Debugging Tools

stub for information about the debugging tools for the sub.

This package will be combined into one package soon.

Console

class Console(master=None)

  • starts tkinter GUI for logging

  • starts ROS node Console

Subscribers

  • topic_name, type

  • /local_control/pid/yaw/state, Float64

  • /local_control/pid/drive/state, Float64

  • /local_control/pid/depth/state, Float64

  • /local_control/pid/strafe/state, Float64

Publishers

  • topic_name, type

  • /yaw_PID/parameter_updates, Config

  • /depth_PID/parameter_updates, Config

  • /drive_PID/parameter_updates, Config

  • /strafe_PID/parameter_updates, Config

EmbeddedMonitor

  • Various sub alerts

Leviathan Control

joy_teleop

class JoyTeleop(object)

  • Allows joystick teleoperation of submarine

  • starts ROS node joy_teleop

Subscribers

  • topic_name, type

  • motor_controllers/pid/yaw/state, Float64

  • motor_controllers/pid/drive/state, Float64

  • motor_controllers/pid/strafe/state, Float64

Publishers

  • topic_name, type

  • motor_controllers/pid/yaw/setpoint, Float64

  • motor_controllers/pid/drive/setpoint, Float64

  • motor_controllers/pid/strafe/setpoint, Float64

  • motor_controllers/mux/yaw/control_effort, Float64

  • motor_controllers/mux/drive/control_effort, Float64

  • motor_controllers/mux/strafe/control_effort, Float64

  • motor_controllers/pid/pitch/setpoint, Float64

  • motor_controllers/pid/roll/setpoint, Float64

  • motor_controllers/pid/depth/setpoint, Float64

  • /leviathan/description/outer_controller/command, Float64

  • /leviathan/description/inner_controller/command, Float64

Service Proxies

  • service_name, service_class

  • toggleWaypointControl, ToggleControl

  • activateActuator, ActivateActuator

key_teleop

def key_teleop

  • Allows keyboard teleoperation of submarine

  • starts ROS node key_teleop

Subscribers

  • topic_name, type

  • motor_controllers/pid/yaw/state, Float64

  • motor_controllers/pid/drive/state, Float64

  • motor_controllers/pid/strafe/state, Float64

Publishers

  • topic_name, type

  • /leviathan/thrusters/0/input, FloatStamped

  • /leviathan/thrusters/1/input, FloatStamped

  • /leviathan/thrusters/2/input, FloatStamped

  • /leviathan/thrusters/3/input, FloatStamped

  • /leviathan/thrusters/4/input, FloatStamped

  • /leviathan/thrusters/5/input, FloatStamped

  • /leviathan/thrusters/6/input, FloatStamped

  • /leviathan/thrusters/7/input, FloatStamped

Service Proxies

  • service_name, service_class

  • toggleWaypointControl, ToggleControl

  • activateActuator, ActivateActuator

teleop

teleop

class Motor_Controller

  • starts ROS node Motor_Controller

Publishers

  • topic_name, type

  • pololu_control/command, Float64MultiArray

fun_teleop

class Motor_Controller

  • starts ROS node Motor_Controller

Publishers

  • topic_name, type

  • pololu_control/command, Float64MultiArray

  • local_control/pid/yaw/setpoint, Float64

  • local_control/pid/roll/setpoint, Float64

  • local_control/pid/pitch/setpoint, Float64

  • local_control/pid/depth/setpoint, Float64

  • local_control/pid/drive/setpoint, Float64

  • local_control/pid/strafe/setpoint, Float64

teleop_setpoints

class Motor_Controller

  • starts ROS node Motor_Controller

Publishers

  • topic_name, type

  • pid/yaw/setpoint, Float64

  • pid/roll/setpoint, Float64

  • pid/pitch/setpoint, Float64

  • pid/depth/setpoint, Float64

  • pid/drive/setpoint, Float64

  • pid/strafe/setpoint, Float64