WaypointNavigator

class WaypointNavigator

  • Parent class of WaypointActionServer

  • Starts ROS node WaypointNavigator

Subscribers

  • topic_name, type

  • motor_controllers/pid/drive/state, Float64

  • motor_controllers/pid/strafe/state, Float64

  • motor_controllers/pid/yaw/state, Float64

  • motor_controllers/pid/depth/state, Float64

Publishers

  • topic_name, type

  • motor_controllers/pid/depth/setpoint, Float64

  • motor_controllers/pid/drive/setpoint, Float64

  • motor_controllers/pid/strafe/setpoint, Float64

  • motor_controllers/pid/yaw/setpoint, Float64

  • waypoint_controlling_pids, Bool

Services

  • service_name, service_class

  • addWaypoint

  • toggleWaypointControl

Message Types

WaypointActionServer

class WaypointServer

  • Launched by waypoint_navigator.launch, leviathan_sub.launch

  • Starts ROS node waypoint_action_server

MagnetometerCalibrator

class MagnetometerCalibrator

Calibrate magnetometer for uuv simulator.

Subscribers

  • topic_name, type

  • odometry/filtered, Odometry

  • imu, Imu

Services

  • service_name, service_class

  • calibrateMagnetometer

Message Types

Defined Message Types

  • AddWaypoint

    • geometry_msgs/Point waypoint

  • CalibrateMagnetometer

    • std_msgs/Float64 heading

  • ToggleControl

    • bool waypoint_controlling

    • bool success