Messages¶

actionlib¶

GoalStatus¶

Attributes

ACTIVE
PENDING
PREEMPTED
SUCCEEDED

class actionlib_msgs.msg.GoalStatus¶

Message type indicating the status of a goal in an actions server. Used by the SimpleActionClient implemented by ROS and axros’ layer over it.

The specific attributes of the message are also used in order to indicate a specific type of status.

PENDING¶: A constant of the message type used to indicate a pending goal. Truly set to 0.

ACTIVE¶: A constant of the message type used to indicate a active goal. Truly set to 1.

PREEMPTED¶: A constant of the message type used to indicate a preempted goal. Truly set to 2.

SUCCEEDED¶: A constant of the message type used to indicate a goal which succeeded. Truly set to 2.

Alarms¶

Alarm¶

Attributes

alarm_name
node_name
parameters
problem_description
raised
severity

class ros_alarms_msgs.msg.Alarm¶

A message representing a ROS Alarm.

alarm_name¶

The name of the alarm.

Type: str

raised¶

Whether the alarm was raised.

Type: bool

node_name¶

The node name associated with the alarm.

Type: str

problem_description¶

The problem description associated with the alarm.

Type: str

parameters¶

The JSON parameters associated with the alarm.

Type: str

severity¶

The severity of the alarm.

Type: int

Geometry Messages¶

Quaternion¶

Attributes

class geometry_msgs.msg.Quaternion¶

A message type representing a quaternion.

w¶

The first element of the quaternion.

Return type: float

x¶

The second element of the quaternion.

Return type: float

y¶

The third element of the quaternion.

Return type: float

z¶

The fourth element of the quaternion.

Return type: float

Point¶

Attributes

class geometry_msgs.msg.Point¶

A ROS message type representing a single point.

x¶

The x-value of the point.

Type: float

y¶

The y-value of the point.

Type: float

z¶

The z-value of the point.

Type: float

PointStamped¶

Attributes

header
point

class geometry_msgs.msg.PointStamped¶

A ROS message type representing a single PointStamped.

header¶

The header associated with the point.

Type: Header

point¶

The position associated with the point

Type: Point

Vector3¶

Attributes

class geometry_msgs.msg.Vector3¶

A ROS message type representing a three-dimensional vector.

x¶

The x-value of the vector.

Type: float

y¶

The y-value of the vector.

Type: float

z¶

The z-value of the vector.

Type: float

Pose¶

Attributes

orientation
position

class geometry_msgs.msg.Pose¶

A ROS message type representing an object’s pose.

position¶

The position of the pose.

Type: Pose

orientation¶

The orientation of the pose.

Type: Quaternion

Pose2D¶

Attributes

theta
x
y

class geometry_msgs.msg.Pose2D¶

A ROS message type representing an object’s pose in two dimensions.

x¶

The x-value of the pose.

Type: float

y¶

The y-value of the pose.

Type: float

theta¶

The theta value of the pose.

Type: float

PoseWithCovariance¶

Attributes

covariance
pose

class geometry_msgs.msg.PoseWithCovariance¶

A ROS message type representing an object’s pose, along with a covariance.

pose¶

The object’s pose.

Type: Pose

covariance¶

The object’s covariance. Consists of a list of 36 values.

Type: List[float]

Transform¶

Attributes

rotation
translation

class geometry_msgs.msg.Transform¶

A ROS message type representing an object’s transform.

translation¶

The translation of the transform.

Type: Vector3

rotation¶

The rotation of the transform.

Type: Quaternion

TransformStamped¶

Attributes

child_frame_id
header
transform

class geometry_msgs.msg.TransformStamped¶

A stamped ROS message type representing an object’s transform.

header¶

The header of the message.

Type: Header

child_frame_id¶

The ID of the child frame.

Type: str

transform¶

The transform in the message.

Type: Transform

Accel¶

Attributes

angular
linear

class geometry_msgs.msg.Accel¶

A ROS message type representing an object’s acceleration.

linear¶

The linear acceleration of the twist.

Type: Vector3

angular¶

The angular acceleration of the twist.

Type: Vector3

Twist¶

Attributes

angular
linear

class geometry_msgs.msg.Twist¶

A ROS message type representing an object’s twist.

linear¶

The linear direction of the twist.

Type: Vector3

angular¶

The angular direction of the twist.

Type: Vector3

TwistWithCovariance¶

Attributes

covariance
twist

class geometry_msgs.msg.TwistWithCovariance¶

A ROS message type representing an object’s twist, along with a covariance.

twist¶

The object’s twist.

Type: Twist

covariance¶

The object’s covariance. Consists of a list of 36 values.

Type: List[float]

Polygon¶

Attributes

points

class geometry_msgs.msg.Polygon¶

A ROS message type representing a polygon.

points¶

The points constructing the polygon.

Type: List[Point]

Wrench¶

Attributes

force
torque

class geometry_msgs.msg.Wrench¶

A ROS message type representing the wrench of an object.

force¶

The force associated with the object.

Type: Vector3

torque¶

The torque associated with the object.

Type: Vector3

WrenchStamped¶

Attributes

header
wrench

class geometry_msgs.msg.WrenchStamped¶

A ROS message type representing the wrench of an object with an associated header.

header¶

The header associated with the message.

Type: Header

wrench¶

The wrench associated with the object.

Type: Wrench

MIL Messages¶

PoseTwist¶

Attributes

acceleration
pose
twist

class mil_msgs.msg.PoseTwist¶

A ROS message type representing an object’s pose and twist.

pose¶

The pose of the object.

Type: Pose

twist¶

The twist of the object.

Type: Twist

acceleration¶

The acceleration of the object.

Type: Accel

ObjectInImage¶

Attributes

attributes
confidence
name
points

class mil_msgs.msg.ObjectInImage¶

A ROS message type representing the position of an object in an image.

name¶

The name of the object.

Type: str

points¶

The center of the object in the image.

Type: Point2D

confidence¶

The confidence of the object’s position, ranging between 0 and 1.

Type: float

attributes¶

???

Type: str

Point2D¶

Attributes

class mil_msgs.msg.Point2D¶

A ROS message type representing an x and y position in a 2D space.

x¶

The x-position.

Type: float

y¶

The y-position.

Type: float

Navigation Messages¶

Odometry¶

Attributes

child_frame_id
header
pose
twist

class nav_msgs.msg.Odometry¶

A ROS message type representing an object’s odometry.

header¶

The message header.

Type: Header

child_frame_id¶

The child frame ID, used to determine the frame of the robot’s twist.

Type: Twist

pose¶

The pose (along with covariance) determined within the frame of frame_id.

Type: PoseWithCovariance

twist¶

The twist (along with covariance) determined within the frame of child_frame_id.

Type: TwistWithCovariance

Acceleration¶

Attributes

angular
linear

class navigator_msgs.msg.Acceleration¶

linear¶

The linear component of the acceleration.

Type: Vector3

angular¶

The angular component of the acceleration.

Type: Vector3

KillStatus¶

Attributes

computer
overall
pa
pf
remote
remote_conn
sa
sf

class navigator_msgs.msg.KillStatus¶

A custom message to represent information about a kill induced on the robot.

overall¶

Type: bool

pf¶

Type: bool

pa¶

Type: bool

sf¶

Type: bool

sa¶

Type: bool

remote¶

Type: bool

computer¶

Type: bool

remote_conn¶

Type: bool

PerceptionObject¶

class navigator_msgs.msg.PerceptionObject¶

A custom message definition to represent an object found by the perception system.

header¶

The message header.

Type: Header

name¶

The name of the object.

Type: str

DETECT_DELIVER_PLATFORM¶

The constant string field representing the platform to detect and deliver. Actual string value is shooter.

Type: str

IDENTIFY_AND_DOCK¶

The constant string field representing the dock in the Identify and Dock mission. Actual string value is dock.

Type: str

SCAN_THE_CODE¶

The constant string field representing the Scan the Code totem. Actual string value is scan_the_code.

Type: str

TOTEM¶

The constant string field representing the totem in the Find Totems mission. Actual string value is totem.

Type: str

START_GATE_BUOY¶

The constant string field representing the buoy of the start gate. Actual string value is start_gate.

Type: str

BUOY¶

The constant string field representing a buoy. Actual string value is buoy.

Type: str

UNKNOWN¶

The constant string field representing an unknown object. Actual string value is unknown.

Type: str

ALL¶

The constant string field representing all objects found. Actual string value is all.

Type: str

FAKE_SHOOTER¶

The constant string field representing a fake shooter. Actual string value is Shooter.

Type: str

FAKE_IDENTIFY_AND_DOCK¶

The constant string field representing a fake dock in the Identify and Dock mission. Actual string value is Dock.

Type: str

FAKE_SCAN_THE_CODE¶

The constant string field representing a fake Scan the Code totem in the Scan the Code mission. Actual string value is Dock.

Type: str

GATE1¶

The constant string field representing the first gate. Actual string value is Gate_1.

Type: str

GATE2¶

The constant string field representing the first gate. Actual string value is Gate_2.

Type: str

GATE3¶

The constant string field representing the first gate. Actual string value is Gate_3.

Type: str

BUOY_FIELD¶

The constant string field representing a field of buoys. Actual string value is BuoyField.

Type: str

FIND_THE_BREAK¶

The constant string field representing ???. Actual string value is FindBreak.

Type: str

CORAL_SURVEY¶

The constant string field representing ???. Actual string value is CoralSurvey.

Type: str

ACOUSTIC_PINGER¶

The constant string field representing an acoustic pinger. Actual string value is AcousticPinger.

Type: str

EMPTY_SPACE¶

The constant string field representing empty space. Actual string value is EmptySpace.

Type: str

position¶

Estimated position of the object.

Type: Point

id¶

The ID of the object.

Type: int

confidence¶

The confidence of the object detection, from 0 to 255.

Type: int

size¶

The size of the object in all dimensions.

Type: Vector3

points¶

The points (in the ENU frame) that belong to the buoy.

Type: List[Point32]

intensity¶

The intensity of each point in the ENU frame.

Type: List[int]

pclInliers¶

The inliners for the PCL plane fitting algorithm.

Type: int

normal¶

Unit vector for normal to one of the vertical planes of the object.

Type: Vector3

color¶

Average color of the buoy.

Type: ColorRGBA

PerceptionObjectArray¶

Attributes

objects

class navigator_msgs.msg.PerceptionObjectArray¶

A custom message definition to represent an array of perception objects.

objects¶

The objects in the array.

Type: List[PerceptionObject]

Networking Messages¶

Host¶

Attributes

hostname
ip
status

class navigator_msgs.msg.Host¶

A custom message definition responsible for associating a hostname and IP address with a status.

hostname¶

The name of the host.

Type: str

ip¶

The IP address of the host.

Type: str

status¶

The status of the host.

Type: str

Hosts¶

Attributes

hostnames
hosts

class navigator_msgs.msg.Hosts¶

A custom message definition representing a group of hosts together.

hostnames¶

A custom, constant string representing a group of hostnames. The string is equal to:

mil-nav-wamv mil-nav-ubnt-wamv mil-nav-ubnt-shore mil-com-velodyne-vlp16 mil-com-sick-lms111

Type: str

hosts¶

The hosts belonging to the group.

Type: List[Host]

Passive Sonar Messages¶

HydrophoneSamples¶

Attributes

channels
data
sample_rate
samples

class mil_passive_sonar.msg.HydrophoneSamples¶

A custom message definition to represent data coming from the hydrophones.

channels¶

The number of channels supported by the hydrophones.

Type: int

samples¶

The number of samples on each channel.

Type: int

sample_rate¶

The rate at which samples are recorded, per channel. Equal to the number of samples per second.

Type: int

data¶

The data recorded from the hydrophones. Each “word” in the data is a piece of data from one hydrophone, such as H0 H1 H2 H3 H0 H1 ....

Type: List[int]

HydrophoneSamplesStamped¶

Attributes

header
hydrophone_samples

class mil_passive_sonar.msg.HydrophoneSamplesStamped¶

A custom message definition to represent time-stamped data coming from the hydrophones.

header¶

The message header.

Type: Header

hydrophone_samples¶

The hydrophone samples received.

Type: HydrophoneSamples

Ping¶

Attributes

channels
data
header
sample_rate
samples

class mil_passive_sonar.msg.Ping¶

A custom message definition to represent a ping from channels of data.

Danger

This class is deprecated, and has been replaced by HydrophoneSamples and HydrophoneSamplesStamped. Support for this message type throughout the repository still exists, although it may be removed in the future.

header¶

The message header.

Type: Header

channels¶

The number of channels supported by the hydrophones.

Type: int

samples¶

The number of samples on each channel.

Type: int

sample_rate¶

The rate at which samples are recorded, per channel. Equal to the number of samples per second.

Type: int

data¶

The data recorded from the hydrophones. Each “word” in the data is a piece of data from one hydrophone, such as H0 H1 H2 H3 H0 H1 ....

Type: List[int]

ProcessedPing¶

Attributes

amplitude
freq
header
position
valid

class mil_passive_sonar.msg.ProcessedPing¶

A custom message definition to represent a ping from channels of data.

header¶

The message header.

Type: Header

position¶

The position of the processed ping.

Type: Point

freq¶

The frequency of the processed ping.

Type: float

amplitude¶

The amplitude of the processed ping.

Type: float

valid¶

Whether the processed ping is valid.

Type: bool

Triggered¶

Attributes

header
hydrophone_samples
trigger_time

class mil_passive_sonar.msg.Triggered¶

A custom message definition to represent ???.

header¶

The message header.

Type: Header

hydrophone_samples¶

???

Type: HydrophoneSamples

trigger_time¶

The time at which the ping was detected.

Type: float

Standard Messages¶

ColorRGBA¶

Attributes

class std_msgs.msg.ColorRGBA¶

A ROS message type representing a color with RGB and an alpha channel.

r¶

The red value of the color.

Type: float

g¶

The green value of the color.

Type: float

b¶

The blue value of the color.

Type: float

a¶

The alpha value of the color.

Type: float

Sensor Messages¶

Image¶

Attributes

data
encoding
header
height
is_bigendian
step
width

class sensor_msgs.msg.Image¶

A ROS message to represent an image.

header¶

The header associated with the message.

Type: Header

height¶

The height of the image.

Type: int

width¶

The width of the image.

Type: int

encoding¶

The encoding of the image.

Type: str

is_bigendian¶

Whether the image uses the big-endian format to store values.

Type: bool

step¶

Full length of a row, in bytes.

Type: int

data¶

Actual image data. The size of the list is equal to step multiplied by the number of rows.

Type: List[int]

PointField¶

Attributes

FLOAT32
FLOAT64
INT16
INT32
INT8
UINT16
UINT32
UINT8
count
datatype
name
offset

class sensor_msgs.msg.PointField¶

A ROS message type to represent a field in a point cloud.

INT8¶

Constant of the data type that can be used to represent the data type of a value in the field. Set to 1 in the message definition.

Type: int

UINT8¶

Constant of the data type that can be used to represent the data type of a value in the field. Set to 2 in the message definition.

Type: int

INT16¶

Constant of the data type that can be used to represent the data type of a value in the field. Set to 3 in the message definition.

Type: int

UINT16¶

Constant of the data type that can be used to represent the data type of a value in the field. Set to 4 in the message definition.

Type: int

INT32¶

Constant of the data type that can be used to represent the data type of a value in the field. Set to 5 in the message definition.

Type: int

UINT32¶

Constant of the data type that can be used to represent the data type of a value in the field. Set to 6 in the message definition.

Type: int

FLOAT32¶

Constant of the data type that can be used to represent the data type of a value in the field. Set to 7 in the message definition.

Type: int

FLOAT64¶

Constant of the data type that can be used to represent the data type of a value in the field. Set to 8 in the message definition.

Type: int

name¶

The name of the field.

Type: str

offset¶

The offset from the start of the point struct.

Type: int

datatype¶

The datatype, represented by using one of the attributes above.

Type: int

count¶

The number of elements in the field.

Type: int

PointCloud2¶

Attributes

data
fields
header
height
is_bigendian
is_dense
point_step
row_step
width

class sensor_msgs.msg.PointCloud2¶

A ROS message type indicating a point cloud.

header¶

The message header.

Type: Header

height¶

The height of the point cloud. If the cloud is unordered, then 1.

Type: int

width¶

The width of the point cloud. If the cloud is unordered, then this value is set to the length of the point cloud.

Type: int

fields¶

The fields in the point cloud.

Type: List[PointField]

is_bigendian¶

Whether the field is big endian.

Type: bool

point_step¶

The length of a point in bytes.

Type: int

row_step¶

The length of a row in bytes.

Type: int

data¶

The actual data inside the point cloud. The size of the array is row_step multiplied by height.

Type: List[int]

is_dense¶

True if there are no invalid points.

Type: bool

Motor Feedback¶

Attributes

channel_temperature
commanded_velocity
header
measured_position
measured_velocity
motor_current
motor_power
motor_temperature
supply_current
supply_voltage

class roboteq_msgs.msg.Feedback¶

A third-party ROS message type for getting feedback from motor controllers.

header¶

The header of the message.

Type: Header

motor_current¶

Current flowing through the motors.

Type: float

motor_power¶

Relative motor power, as a proportion of the full motor power. Lives in a range from -1 to 1.

Type: float

commanded_velocity¶

The velocity commanded of the motor. Output is in rad/s.

Type: float

measured_velocity¶

The true velocity of the motor. Output is in rad/s.

Type: float

measured_position¶

The position of the motor, in rad. Wraps around -6/6M.

Type: float

supply_voltage¶

The voltage supplied to the motor, in volts.

Type: float

supply_current¶

The current supplied to the motor, in amps.

Type: float

motor_temperature¶

The temperature of the motor, in Celsius.

Type: float

channel_temperature¶

The temperature of the FETs, as reported by the controller. Units are in Celsius.

Type: float

Motor Status¶

class roboteq_msgs.msg.Status¶

A third-party ROS message type for getting status from motor controllers.

header¶

The header of the message.

Type: Header

fault¶

A representation of any fault that occurred in the motor. Likely one of the enumerated fault types of this class.

Type: int

FAULT_OVERHEAT¶

Constant attribute used to represent that the motor experienced a fault as a result of overheating.

Type: int
Value: 1

FAULT_OVERVOLTAGE¶

Constant attribute used to represent that the motor experienced a fault as a result of too much voltage.

Type: int
Value: 2

FAULT_UNDERVOLTAGE¶

Constant attribute used to represent that the motor experienced a fault as a result of too little voltage.

Type: int
Value: 4

FAULT_SHORT_CIRCUIT¶

Constant attribute used to represent that the motor experienced a fault as a result of a short circuit.

Type: int
Value: 8

FAULT_EMERGENCY_STOP¶

Constant attribute used to represent that the motor experienced a fault as a result of an emergency stop.

Type: int
Value: 16

FAULT_SEPEX_EXCITATION_FAULT¶

Constant attribute used to represent that the motor experienced a fault as a result of an excitation error.

Type: int
Value: 32

FAULT_MOSFET_FAILURE¶

Constant attribute used to represent that the motor experienced a fault as a result of a failure in the MOSFET system.

Type: int
Value: 64

FAULT_STARTUP_CONFIG_FAULT¶

Constant attribute used to represent that the motor experienced a fault as a result of a failure in the startup configuration.

Type: int
Value: 128

status¶

The status of the motor. Likely set to a combination of the class’ enumerated types.

Type: int

STATUS_SERIAL_MODE¶

Constant attribute used to represent that the motor is in serial mode.

Type: int
Value: 1

STATUS_PULSE_MODE¶

Constant attribute used to represent that the motor is in pulse mode.

Type: int
Value: 2

STATUS_ANALOG_MODE¶

Constant attribute used to represent that the motor is in analog mode.

Type: int
Value: 4

STATUS_POWER_STAGE_OFF¶

Constant attribute used to represent that the power stage of the motor is off.

Type: int
Value: 8

STATUS_STALL_DETECTED¶

Constant attribute used to represent that a stall was detected.

Type: int
Value: 16

STATUS_AT_LIMIT¶

Constant attribute used to represent that the motor is at its limit.

Type: int
Value: 32

STATUS_MICROBASIC_SCRIPT_RUNNING¶

Constant attribute used to represent that the microbasic script is running.

Type: int
Value: 128

ic_temperature¶

The temperature of the main logic chip, in Celsius.

Type: float

internal_voltage¶

The internal voltage, in volts.

Type: float

adc_voltage¶

The voltage of the analog-to-digital converter, in volts.

Type: float

VRX Messages¶

DockShape¶

Attributes

BLUE
CIRCLE
CROSS
CenterX
CenterY
Color
GREEN
RED
Shape
TRIANGLE
color_confidence
header
points
shape_confidence

class navigator_msgs.msg.DockShape¶

Shape¶

The shape of the dock. Likely either DockShape.CROSS, DockShape.CIRCLE, or DockShape.TRIANGLE.

Type: str

CROSS¶

The dock holds the cross shape.

Type: str

CIRCLE¶

The dock holds the circle shape.

Type: str

TRIANGLE¶

The dock holds the triangle shape.

Type: str

Color¶

The color of the dock. Likely either DockShape.RED, DockShape.BLUE, or DockShape.GREEN.

Type: str

RED¶

The dock shape is red.

Type: str

BLUE¶

The dock shape is blue.

Type: str

GREEN¶

The dock shape is green.

Type: str

CenterX¶

The x-dimension of the center of the dock shape.

Type: int

CenterY¶

The y-dimension of the center of the dock shape.

Type: int

header¶

The message header.

Type: Header

points¶

???

Type: List[Point]

color_confidence¶

The relative confidence that the color prediction is correct.

Type: float

shape_confidence¶

The relative confidence that the shape prediction is correct.

Type: float

DockShapes¶

Attributes

list

class navigator_msgs.msg.DockShapes¶

A custom message definition to represent the presence of multiple dock shapes found by the vision system.

list¶

The list of shapes found.

Type: List[DockShape]

ScanTheCode¶

Attributes

string_pattern

class navigator_msgs.msg.ScanTheCode¶

A custom message definition to represent the color pattern show by a Scan The Code totem.

string_pattern¶

The pattern shown. R stands for red, B stands for blue, and G stands for green.

Type: str

Messages¶

actionlib¶

GoalStatus¶

Alarms¶

Alarm¶

Geometry Messages¶

Quaternion¶

Point¶

PointStamped¶

Vector3¶

Pose¶

Pose2D¶

PoseWithCovariance¶

Transform¶

TransformStamped¶

Accel¶

Twist¶

TwistWithCovariance¶

Polygon¶

Wrench¶

WrenchStamped¶

MIL Messages¶

PoseTwist¶

ObjectInImage¶

Point2D¶

Navigation Messages¶

Odometry¶

Acceleration¶

KillStatus¶

PerceptionObject¶

PerceptionObjectArray¶

Networking Messages¶

Host¶

Hosts¶

Passive Sonar Messages¶

HydrophoneSamples¶

HydrophoneSamplesStamped¶

Ping¶

ProcessedPing¶

Triggered¶

Standard Messages¶

Header¶

ColorRGBA¶

Sensor Messages¶

Image¶

PointField¶

PointCloud2¶

Motor Feedback¶

Motor Status¶

VRX Messages¶

DockShape¶

DockShapes¶

ScanTheCode¶