Services¶

Mission Systems¶

AcousticBeacon¶

class navigator_msgs.srv.AcousticBeaconRequest¶: The request class for the navigator_msgs/AcousticBeacon service. The class contains no settable attributes.

Attributes

beacon_position
setValue

class navigator_msgs.srv.AcousticBeaconResponse¶

The response class for the navigator_msgs/AcousticBeacon service.

beacon_position¶

The position of the acoustic beacon.

Type: Point

setValue¶

Whether the position data of the beacon is reliable enough to be used.

Type: bool

ChooseAnimal¶

Attributes

circle_direction
target_animal

class navigator_msgs.srv.ChooseAnimalRequest¶

The request class for the navigator_msgs/ChooseAnimal service.

target_animal¶

The target animal to circle around. Should be platyus, crocodile, or turtle.

Type: str

circle_direction¶

The direction to circle in. Should be clockwise or anti-clockwise.

Type: str

Attributes

movement_complete

class navigator_msgs.srv.ChooseAnimalResponse¶

The response class for the navigator_msgs/ChooseAnimal service.

movement_complete¶

Whether the movement was completed.

Type: bool

ColorRequest¶

Attributes

color

class navigator_msgs.srv.ColorRequestRequest¶

The request class for the navigator_msgs/ColorRequest service.

color¶

The color used to find objects with.

Type: str

Attributes

found
ids

class navigator_msgs.srv.ColorRequestResponse¶

The response class for the navigator_msgs/ColorRequest service.

found¶

Whether objects were found.

Type: bool

ids¶

The IDs of objects that were found.

Type: List[int]

FindPinger¶

class navigator_msgs.srv.FindPingerRequest¶: The request class for the navigator_msgs/FindPinger service. The request has no individual attributes.

Attributes

num_samples
pinger_position

class navigator_msgs.srv.FindPingerResponse¶

The response class for the navigator_msgs/FindPinger service.

pinger_position¶

The position of the pinger.

Type: Point

num_samples¶

???

Type: int

GetDockBays¶

class navigator_msgs.srv.GetDockBaysRequest¶: The request class for the navigator_msgs/GetDockBays service. The request has no individual attributes.

Attributes

bays
error
normal
success

class navigator_msgs.srv.GetDockBaysResponse¶

The response class for the navigator_msgs/GetDockBays service.

bays¶

The positions of the three dock bays in the ENU frame. The first element is the position of the left dock, the second element is the position of the center dock, the third element is the position of the right dock.

Type: List[Point]

normal¶

The normal vector pointing away from the plane of dock back.

Type: Vector3

success¶

Whether the position of the docks could be found.

Type: bool

error¶

If success is False, then a message describing what went wrong.

Type: str

GetDockShape¶

Attributes

ANY
BLUE
CIRCLE
CROSS
Color
GREEN
RED
Shape
TRIANGLE

class navigator_msgs.srv.GetDockShapeRequest¶

The request class for the navigator_msgs/GetDockShape service.

Shape¶

The shape to the get the associated dock of. Likely one of the associated shape enumerations.

Type: str

CROSS¶

Constant string attribute used to represent a cross shape on a dock. True value is set to CROSS.

Likely used in the Shape attribute.

Type: str

TRIANGLE¶

Constant string attribute used to represent a triangle shape on a dock. True value is set to TRIANGLE.

Likely used in the Shape attribute.

Type: str

CIRCLE¶

Constant string attribute used to represent a circle shape on a dock. True value is set to CIRCLE.

Likely used in the Shape attribute.

Type: str

Color¶

The color to the get the associated dock of. Likely one of the associated color enumerations.

Type: str

RED¶

Constant string attribute used to represent a red shape on a dock. True value is set to RED.

Likely used in the Color attribute.

Type: str

BLUE¶

Constant string attribute used to represent a triangle shape on a dock. True value is set to BLUE.

Likely used in the Color attribute.

Type: str

GREEN¶

Constant string attribute used to represent a circle shape on a dock. True value is set to GREEN.

Likely used in the Color attribute.

Type: str

ANY¶

Constant string attribute used to represent any value for a specific field - ie, a dock with any shape or color representation. Actual value is ANY.

Type: str

Attributes

INVALID_REQUEST
NODE_DISABLED
SHAPE_NOT_FOUND
TOO_SMALL_SAMPLE
error
found
symbol

class navigator_msgs.srv.GetDockShapeResponse¶

The response class for the navigator_msgs/GetDockShape service.

symbol¶

The associated shape and color of the returned dock.

Type: DockShape

found¶

Whether a viable dock was found.

Type: bool

error¶

If found was false, then a description of what went wrong. May be equal to one of this class’ enumerations.

Type: str

INVALID_REQUEST¶

An enumeration to describe a request that was invalid in some way. Actual string value is INVALID_REQUEST.

Type: str

NODE_DISABLED¶

An enumeration to describe a request that was invalid in some way. Actual string value is NODE_DISABLED.

Type: str

TOO_SMALL_SAMPLE¶

An enumeration to describe a request that was invalid in some way. Actual string value is TOO_SMALL_SAMPLE.

Type: str

SHAPE_NOT_FOUND¶

An enumeration to describe a request that was invalid in some way. Actual string value is SHAPE_NOT_FOUND.

Type: str

GetDockShapes¶

Attributes

ANY
BLUE
CIRCLE
CROSS
Color
GREEN
RED
Shape
TRIANGLE

class navigator_msgs.srv.GetDockShapesRequest¶

The request class for the navigator_msgs/GetDockShapes service.

Shape¶

The shape to the get the associated dock of. Likely one of the associated shape enumerations.

Type: str

CROSS¶

Constant string attribute used to represent a cross shape on a dock. True value is set to CROSS.

Likely used in the Shape attribute.

Type: str

TRIANGLE¶

Constant string attribute used to represent a triangle shape on a dock. True value is set to TRIANGLE.

Likely used in the Shape attribute.

Type: str

CIRCLE¶

Constant string attribute used to represent a circle shape on a dock. True value is set to CIRCLE.

Likely used in the Shape attribute.

Type: str

Color¶

The color to the get the associated dock of. Likely one of the associated color enumerations.

Type: str

RED¶

Constant string attribute used to represent a red shape on a dock. True value is set to RED.

Likely used in the Color attribute.

Type: str

BLUE¶

Constant string attribute used to represent a triangle shape on a dock. True value is set to BLUE.

Likely used in the Color attribute.

Type: str

GREEN¶

Constant string attribute used to represent a circle shape on a dock. True value is set to GREEN.

Likely used in the Color attribute.

Type: str

ANY¶

Constant string attribute used to represent any value for a specific field - ie, a dock with any shape or color representation. Actual value is ANY.

Type: str

Attributes

INVALID_REQUEST
NODE_DISABLED
SHAPE_NOT_FOUND
TOO_SMALL_SAMPLE
error
found
shapes

class navigator_msgs.srv.GetDockShapesResponse¶

The response class for the navigator_msgs/GetDockShapes service.

shapes¶

The relevant dock shapes that were found.

Type: List[DockShape]

found¶

If one or more suitable shapes was returned, then true.

Type: bool

error¶

If found was false, then an explanation of why.

Type: str

INVALID_REQUEST¶

An enumeration to describe a request that was invalid in some way. Actual string value is INVALID_REQUEST.

Type: str

NODE_DISABLED¶

An enumeration to describe a request that was invalid in some way. Actual string value is NODE_DISABLED.

Type: str

TOO_SMALL_SAMPLE¶

An enumeration to describe a request that was invalid in some way. Actual string value is TOO_SMALL_SAMPLE.

Type: str

SHAPE_NOT_FOUND¶

An enumeration to describe a request that was invalid in some way. Actual string value is SHAPE_NOT_FOUND.

Type: str

ShooterManual¶

Attributes

feeder
shooter

class navigator_msgs.srv.ShooterManualRequest¶

The request class for the navigator_msgs/ShooterManual service.

feeder¶

???

Type: float

shooter¶

???

Type: float

Attributes

success

class navigator_msgs.srv.ShooterManualResponse¶

The response class for the navigator_msgs/ShooterManual service.

success¶

Whether the shooter operation was successful.

Type: bool

StartGate¶

class navigator_msgs.srv.StartGateRequest¶: The request class for the navigator_msgs/StartGate service. The request class no public attributes.

Attributes

success
target

class navigator_msgs.srv.StartGateResponse¶

The response class for the navigator_msgs/StartGate service.

target¶

The target of the mission’s start gate.

Type: PoseStamped

success¶

Whether the start gate operation was successful.

Type: bool

Subsystems¶

AlarmGet¶

Attributes

alarm_name

class ros_alarms_msgs.srv.AlarmGetRequest¶

The request class for the ros_alarms/AlarmGet service.

alarm_name¶

The name of the alarm to request data about.

Type: str

Attributes

alarm
header

class ros_alarms_msgs.srv.AlarmGetResponse¶

The response class for the ros_alarms/AlarmGet service.

header¶

The header for the response.

Type: Header

alarm¶

The response data about the requested alarm.

Type: Alarm

AlarmSet¶

Attributes

alarm

class ros_alarms_msgs.srv.AlarmSetRequest¶

The request class for the ros_alarms/AlarmSet service.

alarm¶

The alarm to set.

Type: Alarm

Attributes

succeed

class ros_alarms_msgs.srv.AlarmSetResponse¶

The response class for the ros_alarms/AlarmSet service.

succeed¶

Whether the request succeeded.

Type: bool

CameraDBQuery¶

Attributes

id
name

class navigator_msgs.srv.CameraDBQueryRequest¶

The request class for the navigator_msgs/CameraDBQuery service.

name¶

The name of the object to query.

Type: str

id¶

The ID of the object to query.

Type: int

Attributes

found

class navigator_msgs.srv.CameraDBQueryResponse¶

The response class for the navigator_msgs/CameraDBQuery service.

found¶

Whether the object is found.

Type: bool

MoveToWaypoint¶

Attributes

target_p

class navigator_msgs.srv.MoveToWaypointRequest¶

The request class for the navigator_msgs/MoveToWaypoint service.

target_p¶

The target pose to head toward.

Type: Pose

Attributes

success

class navigator_msgs.srv.MoveToWaypointResponse¶

The response class for the navigator_msgs/MoveToWaypoint service.

success¶

Whether the movement was successful.

Type: bool

ObjectDBQuery¶

Attributes

cmd
name

class navigator_msgs.srv.ObjectDBQueryRequest¶

The request class for the navigator_msgs/ObjectDBQuery service.

name¶

The name of the object to find in the database.

Type: str

cmd¶

The command to run in the database. The command should be formatted as ID=YYY, where ID is the property ID of the object to change, and YYY is the value to set.

Type: str

Attributes

found
objects

class navigator_msgs.srv.ObjectDBQueryResponse¶

The response class for the navigator_msgs/ObjectDBQuery service.

found¶

Whether the requested object was found.

Type: bool

objects¶

A list of all objects found.

Type: List[PerceptionObject]

SetFrequency¶

Attributes

frequency

class navigator_msgs.srv.SetFrequencyRequest¶

The request class for the navigator_msgs/SetFrequency service.

frequency¶

The frequency to set.

Type: int

class navigator_msgs.srv.SetFrequencyResponse¶: The response class for the navigator_msgs/SetFrequency service. The class no public attributes.

SetROI¶

Attributes

class navigator_msgs.srv.SetROIRequest¶

The request class for the navigator_msgs/SetROI service.

roi¶

The region of interest to set.

Type: RegionOfInterest

Attributes

OUTSIDE_OF_FRAME
error
success

class navigator_msgs.srv.SetROIResponse¶

The response class for the navigator_msgs/SetROI service.

success¶

Whether the set operation was successful.

Type: bool

error¶

If the operation failed, then a description of what went wrong.

Type: str

OUTSIDE_OF_FRAME¶

A string constant to represent that the region of interest is outside the observable frame. Constant string actually equally to OUTSIDE_OF_FRAME.

Type: str

StereoShapeDetector¶

Attributes

detection_switch
model_params
num_points
processing_type
shape

class navigator_msgs.srv.StereoShapeDetectorRequest¶

The request class for the navigator_msgs/StereoShapeDetector service.

detection_switch¶

???

Type: bool

shape¶

???

Type: str

processing_type¶

???

Type: str

num_points¶

The number of points relevant to the detector.

Type: int

model_params¶

???

Type: List[float]

Attributes

success

class navigator_msgs.srv.StereoShapeDetectorResponse¶

The response class for the navigator_msgs/StereoShapeDetector service.

success¶

Whether the detector was successful in detecting!

Type: bool

VisionRequest¶

Attributes

target_name

class navigator_msgs.srv.VisionRequestRequest¶

The request class for the navigator_msgs/VisionRequest service.

target_name¶

The target to look for in the vision system.

Type: str

Attributes

covariance_diagonal
found
pose

class navigator_msgs.srv.VisionRequestResponse¶

The response class for the navigator_msgs/VisionRequest service.

pose¶

Where the object is at, in the vision system.

Type: PoseStamped

covariance_diagonal¶

The covariance in the vision target.

Type: Vector3

found¶

Whether the vision object was found.

Type: bool

Standard Messages¶

SetBool¶

class std_srvs.srv.SetBoolRequest¶: The request type for the SetBool service. Requests for some boolean value to be set.

Attributes

message
success

class std_srvs.srv.SetBoolResponse¶

The response type for the SetBool service. Responds to the set boolean value request.

success¶

Whether the boolean value was successfully set.

Type: bool

message¶

Any message included in the response.

Type: str

Conversions¶

CameraToLidarTransform¶

Attributes

header
point
tolerance

class navigator_msgs.srv.CameraToLidarTransformRequest¶

The request class for the navigator_msgs/CameraToLidarTransform service.

header¶

The stamp the point was seen for tf.

Type: Header

point¶

The x-dimension and y-dimension of the point in the camera. The z-dimension is ignored.

Type: Point

tolerance¶

The number of pixels the projected 3D Lidar point can be from the target point to be included in the response.

Type: int

Attributes

CLOUD_NOT_FOUND
NO_POINTS
closest
distance
error
normal
success
transformed

class navigator_msgs.srv.CameraToLidarTransformResponse¶

The response class for the navigator_msgs/CameraToLidarTransform service.

success¶

True if at least one point is found within LIDAR and transformed.

Type: bool

transformed¶

If success is true, then the list of transformed points.

Type: List[Point]

closest¶

3D point that is closest to the target point when transformed and projected

Type: Point

normal¶

The normal unit vector in the camera frame estimated from the transformed points.

Type: Vector3

distance¶

The mean z-dimension of the transformed points.

Type: float

error¶

If success is false, then what went wrong.

Type: str

CLOUD_NOT_FOUND¶

The pointcloud was not found. Constant string actually equal to pointcloud not found.

Type: str

NO_POINTS¶

No points were found. Constant string actually equal to no points.

Type: str

CoordinateConversion¶

Attributes

ECEF
ENU
LLA
frame
points
to_frame

class navigator_msgs.srv.CoordinateConversionRequest¶

The request class for the navigator_msgs/CoordinateConversion service.

LLA¶

The longitude, latitude, altitude coordinate frame. Constant string equal to lla.

Type: str

ENU¶

The east, north, up frame. Constant string equal to enu.

Type: str

ECEF¶

The Earth-centered, Earth-fixed frame. Constant string equal to ecef.

Type: str

frame¶

The current frame of the relative objects.

Type: str

to_frame¶

The frame of objects to convert objects to.

Type: str

points¶

The points to convert between the different frames.

Type: List[Point]

Attributes

converted
message

class navigator_msgs.srv.CoordinateConversionResponse¶

The response class for the navigator_msgs/CoordinateConversion service.

converted¶

The list of converted points.

Type: List[Point]

message¶

If an error occurred, the message of what went wrong.

Type: str

KeyboardControl¶

Attributes

keycode
uuid

class navigator_msgs.srv.KeyboardControlRequest¶

The request class for the navigator_msgs/KeyboardControl service.

uuid¶

A unique ID to represent the process (?).

Type: str

keycode¶

The keycode that was pressed.

Type: int

Attributes

generated_uuid
is_locked

class navigator_msgs.srv.KeyboardControlResponse¶

The response class for the navigator_msgs/KeyboardControl service.

generated_uuid¶

A response unique ID that was generated in response to the request.

Type: str

is_locked¶

Whether the client which sent the keycode has “locked control” of the keyboard server, and is therefore blocking other keyboard input.

Type: bool

POI Handling¶

AddPOI¶

Attributes

name
position

class mil_poi.srv.AddPOIRequest¶

The request class for the mil_poi/AddPOI service.

name¶

The name of the POI to add.

Type: str

position¶

The position of the new POI.

Type: PointStamped

Attributes

message
success

class mil_poi.srv.AddPOIResponse¶

The response class for the mil_poi/AddPOI service.

success¶

Whether the add operation was successful.

Type: bool

message¶

The message associated with the success of the add operation.

Type: str

MovePOI¶

Attributes

name
position

class mil_poi.srv.MovePOIRequest¶

The request class for the mil_poi/MovePOI service.

name¶

The name of the POI to move.

Type: str

position¶

The position of the new POI.

Type: PointStamped

Attributes

message
success

class mil_poi.srv.MovePOIResponse¶

The response class for the mil_poi/MovePOI service.

success¶

Whether the move operation was successful.

Type: bool

message¶

The message associated with the success of the move operation.

Type: str

DeletePOI¶

Attributes

name

class mil_poi.srv.DeletePOIRequest¶

The request class for the mil_poi/DeletePOI service.

name¶

The name of the POI to delete.

Type: str

Attributes

message
success

class mil_poi.srv.DeletePOIResponse¶

The response class for the mil_poi/DeletePOI service.

success¶

Whether the delete operation was successful.

Type: bool

message¶

The message associated with the success of the delete operation.

Type: str