System Architecture

Node Layout

Node layout is diagramed on here

ActionLib Servers

Action: Manual Control

• Goal: None
• Feedback: None
• Result: None
• Notes: Preemption is expected in order to switch to a new action, as this action never finishes.

Action: Navigation Engine

• Goal: Path
  • Message Type: std_msgs/String
  • Possible Value:
    • "/home/beagle/path/aroundLake.csv"
• Feedback: % Completed of Path
  • Message Type: std_msgs/Float32
  • Possible Values:
    • 0.5 (50% Completed)
    • 0.995 (99.5% Completed, 100% is not possible, since action will complete once we complete path)
• Result: None

Message Descriptions

Topic: /user/command

• Message Type: std_msgs/String
• Possible Values:
  • "STOP"
  • "MANUAL"
  • "AUTO"

Topic: /user/manual/throttle

• Message Type: roboat_pkg/msg/ThrustVector2
• Possible Values:
  • <0.5, 0.5> (Thrust at half power straight)
  • <0,0> (Motors off)

Topic: /user/auto/path

• Message Type: std_msgs/String
• Possible Value:
  • "/home/beagle/path/aroundLake.csv"

Topic: /e_stop

• Message Type: std_msgs/Bool
• Possible Values:
  • True (E-Stop Engaged)
  • False (Normal Operation)

Topic: /thrust/throttle

• Message Type: roboat_pkg/msg/ThrustVector
• Possible Values:
  • <0.5, 0.5> (Thrust at half power straight)
  • <0,0> (Motors off)

Topic: /sensor/gps_info

• Message Type: roboat_pkg/msg/GPSInfo