mbari_wec_utils

Packages in this repo provide interfaces, API, examples for MBARI Power Buoy.

For more information about ROS 2 interfaces, see docs.ros.org.

Messages (.msg)

Collection of telemetry (feedback) from buoy sensors and microcontrollers.

Telemetry

Telemetry data from sensors available per microcontroller

• type: BCRecord topic: /bc_record Description: (TODO) battery data

• type: PCRecord topic: /pc_record Description: (TODO) power controller data

• type: SCRecord topic: /sc_record Description: (TODO) spring controller data

• type: TFRecord topic: /tf_record Description: (TODO) trefoil data

• type: XBRecord topic: /xb_record Description: (TODO) Crossbow AHRS data

Consolidated (Time-Synchronized) Telemetry

Snapshot in time of all data from the buoy.

• type: PBRecord topic: /pb_record Description: TODO

Services (.srv)

Collection of commands to configure/control the Power Buoy.

Power Microcontroller

Services available to configure the Power Microcontroller.

• type: PCBattSwitchCommand topic: /pc_batt_switch_command args: OFF, ON (enum) Description: TODO

• type: PCBiasCurrCommand topic: /pc_bias_curr_command args: -15.0 to +15.0 (float, amps) Description: TODO

• type: PCChargeCurrLimCommand topic: /pc_charge_curr_lim_command args: 2.0 to 12.0 (float, amps) Description: TODO

• type: PCDrawCurrLimCommand topic: /pc_draw_curr_lim_command args: 2.0 to 12.0 (float, amps) Description: TODO

• type: PCPackRateCommand topic: /pc_pack_rate_command args: 10 to 50 (int, hz) Description: set PCRecord publish rate in Hz

• type: PCRetractCommand topic: /pc_retract_command args: 0.4 to 1.0 (float) Description: TODO

• type: PCScaleCommand topic: /pc_scale_command args: 0.5 to 1.4 (float) Description: TODO

• type: PCStdDevTargCommand topic: /pc_std_dev_targ_command args: 0 to 2000 (int) Description: TODO

• type: PCVTargMaxCommand topic: /pc_v_targ_max_command args: 320.0 to 330.0 (float, volts) Description: TODO

• type: PCWindCurrCommand topic: /pc_wind_curr_command args: -35.0 to 35.0 (float, amps) Description: TODO

• type: GainCommand topic: /gain_command args: OFF, 1 to 200 (enum or int) Description: TODO

Battery Microcontroller

Services available to configure the Battery Microcontroller.

• type: BCResetCommand topic: /bc_reset_command args: None Description: TODO

Spring Microcontroller

• type: SCPackRateCommand topic: /sc_pack_rate_command args: 10 to 50 (int, hz) Description: set SCRecord publish rate in Hz

• type: SCResetCommand topic: /sc_reset_command args: None Description: TODO

• type: ValveCommand topic: /valve_command args: OFF, 1 to 127 (enum or int, seconds) Description: TODO

• type: PumpCommand topic: /pump_command args: OFF, 1 to 127 (enum or int, seconds) Description: TODO

• type: BenderCommand topic: /bender_command args: OFF, ON, AUTO (enum) Description: TODO

• type: TetherCommand topic: /tether_command args: OFF, ON (enum) Description: TODO

Trefoil Microcontroller

Services available to configure the Trefoil.

• type: TFResetCommand topic: /tf_reset_command args: None Description: TODO

• type: TFSetActualPosCommand topic: /tf_set_actual_pos_command args: OPEN, CLOSED (enum) Description: TODO

• type: TFSetChargeModeCommand topic: /tf_set_charge_mode_command args: OFF, ON, AUTO_TIME, AUTO_VOLTAGE (enum) Description: TODO

• type: TFSetCurrLimCommand topic: /tf_set_curr_lim_command args: 500 to 5000 (int, TODO(units)) Description: TODO

• type: TFSetModeCommand topic: /tf_set_mode_command args: POWER_10W, MONITOR_POS, HOLD_POS (enum) Description: TODO

• type: TFSetPosCommand topic: /tf_set_pos_command args: OPEN, CLOSED (enum) Description: TODO

• type: TFSetStateMachineCommand topic: /tf_set_state_machine_command args: HOME_MOVE, VEL_MOVE (enum) Description: TODO

• type: TFWatchDogCommand topic: /tf_watchdog_command args: None Description: TODO

Quality Declaration

This package claims to be in the Quality Level 5 category, see the Quality Declaration for more details.