uuv_control_msgs

Link to the uuv_simulator repository here

Description¶

The uuv_control_msgs package

ROS Services¶

InitCircularTrajectory¶
# Copyright (c) 2016 The UUV Simulator Authors.
#
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#
# Unless required by applicable law or agreed to in writing, software
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and

std_msgs/Time start_time
bool start_now
geometry_msgs/Point center
bool is_clockwise
float64 angle_offset
int32 n_points
float64 max_forward_speed
float64 duration
---
bool success

Hold¶
# Copyright (c) 2016 The UUV Simulator Authors.
#
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#
# Unless required by applicable law or agreed to in writing, software
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and

---
bool success

SetSMControllerParams¶
# Copyright (c) 2016 The UUV Simulator Authors.
#
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#
# Unless required by applicable law or agreed to in writing, software
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and

float64[] K
float64[] Kd
float64[] Ki
float64[] slope
---
bool success

GetPIDParams¶
# Copyright (c) 2016 The UUV Simulator Authors.
#
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#
# Unless required by applicable law or agreed to in writing, software
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and

---
float64[] Kp
float64[] Kd
float64[] Ki

SetPIDParams¶
# Copyright (c) 2016 The UUV Simulator Authors.
#
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#
# Unless required by applicable law or agreed to in writing, software
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and

float64[] Kp
float64[] Kd
float64[] Ki
---
bool success

StartTrajectory¶
# Copyright (c) 2016 The UUV Simulator Authors.
#
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#
# Unless required by applicable law or agreed to in writing, software
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and

---
bool success

ResetController¶
# Copyright (c) 2016 The UUV Simulator Authors.
#
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#
# Unless required by applicable law or agreed to in writing, software
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and

---
bool success

AddWaypoint¶
# Copyright (c) 2016 The UUV Simulator Authors.
#
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#
# Unless required by applicable law or agreed to in writing, software
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and

uuv_control_msgs/Waypoint waypoint
---
bool success
uuv_control_msgs/Waypoint[] waypoints

SetMBSMControllerParams¶
# Copyright (c) 2016 The UUV Simulator Authors.
#
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#
# Unless required by applicable law or agreed to in writing, software
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and

float64[] lambda
float64[] rho_constant
float64[] k
float64[] c
float64[] rho_0
float64 drift_prevent
---
bool success

SwitchToAutomatic¶
# Copyright (c) 2016 The UUV Simulator Authors.
#
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#
# Unless required by applicable law or agreed to in writing, software
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and

---
bool success

ClearWaypoints¶
# Copyright (c) 2016 The UUV Simulator Authors.
#
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#
# Unless required by applicable law or agreed to in writing, software
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and

---
bool success

GetSMControllerParams¶
# Copyright (c) 2016 The UUV Simulator Authors.
#
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#
# Unless required by applicable law or agreed to in writing, software
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and

---
float64[] K
float64[] Kd
float64[] Ki
float64[] slope

IsRunningTrajectory¶
# Copyright (c) 2016 The UUV Simulator Authors.
#
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#
# Unless required by applicable law or agreed to in writing, software
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and

---
float64 progress

InitWaypointsFromFile¶
# Copyright (c) 2016 The UUV Simulator Authors.
#
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#
# Unless required by applicable law or agreed to in writing, software
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and

string LIPB='lipb'
string CUBIC='cubic'
string DUBINS='dubins'
string LINEAR='linear'

std_msgs/Time start_time
bool start_now
std_msgs/String filename
std_msgs/String interpolator
---
bool success

InitHelicalTrajectory¶
# Copyright (c) 2016 The UUV Simulator Authors.
#
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#
# Unless required by applicable law or agreed to in writing, software
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and

std_msgs/Time start_time
bool start_now
geometry_msgs/Point center
bool is_clockwise
float64 angle_offset
int32 n_points
float64 max_forward_speed
float64 duration
float64 n_turns
float64 delta_z
---
bool success

InitWaypointSet¶
# Copyright (c) 2016 The UUV Simulator Authors.
#
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#
# Unless required by applicable law or agreed to in writing, software
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and

std_msgs/Time start_time
bool start_now
uuv_control_msgs/Waypoint[] waypoints
float64 max_forward_speed
std_msgs/String interpolator
---
bool success

GetWaypoints¶
# Copyright (c) 2016 The UUV Simulator Authors.
#
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#
# Unless required by applicable law or agreed to in writing, software
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and

---
uuv_control_msgs/Waypoint[] waypoints

GoTo¶
# Copyright (c) 2016 The UUV Simulator Authors.
#
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#
# Unless required by applicable law or agreed to in writing, software
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and

string LIPB='lipb'
string CUBIC='cubic'
string DUBINS='dubins'
string LINEAR='linear'

uuv_control_msgs/Waypoint waypoint
float64 max_forward_speed
string interpolator
---
bool success

InitRectTrajectory¶
# Copyright (c) 2016 The UUV Simulator Authors.
#
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#
# Unless required by applicable law or agreed to in writing, software
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and

std_msgs/Time start_time
bool start_now
geometry_msgs/Point origin
float64 height
float64 width
float64 angle_offset
float64 max_forward_speed
---
bool success

GoToIncremental¶
# Copyright (c) 2016 The UUV Simulator Authors.
#
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#
# Unless required by applicable law or agreed to in writing, software
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and

string LIPB='lipb'
string CUBIC='cubic'
string DUBINS='dubins'
string LINEAR='linear'

geometry_msgs/Point step
float64 max_forward_speed
string interpolator
---
bool success

SwitchToManual¶
# Copyright (c) 2016 The UUV Simulator Authors.
#
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#
# Unless required by applicable law or agreed to in writing, software
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and

---
bool success

GetMBSMControllerParams¶
# Copyright (c) 2016 The UUV Simulator Authors.
#
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#
# Unless required by applicable law or agreed to in writing, software