/api/overview#system-default) | +| autonomy/initial_path | [nav_msgs/msg/Path](https://github.com/ros2/common_interfaces/blob/jazzy/nav_msgs/msg/Path.msg) | Initial Path computed by autonomy | [System Default](/docs/ros/api/overview#system-default) | +| autonomy/status | [clearpath_navigation_msgs/msg/AutonomyStatus](pathname:///api/html/clearpath_navigation_msgs/msg/AutonomyStatus.html) | Status of the autonomy | [System Default](/docs/ros/api/overview#system-default) | +| control_selection/current_mode | [clearpath_control_msgs/msg/ControlMode](pathname:///api/html/clearpath_control_msgs/msg/ControlMode.html) | Current control mode (NEUTRAL, MANUAL, AUTONOMY). | [System Default](/docs/ros/api/overview#system-default) | +| control_selection/control_state | [clearpath_control_msgs/msg/ControlSelectionState](pathname:///api/html/clearpath_control_msgs/msg/ControlSelectionState.html) | Complete state of control selection node. | [System Default](/docs/ros/api/overview#system-default) | +| docking/docking_server/path | [nav_msgs/msg/Path](https://github.com/ros2/common_interfaces/blob/jazzy/nav_msgs/msg/Path.msg) | Docking path | +| docking/undocking_server/path | [nav_msgs/msg/Path](https://github.com/ros2/common_interfaces/blob/jazzy/nav_msgs/msg/Path.msg) | Undocking path | +| goto/preview | [clearpath_navigation_msgs/msg/GoToPreview](pathname:///api/html/clearpath_navigation_msgs/msg/GoToPreview.html) | Preview points for a GoTo execution | [System Default](/docs/ros/api/overview#system-default) | +| localization/datum | [sensor_msgs/msg/NavSatFix](https://github.com/ros2/common_interfaces/blob/jazzy/sensor_msgs/msg/NavSatFix.msg) | Map origin (0, 0), specified as the datum | [System Default](/docs/ros/api/overview#system-default) | +| localization/fix | [sensor_msgs/msg/NavSatFix](https://github.com/ros2/common_interfaces/blob/jazzy/sensor_msgs/msg/NavSatFix.msg) | Platform lat/lon coordinates | [System Default](/docs/ros/api/overview#system-default) | +| localization/odom | [nav_msgs/msg/Odometry](https://github.com/ros2/common_interfaces/blob/jazzy/nav_msgs/msg/Odometry.msg) | Platform map coordinates | [System Default](/docs/ros/api/overview#system-default) | +| mission/preview | [clearpath_navigation_msgs/msg/MissionPreview](pathname:///api/html/clearpath_navigation_msgs/msg/MissionPreview.html) | Preview points for a mission execution | [System Default](/docs/ros/api/overview#system-default) | +| speed_limit | [clearpath_navigation_msgs/msg/GoToPreview](https://github.com/ros-navigation/navigation2/blob/main/nav2_msgs/msg/SpeedLimit.msg) | Current navigation speed limit | [System Default](/docs/ros/api/overview#system-default) | +| ui/heartbeat | [geometry_msgs/msg/TwistStamped](https://github.com/ros2/common_interfaces/blob/jazzy/geometry_msgs/msg/TwistStamped.msg) | Heartbeat of the UI | [System Default](/docs/ros/api/overview#system-default) | +| ui_teleop/cmd_vel | [geometry_msgs/msg/TwistStamped](https://github.com/ros2/common_interfaces/blob/jazzy/geometry_msgs/msg/TwistStamped.msg) | Velocity commands fron the UI joystick | [System Default](/docs/ros/api/overview#system-default) | + +  + +## Services {#autonomy-services} + +  + +| Service | Service type | Description | +| :---------------------- | :----------------------------------------------------------------------------------------------------------- | :-------------- | +| autonomy/stop | [std_srvs/srv/Trigger](https://docs.ros2.org/foxy/api/std_srvs/srv/Trigger.html) | Stop all autonomy executions | +| control_selection/set_mode | [clearpath_control_msgs/srv/SetControlMode](pathname:///api/html/clearpath_control_msgs/srv/SetControlMode.html) | Set the control mode | +| control_selection/pause | [std_srvs/srv/SetBool](https://docs.ros2.org/foxy/api/std_srvs/srv/SetBool.html) | Pause execution | +| control_selection/resume | [std_srvs/srv/SetBool](https://docs.ros2.org/foxy/api/std_srvs/srv/SetBool.html) | Resume execution | +| docking/dock_manager/add_dock | [clearpath_dock_msgs/srv/AddDock](pathname:///api/html/clearpath_dock_msgs/srv/AddDock.html) | Add a dock | +| docking/dock_manager/clear_data | [std_srvs/srv/Trigger](https://docs.ros2.org/foxy/api/std_srvs/srv/Trigger.html) | Clear all dock data | +| docking/dock_manager/delete_dock | [clearpath_dock_msgs/srv/DeleteDock](pathname:///api/html/clearpath_dock_msgs/srv/DeleteDock.html) | Delete a dock | +| docking/dock_manager/export | [clearpath_dock_msgs/srv/ExportData](pathname:///api/html/clearpath_dock_msgs/srv/ExportData.html) | Export dock data | +| docking/dock_manager/get_database | [clearpath_dock_msgs/srv/GetDockDatabase](pathname:///api/html/clearpath_dock_msgs/srv/GetDockDatabase.html) | Returns the entire dock database | +| docking/dock_manager/get_dock | [clearpath_dock_msgs/srv/GetDock](pathname:///api/html/clearpath_dock_msgs/srv/GetDock.html) | Returns a docks info | +| docking/dock_manager/import | [clearpath_dock_msgs/srv/ImportData](pathname:///api/html/clearpath_dock_msgs/srv/ImportData.html) | Import a dock | +| docking/dock_manager/update_dock | [clearpath_dock_msgs/srv/UpdateDock](pathname:///api/html/clearpath_dock_msgs/srv/UpdateDock.html) | Update a docks information | +| docking/dock_localizer/add_dock_current_pose| [clearpath_dock_msgs/srv/AddDockCurrentPose](pathname:///api/html/clearpath_dock_msgs/srv/AddDockCurrentPose.html) | Add a dock with the current pose | +| docking/dock_localizer/get_dock_poses| [clearpath_dock_msgs/srv/GetDockPoses](pathname:///api/html/clearpath_dock_msgs/srv/GetDockPoses.html) | Return the dock and predock poses of a specific dock | +| docking/dock_localizer/survey_dock| [clearpath_dock_msgs/srv/SurveyDock](pathname:///api/html/clearpath_dock_msgs/srv/SurveyDock.html) | Survey the docks position | +| localization/lat_lon_to_xy | [clearpath_localization_msgs/srv/ConvertLatLonToCartesian](pathname:///api/html/clearpath_localization_msgs/srv/ConvertLatLonToCartesian.html) | Convert lat/lon condinate to map XY coordinate | +| localization/lat_lon_to_xy_array | [clearpath_localization_msgs/srv/ConvertLatLonToCartesianArray](pathname:///api/html/clearpath_localization_msgs/srv/ConvertLatLonToCartesianArray.html) | Convert a set of lat/lon coordinates to map XY coordinates | +| localization/set_datum | [clearpath_localization_msgs/srv/SetDatum](pathname:///api/html/clearpath_localization_msgs/srv/SetDatum.html) | Set the datum | +| localization/xy_to_lat_lon | [clearpath_localization_msgs/srv/ConvertCartesianToLatLon](pathname:///api/html/clearpath_localization_msgs/srv/ConvertCartesianToLatLon.html) | Convert map XY coordinate to lat/lon coordinate | +| localization/xy_to_lat_lon_array | [clearpath_localization_msgs/srv/ConvertCartesianToLatLonArray](pathname:///api/html/clearpath_localization_msgs/srv/ConvertCartesianToLatLonArray.html) | Convert a set of map XY coordinates to lat/lon coordinates | +| log_manager/delete_log | [clearpath_logger_msgs/srv/DeleteLog](pathname:///api/html/clearpath_logger_msgs/srv/DeleteLog.html) | Delete a secific log | +| log_manager/start_recording | [std_srvs/srv/Trigger](https://docs.ros2.org/foxy/api/std_srvs/srv/Trigger.html) | Start logging data | +| log_manager/stop_recording | [std_srvs/srv/Trigger](https://docs.ros2.org/foxy/api/std_srvs/srv/Trigger.html) | Stop logging data | +| safety/watchdogs/add_communication_watchdog | [clearpath_safety_msgs/srv/AddCommunicationWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/AddCommunicationWatchdog.html) | Create a new Communication watchdog | +| safety/watchdogs/add_heartbeat_watchdog | [clearpath_safety_msgs/srv/AddHeartbeatWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/AddHeartbeatWatchdog.html) | Create a new Heartbeat watchdog | +| safety/watchdogs/add_inclination_watchdog | [clearpath_safety_msgs/srv/AddInclinationWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/AddInclinationWatchdog.html) | Create a new Inclination watchdog | +| safety/watchdogs/add_num_points_watchdog | [clearpath_safety_msgs/srv/AddNumPointsWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/AddNumPointsWatchdog.html) | Create a new NumPoints watchdog | +| safety/watchdogs/add_odom_covariance_watchdog | [clearpath_safety_msgs/srv/AddOdomCovarianceWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/AddOdomCovarianceWatchdog.html) | Create a new OdomCovariance watchdog | +| safety/watchdogs/add_rtk_fix_watchdog | [clearpath_safety_msgs/srv/AddRtkFixWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/AddRtkFixWatchdog.html) | Create a new RTKFix watchdog | +| safety/watchdogs/add_topic_data_watchdog | [clearpath_safety_msgs/srv/AddTopicDataWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/AddTopicDataWatchdog.html) | Create a new TopicData watchdog | +| safety/watchdogs/add_trigger_watchdog | [clearpath_safety_msgs/srv/AddTriggerWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/AddTriggerWatchdog.html) | Create a new Trigger watchdog | +| safety/watchdogs/enable_all | [std_srvs/srv/SetBool](https://docs.ros2.org/foxy/api/std_srvs/srv/SetBool.html) | Enable/disable all watchdogs | +| safety/watchdogs/remove_watchdog | [clearpath_safety_msgs/srv/RemoveWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/RemoveWatchdog.html) | Remove/delete a watchdog | +| safety/watchdogs/update_communication_watchdog | [clearpath_safety_msgs/srv/UpdateCommunicationWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/UpdateCommunicationWatchdog.html) | Create a new Communication watchdog | +| safety/watchdogs/update_heartbeat_watchdog | [clearpath_safety_msgs/srv/UpdateHeartbeatWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/UpdateHeartbeatWatchdog.html) | Create a new Heartbeat watchdog | +| safety/watchdogs/update_inclination_watchdog | [clearpath_safety_msgs/srv/UpdateInclinationWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/UpdateInclinationWatchdog.html) | Create a new Inclination watchdog | +| safety/watchdogs/update_num_points_watchdog | [clearpath_safety_msgs/srv/UpdateNumPointsWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/UpdateNumPointsWatchdog.html) | Create a new NumPoints watchdog | +| safety/watchdogs/update_odom_covariance_watchdog | [clearpath_safety_msgs/srv/UpdateOdomCovarianceWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/UpdateOdomCovarianceWatchdog.html) | Create a new OdomCovariance watchdog | +| safety/watchdogs/update_rtk_fix_watchdog | [clearpath_safety_msgs/srv/UpdateRtkFixWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/UpdateRtkFixWatchdog.html) | Create a new RTKFix watchdog | +| safety/watchdogs/update_topic_data_watchdog | [clearpath_safety_msgs/srv/UpdateTopicDataWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/UpdateTopicDataWatchdog.html) | Create a new TopicData watchdog | +| safety/watchdogs/update_trigger_watchdog | [clearpath_safety_msgs/srv/UpdateTriggerWatchdog](pathname:///api/html/clearpath_safety_msgs/srv/UpdateTriggerWatchdog.html) | Create a new Trigger watchdog | + +  + +## Actions {#autonomy-actions} + +  + +| Action Name | Action type | Description | +| :---------------------- | :----------------------------------------------------------------------------------------------------------- | :-------------- | +| autonomy/network_mission | [clearpath_navigation_msgs/action/ExecuteNetworkMissionByUuid](pathname:///api/html/clearpath_navigation_msgs/action/ExecuteNetworkMissionByUuid.html) | Execute an autonomous mission | +| autonomy/network_mission_from_goal | [clearpath_navigation_msgs/action/ExecuteNetworkMissionFromGoal](pathname:///api/html/clearpath_navigation_msgs/action/ExecuteNetworkMissionFromGoal.html) | Execute and autonomous mission, starting from a specific goal | +| autonomy/network_goto | [clearpath_navigation_msgs/action/ExecuteNetworkGoTo](pathname:///api/html/clearpath_navigation_msgs/action/ExecuteNetworkGoTo.html) | Send platform to location | +| autonomy/network_goto_poi | [clearpath_navigation_msgs/action/ExecuteNetworkGoToPOI](pathname:///api/html/clearpath_navigation_msgs/action/ExecuteNetworkGoToPOI.html) | Send platform to a point of interest | +| autonomy/local_dock | [clearpath_dock_msgs/action/Dock](pathname:///api/html/clearpath_dock_msgs/action/Dock.html) | Dock the platform (charge target must be visible by platform 2D lidar sensor) | +| autonomy/local_undock | [clearpath_dock_msgs/action/Undock](pathname:///api/html/clearpath_dock_msgs/action/Undock.html) | Undock the platform (charge target must be visible by the 2D lidar sensor) | +| autonomy/network_dock | [clearpath_dock_msgs/action/NetworkDock](pathname:///api/html/clearpath_dock_msgs/action/NetworkDock.html) | Send robot to charger (charger must be in the driveable space of the map) | diff --git a/docs_outdoornav_user_manual/api/api_endpoints/mission_manager_api.mdx b/docs_outdoornav_user_manual/api/api_endpoints/mission_manager_api.mdx new file mode 100644 index 00000000..fe8d4dde --- /dev/null +++ b/docs_outdoornav_user_manual/api/api_endpoints/mission_manager_api.mdx @@ -0,0 +1,99 @@ +--- +title: Mission Manager API Endpoints +sidebar_label: Mission Manager API +sidebar_position: 3 +toc_min_heading_level: 2 +toc_max_heading_level: 4 +--- + +:::note + +All nodes, topics, and services are namespace prefixed with the robot serial number. + +::: + +  + +## Publishers {#mission-manager-publishers} + +  + +| Topic | Message type | Description | QoS | +| :---------------------- | :----------------------------------------------------------------------------------------------------------- | :-------------- | :-------------------------------------------- | +| mission_manager/state | [clearpath_mission_manager_msgs/msg/StorageState](pathname:///api/html/clearpath_mission_manager_msgs/msg/StorageState.html) | Database containing all map/mission data | Latched | +| mission_manager/network_maps_validity | [clearpath_mission_manager_msgs/msg/NetworkMapValidityState](pathname:///api/html/clearpath_mission_manager_msgs/msg/NetworkMapValidityState.html) | Validity state of all maps | Latched | + +  + +## Services {#mission-manager-services} + +  + +| Service | Service type | Description | +| :---------------------- | :----------------------------------------------------------------------------------------------------------- | :-------------- | +| mission_manager/add_network_edge | [clearpath_mission_manager_msgs/srv/AddNetworkEdge](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddNetworkEdge.html) | Add edge to network map | +| mission_manager/add_network_path | [clearpath_mission_manager_msgs/srv/AddNetworkPath](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddNetworkPath.html) | Add a path to map | +| mission_manager/add_network_point | [clearpath_mission_manager_msgs/srv/AddNetworkPoint](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddNetworkPoint.html) | Add a map point | +| mission_manager/add_tag | [clearpath_mission_manager_msgs/srv/AddRemoveTag](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveTag.html) | Add tag to map point | +| mission_manager/add_task_to_start | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | Add task to list of start tasks | +| mission_manager/add_task_to_stop | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | Add task to list of stop tasks | +| mission_manager/add_task_to_waypoint | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | Add task to a Goal point | +| mission_manager/add_waypoint_to_mission | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | Add Goal to mission | +| mission_manager/clone_mission | [clearpath_mission_manager_msgs/srv/CloneMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/CloneMission.html) | Clone mission | +| mission_manager/clone_network_map | [clearpath_mission_manager_msgs/srv/CloneNetworkMap](pathname:///api/html/clearpath_mission_manager_msgs/srv/CloneNetworkMap.html) | Clone map | +| mission_manager/clone_network_mission | [clearpath_mission_manager_msgs/srv/CloneNetworkMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/CloneNetworkMission.html) | Clone mission | +| mission_manager/clone_point_of_interest | [clearpath_mission_manager_msgs/srv/ClonePointOfInterest](pathname:///api/html/clearpath_mission_manager_msgs/srv/ClonePointOfInterest.html) | Clone point of interest | +| mission_manager/clone_task | [clearpath_mission_manager_msgs/srv/GetTask](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetTask.html) | Clone task | +| mission_manager/clone_waypoint | [clearpath_mission_manager_msgs/srv/GetWaypoint](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetWaypoint.html) | Clone goal | +| mission_manager/create_network_map | [clearpath_mission_manager_msgs/srv/CreateNetworkMap](pathname:///api/html/clearpath_mission_manager_msgs/srv/CreateNetworkMap.html) | Create map | +| mission_manager/create_network_mission | [clearpath_mission_manager_msgs/srv/CreateNetworkMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/CreateNetworkMission.html) | Create mission | +| mission_manager/create_point_of_interest | [clearpath_mission_manager_msgs/srv/CreatePointOfInterest](pathname:///api/html/clearpath_mission_manager_msgs/srv/CreatePointOfInterest.html) | Create point of interest | +| mission_manager/create_task | [clearpath_mission_manager_msgs/srv/CreateTask](pathname:///api/html/clearpath_mission_manager_msgs/srv/CreateTask.html) | Create task | +| mission_manager/create_waypoint | [clearpath_mission_manager_msgs/srv/CreateWaypoint](pathname:///api/html/clearpath_mission_manager_msgs/srv/CreateWaypoint.html) | Create Goal | +| mission_manager/create_waypoint_from_poi | [clearpath_mission_manager_msgs/srv/CreateWaypointFromPoi](pathname:///api/html/clearpath_mission_manager_msgs/srv/CreateWaypointFromPoi.html) | Create Goal from point of interest | +| mission_manager/delete_all | [clearpath_mission_manager_msgs/srv/DeleteEverything](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteEverything.html) | Delete all mission/map/poi data | +| mission_manager/delete_network_edge | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | Delete map edge | +| mission_manager/delete_network_edges | [clearpath_mission_manager_msgs/srv/DeleteMultiple](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteMultiple.html) | Delete map edges | +| mission_manager/delete_network_map | [clearpath_mission_manager_msgs/srv/DeleteById](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteById.html) | Delete map | +| mission_manager/delete_network_mission | [clearpath_mission_manager_msgs/srv/DeleteById](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteById.html) | Delete mission | +| mission_manager/delete_network_point | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | Delete map point | +| mission_manager/delete_network_points | [clearpath_mission_manager_msgs/srv/DeleteMultiple](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteMultiple.html) | Delete map points | +| mission_manager/delete_orphan_objects | [clearpath_mission_manager_msgs/srv/DeleteEverything](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteEverything.html) | Delete orphaned objects | +| mission_manager/delete_point_of_interest | [clearpath_mission_manager_msgs/srv/DeleteById](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteById.html) | Delete point of interest | +| mission_manager/delete_task | [clearpath_mission_manager_msgs/srv/DeleteById](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteById.html) | Delete task | +| mission_manager/delete_tasks | [clearpath_mission_manager_msgs/srv/DeleteMultiple](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteMultiple.html) | Delete tasks | +| mission_manager/delete_waypoint | [clearpath_mission_manager_msgs/srv/DeleteById](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteById.html) | Delete Goal | +| mission_manager/delete_waypoints | [clearpath_mission_manager_msgs/srv/DeleteMultiple](pathname:///api/html/clearpath_mission_manager_msgs/srv/DeleteMultiple.html) | Delete Goals | +| mission_manager/remove_tag | [clearpath_mission_manager_msgs/srv/AddRemoveTag](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveTag.html) | Remove tag from item | +| mission_manager/export | [clearpath_mission_manager_msgs/srv/ExportData](pathname:///api/html/clearpath_mission_manager_msgs/srv/ExportData.html) | Export mission/map/poi database | +| mission_manager/get_all | [clearpath_mission_manager_msgs/srv/GetEverything](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetEverything.html) | Return all map/mission/poi data | +| mission_manager/get_all_network_maps | [clearpath_mission_manager_msgs/srv/GetAllNetworkMaps](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetAllNetworkMaps.html) | Return all maps | +| mission_manager/get_all_network_missions | [clearpath_mission_manager_msgs/srv/GetAllNetworkMissions](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetAllNetworkMissions.html) | Return all missions | +| mission_manager/get_all_points_of_interest | [clearpath_mission_manager_msgs/srv/GetAllPointsOfInterest](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetAllPointsOfInterest.html) | Return all points of interest | +| mission_manager/get_all_tasks | [clearpath_mission_manager_msgs/srv/GetAllTasks](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetAllTasks.html) | Return all tasks | +| mission_manager/get_all_waypoints | [clearpath_mission_manager_msgs/srv/GetAllWaypoints](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetAllWaypoints.html) | Return all goals | +| mission_manager/get_network_map | [clearpath_mission_manager_msgs/srv/GetNetworkMap](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetNetworkMap.html) | Return specific map | +| mission_manager/get_network_mission | [clearpath_mission_manager_msgs/srv/GetNetworkMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetNetworkMission.html) | Return specific mission | +| mission_manager/get_point_of_interest | [clearpath_mission_manager_msgs/srv/GetPointOfInterest](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetPointOfInterest.html) | Return specific point of interest | +| mission_manager/get_task | [clearpath_mission_manager_msgs/srv/GetTask](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetTask.html) | Return specific task | +| mission_manager/get_waypoint | [clearpath_mission_manager_msgs/srv/GetWaypoint](pathname:///api/html/clearpath_mission_manager_msgs/srv/GetWaypoint.html) | Return specific goal | +| mission_manager/import | [clearpath_mission_manager_msgs/srv/ImportData](pathname:///api/html/clearpath_mission_manager_msgs/srv/ImportData.html) | Import mission/map/poi data to database | +| mission_manager/import_mission | [clearpath_mission_manager_msgs/srv/ImportMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/ImportMission.html) | Import mission to database | +| mission_manager/import_network_map | [clearpath_mission_manager_msgs/srv/ImportNetworkMap](pathname:///api/html/clearpath_mission_manager_msgs/srv/ImportNetworkMap.html) | Inport map to database | +| mission_manager/import_network_mission | [clearpath_mission_manager_msgs/srv/ImportNetworkMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/ImportNetworkMission.html) | Import mission to database | +| mission_manager/remove_task_from_start | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | Remove task from list of start tasks | +| mission_manager/remove_task_from_stop | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | Remove task from list of stop tasks| +| mission_manager/remove_task_from_waypoint | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | Remove task from goal | +| mission_manager/remove_waypoint_from_mission | [clearpath_mission_manager_msgs/srv/AddRemoveById](pathname:///api/html/clearpath_mission_manager_msgs/srv/AddRemoveById.html) | Remove goal from mission | +| mission_manager/restore | [clearpath_mission_manager_msgs/srv/ImportData](pathname:///api/html/clearpath_mission_manager_msgs/srv/ImportData.html) | Restore data from a file | +| mission_manager/split_network_edge | [clearpath_mission_manager_msgs/srv/SplitNetworkEdge](pathname:///api/html/clearpath_mission_manager_msgs/srv/SplitNetworkEdge.html) | Split a map edge | +| mission_manager/update_network_edge | [clearpath_mission_manager_msgs/srv/UpdateNetworkEdge](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkEdge.html) | Update map edge | +| mission_manager/update_network_edges | [clearpath_mission_manager_msgs/srv/UpdateNetworkEdges](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkEdges.html) | Update map edges | +| mission_manager/update_network_map | [clearpath_mission_manager_msgs/srv/UpdateNetworkMap](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkMap.html) | Update map | +| mission_manager/update_network_mission | [clearpath_mission_manager_msgs/srv/UpdateNetworkMission](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkMissiond.html) | Update mission | +| mission_manager/update_network_point | [clearpath_mission_manager_msgs/srv/UpdateNetworkPoint](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkPoint.html) | Update map point | +| mission_manager/update_network_points | [clearpath_mission_manager_msgs/srv/UpdateNetworkPoints](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateNetworkPoints.html) | UPdate map points | +| mission_manager/update_point_of_interest | [clearpath_mission_manager_msgs/srv/UpdatePointOfInterest](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdatePointOfInterest.html) | Update points of interestt | +| mission_manager/update_task | [clearpath_mission_manager_msgs/srv/UpdateTask](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateTask.html) | Update task | +| mission_manager/update_waypoint | [clearpath_mission_manager_msgs/srv/UpdateWaypoint](pathname:///api/html/clearpath_mission_manager_msgs/srv/UpdateWaypoint.html) | Update goal | +| mission_manager/validate_network_map | [clearpath_mission_manager_msgs/srv/ValidateNetworkMap](pathname:///api/html/clearpath_mission_manager_msgs/srv/ValidateNetworkMap.html) | Check validity of specific map | diff --git a/docs_outdoornav_user_manual/api/api_examples/_category_.json b/docs_outdoornav_user_manual/api/api_examples/_category_.json new file mode 100644 index 00000000..62e826ee --- /dev/null +++ b/docs_outdoornav_user_manual/api/api_examples/_category_.json @@ -0,0 +1,4 @@ +{ + "label": "Examples", + "position": 3 +} diff --git a/docs_outdoornav_user_manual/api/api_examples/api_examples_overview.mdx b/docs_outdoornav_user_manual/api/api_examples/api_examples_overview.mdx new file mode 100644 index 00000000..c1a68cdc --- /dev/null +++ b/docs_outdoornav_user_manual/api/api_examples/api_examples_overview.mdx @@ -0,0 +1,15 @@ +--- +title: API Examples Overview +sidebar_label: Overview +sidebar_position: 1 +toc_min_heading_level: 2 +toc_max_heading_level: 4 +--- + +:::note + +API examples will be available in version 2.2 (near the end of 2025). +For urgent concerns regarding the API, please contact +[customer support](../../support.mdx) + +::: \ No newline at end of file diff --git a/docs_outdoornav_user_manual/api/api_examples/run_basic_mission.mdx b/docs_outdoornav_user_manual/api/api_examples/run_basic_mission.mdx new file mode 100644 index 00000000..f9ac8358 --- /dev/null +++ b/docs_outdoornav_user_manual/api/api_examples/run_basic_mission.mdx @@ -0,0 +1,15 @@ +--- +title: Run a Basic Mission +sidebar_label: Run a Basic Mission +sidebar_position: 3 +toc_min_heading_level: 2 +toc_max_heading_level: 4 +--- + +:::note + +API examples will be available in version 2.2 (near the end of 2025). +For urgent concerns regarding the API, please contact +[customer support](../../support.mdx) + +::: diff --git a/docs_outdoornav_user_manual/api/api_examples/using_the_api.mdx b/docs_outdoornav_user_manual/api/api_examples/using_the_api.mdx new file mode 100644 index 00000000..d44f718f --- /dev/null +++ b/docs_outdoornav_user_manual/api/api_examples/using_the_api.mdx @@ -0,0 +1,164 @@ +--- +title: Using the API +sidebar_label: Using the API +sidebar_position: 2 +toc_min_heading_level: 2 +toc_max_heading_level: 4 +--- + +:::note + +All action names and service names are namespace prefixed with the robot serial number. + +::: + + +## Commanding the Robot + +To command a robot, we provide action interfaces that are defined in our Autonomy API. +Below, are the `action_name`, `action_type`, and `pkg_name` for each required action. +The user is then able to write their own C++ or Python action client using this +information. + +### Start a mission + +| | | +| :---------------------- | :--------------| +| `action_name` | autonomy/network_mission | +| `pkg_name` | clearpath_navigation_msgs | +| `action_type` | ExecuteNetworkMissionByUuid | + +### Start a Mission from a specific goal + +| | | +| :---------------------- | :--------------| +| `action_name` | autonomy/network_mission_from_goal | +| `pkg_name` | clearpath_navigation_msgs | +| `action_type` | ExecuteNetworkMissionFromGoal | + + +### Send the robot to a location in the map + +| | | +| :---------------------- | :--------------| +| `action_name` | autonomy/network_goto | +| `pkg_name` | clearpath_navigation_msgs | +| `action_type` | ExecuteNetworkGoTo | + +### Send the robot to a point of interest (POI) + +| | | +| :---------------------- | :--------------| +| `action_name` | autonomy/network_goto_poi | +| `pkg_name` | clearpath_navigation_msgs | +| `action_type` | ExecuteNetworkGoToPOI | + +## Docking the robot + +### Local docking + +| | | +| :---------------------- | :--------------| +| `action_name` | autonomy/local_dock | +| `pkg_name` | clearpath_navigation_msgs | +| `action_type` | Dock | + +### Local undocking + +| | | +| :---------------------- | :--------------| +| `action_name` | autonomy/local_undock | +| `pkg_name` | clearpath_navigation_msgs | +| `action_type` | Undock | + +`action_name`: autonomy/local_undock + +`pkg_name`: clearpath_dock_msgs + +`action_type`: Undock + +### Network docking + +| | | +| :---------------------- | :--------------| +| `action_name` | autonomy/network_dock | +| `pkg_name` | clearpath_navigation_msgs | +| `action_type` | NetworkDock | + +## Navigation Control + +### Pause navigation + +| | | +| :---------------------- | :--------------| +| `service_name` | control_selection/pause | +| `pkg_name` | std_srvs | +| `service_type` | SetBool | + +### Resume navigation + +| | | +| :---------------------- | :--------------| +| `service_name` | control_selection/resume | +| `pkg_name` | std_srvs | +| `service_type` | SetBool | + +### Stop all autonomy actions + +| | | +| :---------------------- | :--------------| +| `service_name` | autonomy/stop| +| `pkg_name` | std_srvs | +| `service_type` | Trigger | + +## [Action Client (C++)](https://docs.ros.org/en/foxy/Tutorials/Intermediate/Writing-an-Action-Server-Client/Cpp.html#writing-an-action-client) +```cpp +#include "action_tutorials_interfaces/action/fibonacci.hpp" + +#include "rclcpp/rclcpp.hpp" +#include "rclcpp_action/rclcpp_action.hpp" +#include "rclcpp_components/register_node_macro.hpp" + +... + using = action_tutorials_interfaces::action::; + using GoalHandle = rclcpp_action::ClientGoalHandle; + +... + this->client_ptr_ = rclcpp_action::create_client<>( + this, ); + +... + auto goal_msg = ::Goal(); + auto send_goal_options = rclcpp_action::Client<>::SendGoalOptions(); + +... + this->client_ptr_->async_send_goal(goal_msg, send_goal_options); +``` + +## [Action Client (Python)](https://docs.ros.org/en/foxy/Tutorials/Intermediate/Writing-an-Action-Server-Client/Py.html#writing-an-action-client) + +```python +from .action import + +... + + self._action_client = ActionClient(self, , ) + +... + goal_msgs = .Goal() + self._action_client.wait_for_server() + self._action_client.send_goal_async(goal_msg) +``` + + +## Terminal Command-line + +In order to command the robot from the command-line, you will need to run the +following command, where the `--feedack` argument will allow the user to view +the action feedbacks message: + +```bash +ros2 action send_goal --feedback +``` + +The `values` are based on the actions message type. diff --git a/docs_outdoornav_user_manual/api/api_overview.mdx b/docs_outdoornav_user_manual/api/api_overview.mdx index 3c6055d6..08cc545d 100644 --- a/docs_outdoornav_user_manual/api/api_overview.mdx +++ b/docs_outdoornav_user_manual/api/api_overview.mdx @@ -1,6 +1,6 @@ --- title: API Overview -sidebar_label: API Overview +sidebar_label: Overview sidebar_position: 1 toc_min_heading_level: 2 toc_max_heading_level: 4 @@ -12,15 +12,30 @@ may wish to develop their own graphical user interfaces \-- for those users, the Application Programming Interface (API) provides the flexibility to do so. This is illustrated in the figure below. -
-
- -
Interconnection between OutdoorNav Software and UGV Controller
-
-
- The API is, at present, a [ROS 2 Jazzy](https://docs.ros.org/en/jazzy/index.html) API. -The message and services types for the API are defined at: -https://github.com/clearpathrobotics/clearpath_msgs/tree/onav-ros2/clearpath_outdoornav_msgs +The API is divided into two sections, whose details are provided below: + +- [Autonomy API](./api_endpoints/autonomy_api): The set of [ROS + Topics](http://wiki.ros.org/Topics) that are used for monitoring and + controlling the the hardware platform through the OutdoorNav + autonomy software. + - [Topics Subscribed to by Autonomy](./api_endpoints/autonomy_api.mdx#autonomy-subscribers): + The set of [ROS Topics](http://wiki.ros.org/Topics) + subscribed to by OutdoorNav Software, typically published by the + client for directing OutdoorNav operation. + - [Topics Published by Autonomy](./api_endpoints/autonomy_api.mdx#autonomy-publishers): + The set of [ROS Topics](http://wiki.ros.org/Topics) published by + OutdoorNav Software, to be subscribed to by the UGV. + - [Services Exported by Autonomy](./api_endpoints/autonomy_api#autonomy-services): + The set of [ROS Services](http://wiki.ros.org/Services) provided + by OutdoorNav Software, for use by the client to modify/control + the behaviour of the Autonomy. + - [Actions Exported by Autonomy](./api_endpoints/autonomy_api#autonomy-actions): + The set of [ROS Actions](http://wiki.ros.org/actionlib) provided + by OutdoorNav Software, for use by the client to modify/control + the behaviour of the Autonomy. +- [Mission Manager API](./api_endpoints/mission_manager_api): The set of [ROS + Services](http://wiki.ros.org/Services) that are used for creating, deleting, + and modifying OutdoorNav Missions +- [API Examples](./api_examples/api_examples_overview): Example code to come. -More details on the API will be provided in a future release of the documentation. \ No newline at end of file diff --git a/docs_outdoornav_user_manual/web_user_interface/ui_overview.mdx b/docs_outdoornav_user_manual/web_user_interface/ui_overview.mdx index 1467f81d..54cc5f31 100644 --- a/docs_outdoornav_user_manual/web_user_interface/ui_overview.mdx +++ b/docs_outdoornav_user_manual/web_user_interface/ui_overview.mdx @@ -349,7 +349,7 @@ When running a mission autonomously the user can assign tasks to various events. src="/img/outdoornav_images/task_dock.png" width="30px" /> Dock Robot: - Will dock the UGV to begin charging the UGV's battery. There are 3 kinds of docking that can be used; Network, Radius and Local. See [Autonomous Docking](#autonomous-docking) for more information on the autonomous docking feature. + Will dock the UGV to begin charging the UGV's battery. - Date: Thu, 11 Sep 2025 09:35:56 -0400 Subject: [PATCH 06/10] fix link to delete dock --- docs_outdoornav_user_manual/api/api_endpoints/autonomy_api.mdx | 2 +- .../api/api_examples/api_examples_overview.mdx | 2 +- .../api/api_examples/run_basic_mission.mdx | 2 +- docusaurus.config.js | 2 +- .../version-2.0.0/api/api_endpoints/autonomy_api.mdx | 2 +- .../version-2.0.0/api/api_examples/api_examples_overview.mdx | 2 +- .../version-2.0.0/api/api_examples/run_basic_mission.mdx | 2 +- 7 files changed, 7 insertions(+), 7 deletions(-) diff --git a/docs_outdoornav_user_manual/api/api_endpoints/autonomy_api.mdx b/docs_outdoornav_user_manual/api/api_endpoints/autonomy_api.mdx index 587c60d6..31f277db 100644 --- a/docs_outdoornav_user_manual/api/api_endpoints/autonomy_api.mdx +++ b/docs_outdoornav_user_manual/api/api_endpoints/autonomy_api.mdx @@ -62,7 +62,7 @@ All nodes, topics, and services are namespace prefixed with the robot serial num | control_selection/resume | [std_srvs/srv/SetBool](https://docs.ros2.org/foxy/api/std_srvs/srv/SetBool.html) | Resume execution | | docking/dock_manager/add_dock | [clearpath_dock_msgs/srv/AddDock](pathname:///api/html/clearpath_dock_msgs/srv/AddDock.html) | Add a dock | | docking/dock_manager/clear_data | [std_srvs/srv/Trigger](https://docs.ros2.org/foxy/api/std_srvs/srv/Trigger.html) | Clear all dock data | -| docking/dock_manager/delete_dock | [clearpath_dock_msgs/srv/DeleteDock](pathname:///api/html/clearpath_dock_msgs/srv/DeleteDock.html) | Delete a dock | +| docking/dock_manager/delete_dock | [clearpath_dock_msgs/srv/RemoveDock](pathname:///api/html/clearpath_dock_msgs/srv/RemoveDock.html) | Delete a dock | | docking/dock_manager/export | [clearpath_dock_msgs/srv/ExportData](pathname:///api/html/clearpath_dock_msgs/srv/ExportData.html) | Export dock data | | docking/dock_manager/get_database | [clearpath_dock_msgs/srv/GetDockDatabase](pathname:///api/html/clearpath_dock_msgs/srv/GetDockDatabase.html) | Returns the entire dock database | | docking/dock_manager/get_dock | [clearpath_dock_msgs/srv/GetDock](pathname:///api/html/clearpath_dock_msgs/srv/GetDock.html) | Returns a docks info | diff --git a/docs_outdoornav_user_manual/api/api_examples/api_examples_overview.mdx b/docs_outdoornav_user_manual/api/api_examples/api_examples_overview.mdx index c1a68cdc..7b29ba74 100644 --- a/docs_outdoornav_user_manual/api/api_examples/api_examples_overview.mdx +++ b/docs_outdoornav_user_manual/api/api_examples/api_examples_overview.mdx @@ -8,7 +8,7 @@ toc_max_heading_level: 4 :::note -API examples will be available in version 2.2 (near the end of 2025). +API examples will be available in version 2.2.0. For urgent concerns regarding the API, please contact [customer support](../../support.mdx) diff --git a/docs_outdoornav_user_manual/api/api_examples/run_basic_mission.mdx b/docs_outdoornav_user_manual/api/api_examples/run_basic_mission.mdx index f9ac8358..bebd90f4 100644 --- a/docs_outdoornav_user_manual/api/api_examples/run_basic_mission.mdx +++ b/docs_outdoornav_user_manual/api/api_examples/run_basic_mission.mdx @@ -8,7 +8,7 @@ toc_max_heading_level: 4 :::note -API examples will be available in version 2.2 (near the end of 2025). +API examples will be available in version 2.2.0. For urgent concerns regarding the API, please contact [customer support](../../support.mdx) diff --git a/docusaurus.config.js b/docusaurus.config.js index 686e00c3..cc7abc75 100644 --- a/docusaurus.config.js +++ b/docusaurus.config.js @@ -105,7 +105,7 @@ const config = { remarkPlugins: [remarkMath], rehypePlugins: [rehypeKatex], showLastUpdateTime: true, - includeCurrentVersion: false, + includeCurrentVersion: true, }, ], [ diff --git a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/autonomy_api.mdx b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/autonomy_api.mdx index 587c60d6..31f277db 100644 --- a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/autonomy_api.mdx +++ b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/autonomy_api.mdx @@ -62,7 +62,7 @@ All nodes, topics, and services are namespace prefixed with the robot serial num | control_selection/resume | [std_srvs/srv/SetBool](https://docs.ros2.org/foxy/api/std_srvs/srv/SetBool.html) | Resume execution | | docking/dock_manager/add_dock | [clearpath_dock_msgs/srv/AddDock](pathname:///api/html/clearpath_dock_msgs/srv/AddDock.html) | Add a dock | | docking/dock_manager/clear_data | [std_srvs/srv/Trigger](https://docs.ros2.org/foxy/api/std_srvs/srv/Trigger.html) | Clear all dock data | -| docking/dock_manager/delete_dock | [clearpath_dock_msgs/srv/DeleteDock](pathname:///api/html/clearpath_dock_msgs/srv/DeleteDock.html) | Delete a dock | +| docking/dock_manager/delete_dock | [clearpath_dock_msgs/srv/RemoveDock](pathname:///api/html/clearpath_dock_msgs/srv/RemoveDock.html) | Delete a dock | | docking/dock_manager/export | [clearpath_dock_msgs/srv/ExportData](pathname:///api/html/clearpath_dock_msgs/srv/ExportData.html) | Export dock data | | docking/dock_manager/get_database | [clearpath_dock_msgs/srv/GetDockDatabase](pathname:///api/html/clearpath_dock_msgs/srv/GetDockDatabase.html) | Returns the entire dock database | | docking/dock_manager/get_dock | [clearpath_dock_msgs/srv/GetDock](pathname:///api/html/clearpath_dock_msgs/srv/GetDock.html) | Returns a docks info | diff --git a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_examples/api_examples_overview.mdx b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_examples/api_examples_overview.mdx index c1a68cdc..7b29ba74 100644 --- a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_examples/api_examples_overview.mdx +++ b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_examples/api_examples_overview.mdx @@ -8,7 +8,7 @@ toc_max_heading_level: 4 :::note -API examples will be available in version 2.2 (near the end of 2025). +API examples will be available in version 2.2.0. For urgent concerns regarding the API, please contact [customer support](../../support.mdx) diff --git a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_examples/run_basic_mission.mdx b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_examples/run_basic_mission.mdx index f9ac8358..bebd90f4 100644 --- a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_examples/run_basic_mission.mdx +++ b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_examples/run_basic_mission.mdx @@ -8,7 +8,7 @@ toc_max_heading_level: 4 :::note -API examples will be available in version 2.2 (near the end of 2025). +API examples will be available in version 2.2.0. For urgent concerns regarding the API, please contact [customer support](../../support.mdx) From c8ebaca0c1f5e8d3b210fed65cb39a85457bed1e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jos=C3=A9=20Mastrangelo?= Date: Thu, 11 Sep 2025 13:37:07 -0400 Subject: [PATCH 07/10] review changes --- .../api/api_endpoints/autonomy_api.mdx | 5 +- .../api/api_endpoints/mission_manager_api.mdx | 3 + .../api/api_examples/using_the_api.mdx | 4 +- .../api/api_overview.mdx | 88 ++++++++++++++++++ .../api/api_endpoints/autonomy_api.mdx | 5 +- .../api/api_endpoints/mission_manager_api.mdx | 3 + .../api/api_examples/using_the_api.mdx | 4 +- .../version-2.0.0/api/api_overview.mdx | 90 ++++++++++++++++++- 8 files changed, 195 insertions(+), 7 deletions(-) diff --git a/docs_outdoornav_user_manual/api/api_endpoints/autonomy_api.mdx b/docs_outdoornav_user_manual/api/api_endpoints/autonomy_api.mdx index 31f277db..34ad84b9 100644 --- a/docs_outdoornav_user_manual/api/api_endpoints/autonomy_api.mdx +++ b/docs_outdoornav_user_manual/api/api_endpoints/autonomy_api.mdx @@ -10,6 +10,9 @@ toc_max_heading_level: 4 All nodes, topics, and services are namespace prefixed with the robot serial number. +If your serial number is `cpr-a300-00001`, then your namespace +will be `a300_00001`. This can be overwritten in the [robot.yaml](../config/yaml/overview) file. + :::   @@ -107,7 +110,7 @@ All nodes, topics, and services are namespace prefixed with the robot serial num | Action Name | Action type | Description | | :---------------------- | :----------------------------------------------------------------------------------------------------------- | :-------------- | | autonomy/network_mission | [clearpath_navigation_msgs/action/ExecuteNetworkMissionByUuid](pathname:///api/html/clearpath_navigation_msgs/action/ExecuteNetworkMissionByUuid.html) | Execute an autonomous mission | -| autonomy/network_mission_from_goal | [clearpath_navigation_msgs/action/ExecuteNetworkMissionFromGoal](pathname:///api/html/clearpath_navigation_msgs/action/ExecuteNetworkMissionFromGoal.html) | Execute and autonomous mission, starting from a specific goal | +| autonomy/network_mission_from_goal | [clearpath_navigation_msgs/action/ExecuteNetworkMissionFromGoal](pathname:///api/html/clearpath_navigation_msgs/action/ExecuteNetworkMissionFromGoal.html) | Execute an autonomous mission, starting from a specific goal | | autonomy/network_goto | [clearpath_navigation_msgs/action/ExecuteNetworkGoTo](pathname:///api/html/clearpath_navigation_msgs/action/ExecuteNetworkGoTo.html) | Send platform to location | | autonomy/network_goto_poi | [clearpath_navigation_msgs/action/ExecuteNetworkGoToPOI](pathname:///api/html/clearpath_navigation_msgs/action/ExecuteNetworkGoToPOI.html) | Send platform to a point of interest | | autonomy/local_dock | [clearpath_dock_msgs/action/Dock](pathname:///api/html/clearpath_dock_msgs/action/Dock.html) | Dock the platform (charge target must be visible by platform 2D lidar sensor) | diff --git a/docs_outdoornav_user_manual/api/api_endpoints/mission_manager_api.mdx b/docs_outdoornav_user_manual/api/api_endpoints/mission_manager_api.mdx index fe8d4dde..e479e7ae 100644 --- a/docs_outdoornav_user_manual/api/api_endpoints/mission_manager_api.mdx +++ b/docs_outdoornav_user_manual/api/api_endpoints/mission_manager_api.mdx @@ -10,6 +10,9 @@ toc_max_heading_level: 4 All nodes, topics, and services are namespace prefixed with the robot serial number. +If your serial number is `cpr-a300-00001`, then your namespace +will be `a300_00001`. This can be overwritten in the [robot.yaml](../config/yaml/overview) file. + :::   diff --git a/docs_outdoornav_user_manual/api/api_examples/using_the_api.mdx b/docs_outdoornav_user_manual/api/api_examples/using_the_api.mdx index d44f718f..70524228 100644 --- a/docs_outdoornav_user_manual/api/api_examples/using_the_api.mdx +++ b/docs_outdoornav_user_manual/api/api_examples/using_the_api.mdx @@ -111,7 +111,7 @@ information. | `pkg_name` | std_srvs | | `service_type` | Trigger | -## [Action Client (C++)](https://docs.ros.org/en/foxy/Tutorials/Intermediate/Writing-an-Action-Server-Client/Cpp.html#writing-an-action-client) +## [Action Client (C++)](https://docs.ros.org/en/jazzy/Tutorials/Intermediate/Writing-an-Action-Server-Client/Cpp.html#writing-an-action-client) ```cpp #include "action_tutorials_interfaces/action/fibonacci.hpp" @@ -135,7 +135,7 @@ information. this->client_ptr_->async_send_goal(goal_msg, send_goal_options); ``` -## [Action Client (Python)](https://docs.ros.org/en/foxy/Tutorials/Intermediate/Writing-an-Action-Server-Client/Py.html#writing-an-action-client) +## [Action Client (Python)](https://docs.ros.org/en/jazzy/Tutorials/Intermediate/Writing-an-Action-Server-Client/Py.html#writing-an-action-client) ```python from .action import diff --git a/docs_outdoornav_user_manual/api/api_overview.mdx b/docs_outdoornav_user_manual/api/api_overview.mdx index 08cc545d..3415f154 100644 --- a/docs_outdoornav_user_manual/api/api_overview.mdx +++ b/docs_outdoornav_user_manual/api/api_overview.mdx @@ -39,3 +39,91 @@ The API is divided into two sections, whose details are provided below: and modifying OutdoorNav Missions - [API Examples](./api_examples/api_examples_overview): Example code to come. + +## QoS Profiles {#qos-profiles} + +Topics and services in ROS 2 use Quality of Service (QoS) profiles to change communication policies. The QoS profile +of a topic or service has several policies such as history, depth, reliability, durability, and more. For more details on +QoS settings, visit the [ROS 2 documentation](https://docs.ros.org/en/jazzy/Concepts/About-Quality-of-Service-Settings.html). + +For Clearpath platforms, the main policies that may change between different topics and services are reliability and durability. For reliability +there are two options: _Best Effort_, and _Reliable_. A _Best Effort_ reliability suggests that an attempt will be made to publish +the data, but if the network is not robust then the data may be lost. On the other hand, _Reliable_ guarantees that the data will be received. +This may require that the data be sent multiple times. + +The durability of a QoS profile can be either _Transient Local_ or _Volatile_. _Transient Local_ means that data for published messages will +be stored by the publisher even after it has been published. A new subscriber will receive the data even if a lot of time has passed since it was originally published. +This durability is typically used for data that only needs to be published once, such as the robot description. The other durability policy is _Volatile_ which does not +store old messages. The messages are published and only active subscribers will receive the data. New subscribers will have to wait for the next message to be published. +Most topics will use a _Volatile_ durability policy. + +It is important to check for [QoS compatibility](https://docs.ros.org/en/jazzy/Concepts/Intermediate/About-Quality-of-Service-Settings.html#qos-compatibilities) when interacting with ROS 2. +Mixing of QoS policies when publishing or subscribing to topics can lead to incompatibility. For example, subscribing to a Best Effort publisher with a Reliable subscriber +is not compatible and will result in no data being received on the subscriber. The easiest way to check the QoS profile of a topic is to use the ROS 2 command line interface. + +``` +ros2 topic info /topic_name -v +``` + +## Common QoS profiles {#common-qos-profiles} + +The following are some common QoS profiles used by Clearpath platforms. + +### System Default + +- **History**: _Keep Last_ +- **Depth**: _10_ +- **Reliability**: _Reliable_ +- **Durability**: _Volatile_ +- **Deadline**: _System Default_ +- **Lifespan**: _System Default_ +- **Liveliness**: _Automatic_ +- **Lease Duration**: _System Default_ + +The _System Default_ QoS profile is the most common profile used by most topics. + +### Sensor Data + +- **History**: _Keep Last_ +- **Depth**: _5_ +- **Reliability**: _Best Effort_ +- **Durability**: _Volatile_ +- **Deadline**: _System Default_ +- **Lifespan**: _System Default_ +- **Liveliness**: _Automatic_ +- **Lease Duration**: _System Default_ + +The _Sensor Data_ QoS Profile uses a _Best Effort_ reliability to send the latest data +as soon as possible, without bothering to resend data that was not received. This is mostly used +by the MCU and sensor drivers. + +:::note + +Not all sensor drivers use this QoS profile. Always check the QoS profile before trying to subscribe to the topic. + +::: + +### Transient Local + +- **History**: _Keep Last_ +- **Depth**: _10_ +- **Reliability**: _Reliable_ +- **Durability**: _Transient Local_ +- **Deadline**: _System Default_ +- **Lifespan**: _System Default_ +- **Liveliness**: _Automatic_ +- **Lease Duration**: _System Default_ + +The _Transient Local_ QoS Profile offers a _Transient Local_ durability, and is typically used by topics that only +want to send messages once. For Clearpath platforms, this includes the robot description topic and the `/rosout` topic +which offers system logs. + +## Namespacing + +Namespacing is the method of adding a prefix to a robot's nodes and topics; this helps differentiate them from another robot that +may be on the same network. For example, every robot will have a `cmd_vel` topic for commanding velocity. If both robots +used the same topic, then they would both drive when a message is published to that topic. By namespacing, we can remap the topic +to `robot1/cmd_vel` and `robot2/cmd_vel` for each respective robot. + +By default, the namespace of the robot will be obtained from the serial number of the robot. If your serial number is `cpr-a300-00001`, then your namespace +will be `a300_00001`. This can be overwritten in the [robot.yaml](../config/yaml/overview) file. diff --git a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/autonomy_api.mdx b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/autonomy_api.mdx index 31f277db..34ad84b9 100644 --- a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/autonomy_api.mdx +++ b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/autonomy_api.mdx @@ -10,6 +10,9 @@ toc_max_heading_level: 4 All nodes, topics, and services are namespace prefixed with the robot serial number. +If your serial number is `cpr-a300-00001`, then your namespace +will be `a300_00001`. This can be overwritten in the [robot.yaml](../config/yaml/overview) file. + :::   @@ -107,7 +110,7 @@ All nodes, topics, and services are namespace prefixed with the robot serial num | Action Name | Action type | Description | | :---------------------- | :----------------------------------------------------------------------------------------------------------- | :-------------- | | autonomy/network_mission | [clearpath_navigation_msgs/action/ExecuteNetworkMissionByUuid](pathname:///api/html/clearpath_navigation_msgs/action/ExecuteNetworkMissionByUuid.html) | Execute an autonomous mission | -| autonomy/network_mission_from_goal | [clearpath_navigation_msgs/action/ExecuteNetworkMissionFromGoal](pathname:///api/html/clearpath_navigation_msgs/action/ExecuteNetworkMissionFromGoal.html) | Execute and autonomous mission, starting from a specific goal | +| autonomy/network_mission_from_goal | [clearpath_navigation_msgs/action/ExecuteNetworkMissionFromGoal](pathname:///api/html/clearpath_navigation_msgs/action/ExecuteNetworkMissionFromGoal.html) | Execute an autonomous mission, starting from a specific goal | | autonomy/network_goto | [clearpath_navigation_msgs/action/ExecuteNetworkGoTo](pathname:///api/html/clearpath_navigation_msgs/action/ExecuteNetworkGoTo.html) | Send platform to location | | autonomy/network_goto_poi | [clearpath_navigation_msgs/action/ExecuteNetworkGoToPOI](pathname:///api/html/clearpath_navigation_msgs/action/ExecuteNetworkGoToPOI.html) | Send platform to a point of interest | | autonomy/local_dock | [clearpath_dock_msgs/action/Dock](pathname:///api/html/clearpath_dock_msgs/action/Dock.html) | Dock the platform (charge target must be visible by platform 2D lidar sensor) | diff --git a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/mission_manager_api.mdx b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/mission_manager_api.mdx index fe8d4dde..e479e7ae 100644 --- a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/mission_manager_api.mdx +++ b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/mission_manager_api.mdx @@ -10,6 +10,9 @@ toc_max_heading_level: 4 All nodes, topics, and services are namespace prefixed with the robot serial number. +If your serial number is `cpr-a300-00001`, then your namespace +will be `a300_00001`. This can be overwritten in the [robot.yaml](../config/yaml/overview) file. + :::   diff --git a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_examples/using_the_api.mdx b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_examples/using_the_api.mdx index d44f718f..70524228 100644 --- a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_examples/using_the_api.mdx +++ b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_examples/using_the_api.mdx @@ -111,7 +111,7 @@ information. | `pkg_name` | std_srvs | | `service_type` | Trigger | -## [Action Client (C++)](https://docs.ros.org/en/foxy/Tutorials/Intermediate/Writing-an-Action-Server-Client/Cpp.html#writing-an-action-client) +## [Action Client (C++)](https://docs.ros.org/en/jazzy/Tutorials/Intermediate/Writing-an-Action-Server-Client/Cpp.html#writing-an-action-client) ```cpp #include "action_tutorials_interfaces/action/fibonacci.hpp" @@ -135,7 +135,7 @@ information. this->client_ptr_->async_send_goal(goal_msg, send_goal_options); ``` -## [Action Client (Python)](https://docs.ros.org/en/foxy/Tutorials/Intermediate/Writing-an-Action-Server-Client/Py.html#writing-an-action-client) +## [Action Client (Python)](https://docs.ros.org/en/jazzy/Tutorials/Intermediate/Writing-an-Action-Server-Client/Py.html#writing-an-action-client) ```python from .action import diff --git a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_overview.mdx b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_overview.mdx index 08cc545d..bfdd179a 100644 --- a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_overview.mdx +++ b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_overview.mdx @@ -10,7 +10,7 @@ While the Web User Interface provides a great way to get started quickly with OutdoorNav Software, some users will want programmatic control or may wish to develop their own graphical user interfaces \-- for those users, the Application Programming Interface (API) provides the -flexibility to do so. This is illustrated in the figure below. +flexibility to do so. The API is, at present, a [ROS 2 Jazzy](https://docs.ros.org/en/jazzy/index.html) API. The API is divided into two sections, whose details are provided below: @@ -39,3 +39,91 @@ The API is divided into two sections, whose details are provided below: and modifying OutdoorNav Missions - [API Examples](./api_examples/api_examples_overview): Example code to come. + +## QoS Profiles {#qos-profiles} + +Topics and services in ROS 2 use Quality of Service (QoS) profiles to change communication policies. The QoS profile +of a topic or service has several policies such as history, depth, reliability, durability, and more. For more details on +QoS settings, visit the [ROS 2 documentation](https://docs.ros.org/en/jazzy/Concepts/About-Quality-of-Service-Settings.html). + +For Clearpath platforms, the main policies that may change between different topics and services are reliability and durability. For reliability +there are two options: _Best Effort_, and _Reliable_. A _Best Effort_ reliability suggests that an attempt will be made to publish +the data, but if the network is not robust then the data may be lost. On the other hand, _Reliable_ guarantees that the data will be received. +This may require that the data be sent multiple times. + +The durability of a QoS profile can be either _Transient Local_ or _Volatile_. _Transient Local_ means that data for published messages will +be stored by the publisher even after it has been published. A new subscriber will receive the data even if a lot of time has passed since it was originally published. +This durability is typically used for data that only needs to be published once, such as the robot description. The other durability policy is _Volatile_ which does not +store old messages. The messages are published and only active subscribers will receive the data. New subscribers will have to wait for the next message to be published. +Most topics will use a _Volatile_ durability policy. + +It is important to check for [QoS compatibility](https://docs.ros.org/en/jazzy/Concepts/Intermediate/About-Quality-of-Service-Settings.html#qos-compatibilities) when interacting with ROS 2. +Mixing of QoS policies when publishing or subscribing to topics can lead to incompatibility. For example, subscribing to a Best Effort publisher with a Reliable subscriber +is not compatible and will result in no data being received on the subscriber. The easiest way to check the QoS profile of a topic is to use the ROS 2 command line interface. + +``` +ros2 topic info /topic_name -v +``` + +## Common QoS profiles {#common-qos-profiles} + +The following are some common QoS profiles used by Clearpath platforms. + +### System Default + +- **History**: _Keep Last_ +- **Depth**: _10_ +- **Reliability**: _Reliable_ +- **Durability**: _Volatile_ +- **Deadline**: _System Default_ +- **Lifespan**: _System Default_ +- **Liveliness**: _Automatic_ +- **Lease Duration**: _System Default_ + +The _System Default_ QoS profile is the most common profile used by most topics. + +### Sensor Data + +- **History**: _Keep Last_ +- **Depth**: _5_ +- **Reliability**: _Best Effort_ +- **Durability**: _Volatile_ +- **Deadline**: _System Default_ +- **Lifespan**: _System Default_ +- **Liveliness**: _Automatic_ +- **Lease Duration**: _System Default_ + +The _Sensor Data_ QoS Profile uses a _Best Effort_ reliability to send the latest data +as soon as possible, without bothering to resend data that was not received. This is mostly used +by the MCU and sensor drivers. + +:::note + +Not all sensor drivers use this QoS profile. Always check the QoS profile before trying to subscribe to the topic. + +::: + +### Transient Local + +- **History**: _Keep Last_ +- **Depth**: _10_ +- **Reliability**: _Reliable_ +- **Durability**: _Transient Local_ +- **Deadline**: _System Default_ +- **Lifespan**: _System Default_ +- **Liveliness**: _Automatic_ +- **Lease Duration**: _System Default_ + +The _Transient Local_ QoS Profile offers a _Transient Local_ durability, and is typically used by topics that only +want to send messages once. For Clearpath platforms, this includes the robot description topic and the `/rosout` topic +which offers system logs. + +## Namespacing + +Namespacing is the method of adding a prefix to a robot's nodes and topics; this helps differentiate them from another robot that +may be on the same network. For example, every robot will have a `cmd_vel` topic for commanding velocity. If both robots +used the same topic, then they would both drive when a message is published to that topic. By namespacing, we can remap the topic +to `robot1/cmd_vel` and `robot2/cmd_vel` for each respective robot. + +By default, the namespace of the robot will be obtained from the serial number of the robot. If your serial number is `cpr-a300-00001`, then your namespace +will be `a300_00001`. This can be overwritten in the [robot.yaml](../config/yaml/overview) file. From 6e851c1728a3c4292d8927b947a710b2dd713f33 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jos=C3=A9=20Mastrangelo?= Date: Thu, 11 Sep 2025 13:40:38 -0400 Subject: [PATCH 08/10] turn off next version --- docusaurus.config.js | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docusaurus.config.js b/docusaurus.config.js index cc7abc75..686e00c3 100644 --- a/docusaurus.config.js +++ b/docusaurus.config.js @@ -105,7 +105,7 @@ const config = { remarkPlugins: [remarkMath], rehypePlugins: [rehypeKatex], showLastUpdateTime: true, - includeCurrentVersion: true, + includeCurrentVersion: false, }, ], [ From b28110a3ddb2b307894425fae4ecb634c90ace82 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jos=C3=A9=20Mastrangelo?= Date: Thu, 11 Sep 2025 15:51:25 -0400 Subject: [PATCH 09/10] fix broken link --- docs_outdoornav_user_manual/api/api_overview.mdx | 2 +- .../version-2.0.0/api/api_overview.mdx | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs_outdoornav_user_manual/api/api_overview.mdx b/docs_outdoornav_user_manual/api/api_overview.mdx index 3415f154..8eb481ca 100644 --- a/docs_outdoornav_user_manual/api/api_overview.mdx +++ b/docs_outdoornav_user_manual/api/api_overview.mdx @@ -126,4 +126,4 @@ used the same topic, then they would both drive when a message is published to t to `robot1/cmd_vel` and `robot2/cmd_vel` for each respective robot. By default, the namespace of the robot will be obtained from the serial number of the robot. If your serial number is `cpr-a300-00001`, then your namespace -will be `a300_00001`. This can be overwritten in the [robot.yaml](../config/yaml/overview) file. +will be `a300_00001`. This can be overwritten in the [robot.yaml](../../../docs/ros/config/yaml/overview) file. diff --git a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_overview.mdx b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_overview.mdx index bfdd179a..92e2c273 100644 --- a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_overview.mdx +++ b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_overview.mdx @@ -126,4 +126,4 @@ used the same topic, then they would both drive when a message is published to t to `robot1/cmd_vel` and `robot2/cmd_vel` for each respective robot. By default, the namespace of the robot will be obtained from the serial number of the robot. If your serial number is `cpr-a300-00001`, then your namespace -will be `a300_00001`. This can be overwritten in the [robot.yaml](../config/yaml/overview) file. +will be `a300_00001`. This can be overwritten in the [robot.yaml](../../../docs/ros/config/yaml/overview) file. From 9aacf8a17be78e58cc017df7b545da81b282a2af Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Jos=C3=A9=20Mastrangelo?= Date: Thu, 11 Sep 2025 16:16:15 -0400 Subject: [PATCH 10/10] fix broken links --- docs_outdoornav_user_manual/api/api_endpoints/autonomy_api.mdx | 2 +- .../api/api_endpoints/mission_manager_api.mdx | 2 +- .../version-2.0.0/api/api_endpoints/autonomy_api.mdx | 2 +- .../version-2.0.0/api/api_endpoints/mission_manager_api.mdx | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/docs_outdoornav_user_manual/api/api_endpoints/autonomy_api.mdx b/docs_outdoornav_user_manual/api/api_endpoints/autonomy_api.mdx index 34ad84b9..d1bd2a74 100644 --- a/docs_outdoornav_user_manual/api/api_endpoints/autonomy_api.mdx +++ b/docs_outdoornav_user_manual/api/api_endpoints/autonomy_api.mdx @@ -11,7 +11,7 @@ toc_max_heading_level: 4 All nodes, topics, and services are namespace prefixed with the robot serial number. If your serial number is `cpr-a300-00001`, then your namespace -will be `a300_00001`. This can be overwritten in the [robot.yaml](../config/yaml/overview) file. +will be `a300_00001`. This can be overwritten in the [robot.yaml](../../../../docs/ros/config/yaml/overview) file. ::: diff --git a/docs_outdoornav_user_manual/api/api_endpoints/mission_manager_api.mdx b/docs_outdoornav_user_manual/api/api_endpoints/mission_manager_api.mdx index e479e7ae..3aacfcc1 100644 --- a/docs_outdoornav_user_manual/api/api_endpoints/mission_manager_api.mdx +++ b/docs_outdoornav_user_manual/api/api_endpoints/mission_manager_api.mdx @@ -11,7 +11,7 @@ toc_max_heading_level: 4 All nodes, topics, and services are namespace prefixed with the robot serial number. If your serial number is `cpr-a300-00001`, then your namespace -will be `a300_00001`. This can be overwritten in the [robot.yaml](../config/yaml/overview) file. +will be `a300_00001`. This can be overwritten in the [robot.yaml](../../../../docs/ros/config/yaml/overview) file. ::: diff --git a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/autonomy_api.mdx b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/autonomy_api.mdx index 34ad84b9..d1bd2a74 100644 --- a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/autonomy_api.mdx +++ b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/autonomy_api.mdx @@ -11,7 +11,7 @@ toc_max_heading_level: 4 All nodes, topics, and services are namespace prefixed with the robot serial number. If your serial number is `cpr-a300-00001`, then your namespace -will be `a300_00001`. This can be overwritten in the [robot.yaml](../config/yaml/overview) file. +will be `a300_00001`. This can be overwritten in the [robot.yaml](../../../../docs/ros/config/yaml/overview) file. ::: diff --git a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/mission_manager_api.mdx b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/mission_manager_api.mdx index e479e7ae..3aacfcc1 100644 --- a/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/mission_manager_api.mdx +++ b/outdoornav_user_manual_versioned_docs/version-2.0.0/api/api_endpoints/mission_manager_api.mdx @@ -11,7 +11,7 @@ toc_max_heading_level: 4 All nodes, topics, and services are namespace prefixed with the robot serial number. If your serial number is `cpr-a300-00001`, then your namespace -will be `a300_00001`. This can be overwritten in the [robot.yaml](../config/yaml/overview) file. +will be `a300_00001`. This can be overwritten in the [robot.yaml](../../../../docs/ros/config/yaml/overview) file. :::