Custom ROS Messages
This page documents the custom ROS messages defined in aruw_msgs that we use for data transfer between nodes. See: our ROS topic network. The .msg files are found in the folder aruw_msgs/msg.
Contains the turret aim data to be sent to the main controller that is used to control the turret
| Type | name | Description |
|---|---|---|
| float32 | pitch | desired gimbal pitch bearing |
| float32 | yaw | desired gimbal yaw bearing |
| bool | has_target | is there currently a valid target being aimed at |
- serial/turret_aim
- aruw_vision/src/aim_turret.py
- aruw_tf_broadcaster/src/tf-broadcaster.py
- aruw_serial/src/serial_node.py
Contains the command from the main controller specifying whether to turn on or turn off auto aim
| Type | name | Description |
|---|---|---|
| bool | enable_auto_aim | is the command to enable or to disable auto aim |
- serial/auto_aim_request
- aruw_vision/src/aim_turret.py
- aruw_serial/src/serial_msg_classes.py
Contains sensor (IMU and wheel motor encoders) data from the main controller to be used for odometry calculations
| Type | name | Description |
|---|---|---|
| ROS Header | header | used for containing timestamp of receiving |
| float32 | ax | raw accelerometer reading for x-axis from the IMU |
| float32 | ay | raw accelerometer reading for y-axis from the IMU |
| float32 | az | raw accelerometer reading for z-axis from the IMU |
| float32 | rol | IMU roll angle, filtered by main controller |
| float32 | pit | IMU pitch angle, filtered by main controller |
| float32 | yaw | IMU yaw angle, filtered by main controller |
| float32 | wx | raw gyroscope reading for |
| float32 | wy | raw gyroscope reading for |
| float32 | wz | raw gyroscope reading for |
| float32 | rf_rpm | RPM of the right front wheel |
| float32 | lf_rpm | RPM of the left front wheel |
| float32 | lb_rpm | RPM of the left back wheel |
| float32 | rb_rpm | RPM of the right back wheel |
Note: for the sentry, the main controller still sends back 4 readings for wheel RPM despite only having 2 drive motors. For the sentry, lb_rpm and rb_rpm are duplicates of rf_rpm and lb_rpm respectively.
- serial/imu (TODO: change the name of this topic so its more semantic)
- aruw_odometry/src/drive_odometry.py
- aruw_odometry/src/four_wheel_mecanum_drive.py
- aruw_odometry/src/sentinel_drive.py
- aruw_serial/src/serial_msg_classes.py
Contains the Robot ID byte sent by the referee system. Format according to officially provided document. We use this to determine which team the robot is on and which type it is so that we can run the correct odometry process.
| Type | name | Description |
|---|---|---|
| uint8 | robot_id | Robot ID byte. Per the documentation, ranges from 1-7 and 11-17 |
- serial/robot_id
- aruw_common/src/common_utils.py
- aruw_serial/src/serial_msg_classes.py
Feedback from the main controller that specifies the turret's current pitch and yaw bearings. We currently only use this for visualization.
| Type | name | Description |
|---|---|---|
| float32 | pitch | reported gimbal pitch bearing |
| float32 | yaw | reported gimbal yaw bearing |
- serial/turret_aim_feedback
- aruw_tf_broadcaster/src/tf-broadcaster.py
- aruw_serial/src/serial_msg_classes.py