sinsei_umiusi_control

Topics

All types of messages are defined in sinsei_UMIUSI_msgs.

Subscribed by GateController

Topic Name	Type name (URL to .msg file)	Description
cmd/indicator_led_output	IndicatorLedOutput	Indicator LED output (Enabled / Disabled)
cmd/main_power_output	MainPowerOutput	Main power output (Enabled / Disabled)
cmd/led_tape_output	LedTapeOutput	LED tape output (RGBA values)
cmd/headlights_output	HeadlightsOutput	Headlights output (Enabled / Disabled) for each of High beam, Low beam, and IR
cmd/thruster_enabled_all	ThrusterEnabledAll	Thruster enabled status (Enabled / Disabled for each of ESC and Servo motor) for each thruster
cmd/target	Target	Target of the robot (Velocity and Angular vector)

Subscribed by ThrusterController

Topic Name	Type name (URL to .msg file)	Description
cmd/direct/thruster_controller/output_lf	ThrusterOutput	Thruster output (ThrusterEnabled, ESC duty and Servo angle) for Left Front thruster
cmd/direct/thruster_controller/output_lb	ThrusterOutput	Thruster output (ThrusterEnabled, ESC duty and Servo angle) for Left Back thruster
cmd/direct/thruster_controller/output_rb	ThrusterOutput	Thruster output (ThrusterEnabled, ESC duty and Servo angle) for Right Back thruster
cmd/direct/thruster_controller/output_rf	ThrusterOutput	Thruster output (ThrusterEnabled, ESC duty and Servo angle) for Right Front thruster
cmd/direct/thruster_controller/output_all	ThrusterOutputAll	Thruster output (ThrusterOutput) for each thruster

Published by GateController

Topic Name	Type name (URL to .msg file)	Description
state/main_power_enabled	MainPowerEnabled	Main power enabled / disabled status
state/imu_state	ImuState	IMU status (Acceleration, Angular Velocity, Quaternion, etc.)
state/thruster_state_all	ThrusterStateAll	Thruster status (RPM, Current, Voltage, etc.) for each thruster
state/low_power_circuit_info	LowPowerCircuitInfo	Health status (0 for ok / 1 for error) for each low-power circuit
state/high_power_circuit_info	HighPowerCircuitInfo	Health-related values for each high-power circuit (Voltage, Current, WaterLeaked, etc.)