Damme: Created page with "Subscribers: 1. cmd_vel_sub: Subscribes to the cmd_vel topic. ◦ Message Type: geometry_msgs::Twist ◦ Description: Contains the desired linear and angular velocities for the robot. ◦ Contents: ▪ linear.x: Linear velocity in the x-axis direction (m/s). ▪ linear.y: Linear velocity in the y-axis direction (m/s). ▪ linear.z: Linear velocity in the z-axis direction (m/s). ▪ angular.x: Ang..."

2023-04-18T09:42:07Z

Created page with "Subscribers: 1. cmd_vel_sub: Subscribes to the cmd_vel topic. ◦ Message Type: geometry_msgs::Twist ◦ Description: Contains the desired linear and angular velocities for the robot. ◦ Contents: ▪ linear.x: Linear velocity in the x-axis direction (m/s). ▪ linear.y: Linear velocity in the y-axis direction (m/s). ▪ linear.z: Linear velocity in the z-axis direction (m/s). ▪ angular.x: Ang..."

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Subscribers:
1. cmd_vel_sub: Subscribes to the cmd_vel topic.
◦ Message Type: geometry_msgs::Twist
◦ Description: Contains the desired linear and angular velocities for the robot.
◦ Contents:
▪ linear.x: Linear velocity in the x-axis direction (m/s).
▪ linear.y: Linear velocity in the y-axis direction (m/s).
▪ linear.z: Linear velocity in the z-axis direction (m/s).
▪ angular.x: Angular velocity around the x-axis (rad/s).
▪ angular.y: Angular velocity around the y-axis (rad/s).
▪ angular.z: Angular velocity around the z-axis (rad/s).
2. high_level_status_sub: Subscribes to the /mower_logic/current_state topic.
◦ Message Type: mower_msgs::HighLevelStatus
◦ Description: Receives the high-level state of the mower from the mower logic node. This state includes information about the current operating mode, substate, GPS quality, battery status, charging status, and emergency flag.
◦ Fields:
▪ state: An integer representing the current high-level state of the mower (e.g., idle, autonomous, recording, etc.).
▪ state_name: A string representing the name of the current high-level state (e.g., "IDLE", "AUTONOMOUS", "RECORDING").
▪ sub_state_name: A string representing the name of the current substate (e.g., "SUBSTATE_1", "SUBSTATE_2", "SUBSTATE_3", "SUBSTATE_4").
▪ gps_quality_percent: A float32 value representing the GPS quality as a percentage, where 0% indicates no GPS signal and 100% indicates a perfect GPS signal.
▪ battery_percent: A float32 value representing the battery charge level as a percentage, where 0% indicates an empty battery and 100% indicates a fully charged battery.
▪ is_charging: A boolean value indicating whether the mower is currently charging or not.
▪ emergency: A boolean value indicating if there is an active emergency situation, such as a collision, detected by the mower.
◦ Callback Function: highLevelStatusReceived
▪ Description: Handles the received high-level state of the mower, updating the internal state representation for the mower communication node.
Publishers:
1. status_pub: Publishes to the /mower/status topic.
◦ Message Type: mower_msgs::Status
◦ Description: Publishes the current status of the mower, including information about the mower's low-level systems, power status, ultrasonic range measurements, emergency status, battery, and ESC statuses.
◦ Fields:
▪ stamp: A time object representing the timestamp of the message.
▪ mower_status: An integer representing the mower's status, such as initializing or OK.
▪ raspberry_pi_power: A boolean value indicating if the Raspberry Pi has power.
▪ gps_power: A boolean value indicating if the GPS module has power.
▪ esc_power: A boolean value indicating if the Electronic Speed Controllers (ESCs) have power.
▪ rain_detected: A boolean value indicating if rain is detected.
▪ sound_module_available: A boolean value indicating if the sound module is available.
▪ sound_module_busy: A boolean value indicating if the sound module is busy.
▪ ui_board_available: A boolean value indicating if the UI board is available.
▪ ultrasonic_ranges: An array of 5 float32 values representing the ultrasonic range measurements.
▪ emergency: A boolean value indicating if there is an active emergency situation, such as a collision, detected by the mower.
▪ v_charge: A float32 value representing the charge voltage.
▪ v_battery: A float32 value representing the battery voltage.
▪ charge_current: A float32 value representing the charge current.
▪ left_esc_status: An ESCStatus object containing information about the status of the left ESC.
▪ right_esc_status: An ESCStatus object containing information about the status of the right ESC.
▪ mow_esc_status: An ESCStatus object containing information about the status of the mow ESC.
2. wheel_tick_pub: Publishes the mower/wheel_ticks topic.
◦ Message Type: xbot_msgs::WheelTick
◦ Description: Publishes the wheel tick information for the left and right wheels of the mower, which is used to calculate odometry.
◦ Fields:
▪ header: Standard ROS message header containing a timestamp and frame_id.
▪ left_ticks: The number of ticks for the left wheel since the last message.
▪ right_ticks: The number of ticks for the right wheel since the last message.
▪ interval: The time interval in seconds between the current and previous wheel tick message.
3. sensor_imu_pub: Publishes to the imu/data_raw topic.
◦ Message Type: sensor_msgs::Imu
◦ Description: Provides raw IMU data, including linear acceleration and angular velocity.
◦ Contents:
▪ header: Message header, containing timestamp and frame ID.
▪ orientation: Orientation as a quaternion (x, y, z, w).
▪ orientation_covariance: Orientation covariance matrix (3x3).
▪ angular_velocity: Angular velocity vector (x, y, z) in rad/s.
▪ angular_velocity_covariance: Angular velocity covariance matrix (3x3).
▪ linear_acceleration: Linear acceleration vector (x, y, z) in m/s^2.
▪ linear_acceleration_covariance: Linear acceleration covariance matrix (3x3).
4. sensor_mag_pub: Publishes to the imu/mag topic.
◦ Message Type: sensor_msgs::MagneticField
◦ Description: Provides magnetic field data from the IMU.
◦ Contents:
▪ header: Message header, containing timestamp and frame ID.
▪ magnetic_field: Magnetic field vector (x, y, z) in Tesla.
▪ magnetic_field_covariance: Magnetic field covariance matrix (3x3).
Services:
1. mow_service: Advertises the mower_service/mow_enabled service.
◦ Service Type: std_srvs::SetBool
◦ Description: Allows enabling or disabling the mower's mowing functionality.
◦ Request Fields:
▪ data: A boolean value representing the desired state of the mower's mowing functionality. True for enabling and False for disabling.
◦ Response Fields:
▪ success: A boolean value indicating if the requested operation was successful.
▪ message: A string providing additional information about the outcome of the operation.
2. emergency_service: Advertises the mower_service/emergency service.
◦ Service Type: std_srvs::Trigger
◦ Description: Triggers an emergency stop for the mower.
◦ Request Fields: No fields required.
◦ Response Fields:
▪ success: A boolean value indicating if the emergency stop was successfully triggered.
▪ message: A string providing additional information about the outcome of the operation.

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