Use standard messages for AHRS

CMakeLists.txt

@@ -7,9 +7,11 @@ endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
+find_package(geometry_msgs REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclpy REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
+find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
@@ -48,7 +50,10 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/TFSetStateMachineCommand.srv"
   "srv/TFWatchDogCommand.srv"
   "srv/ValveCommand.srv"
-  DEPENDENCIES std_msgs
+  DEPENDENCIES
+    geometry_msgs
+    sensor_msgs
+    std_msgs
   ADD_LINTER_TESTS
 )
 

README.md

@@ -10,31 +10,31 @@ Collection of telemetry (feedback) from buoy sensors and microcontrollers.
 ### Telemetry
 Telemetry data from sensors available per microcontroller
 
-- type: `BCRecord`  
-  topic: `/bc_record`  
+- type: `BCRecord`
+  topic: `/bc_record`
   Description: (TODO) battery data
-  
-- type: `PCRecord`  
-  topic: `/pc_record`  
+
+- type: `PCRecord`
+  topic: `/pc_record`
   Description: (TODO) power controller data
-  
-- type: `SCRecord`  
-  topic: `/sc_record`  
+
+- type: `SCRecord`
+  topic: `/sc_record`
   Description: (TODO) spring controller data
-  
-- type: `TFRecord`  
-  topic: `/tf_record`  
+
+- type: `TFRecord`
+  topic: `/tf_record`
   Description: (TODO) trefoil data
-  
-- type: `XBRecord`  
-  topic: `/xb_record`  
+
+- type: `XBRecord`
+  topic: `/xb_record`
   Description: (TODO) Crossbow AHRS data
 
 ### Consolidated (Time-Synchronized) Telemetry
 Snapshot in time of all data from the buoy.
 
-- type: `PBRecord`  
-  topic: `/pb_record`  
+- type: `PBRecord`
+  topic: `/pb_record`
   Description: TODO
 
 ## Services (.srv)
@@ -43,143 +43,143 @@ Collection of commands to configure/control the Power Buoy.
 ### Power Microcontroller
 Services available to configure the Power Microcontroller.
 
-- type: `PCBattSwitchCommand`  
-  topic: `/pc_batt_switch_command`  
-  args: OFF, ON (enum)  
-  Description: TODO
-  
-- type: `PCBiasCurrCommand`  
-  topic: `/pc_bias_curr_command`  
-  args: -15.0 to +15.0 (float, amps)  
-  Description: TODO
-  
-- type: `PCChargeCurrLimCommand`  
-  topic: `/pc_charge_curr_lim_command`  
-  args: 2.0 to 12.0 (float, amps)  
-  Description: TODO
-  
-- type: `PCDrawCurrLimCommand`  
-  topic: `/pc_draw_curr_lim_command`  
-  args: 2.0 to 12.0 (float, amps)  
-  Description: TODO
-  
-- type: `PCPackRateCommand`  
-  topic: `/pc_pack_rate_command`  
-  args: 10 to 50 (int, hz)  
+- type: `PCBattSwitchCommand`
+  topic: `/pc_batt_switch_command`
+  args: OFF, ON (enum)
+  Description: TODO
+
+- type: `PCBiasCurrCommand`
+  topic: `/pc_bias_curr_command`
+  args: -15.0 to +15.0 (float, amps)
+  Description: TODO
+
+- type: `PCChargeCurrLimCommand`
+  topic: `/pc_charge_curr_lim_command`
+  args: 2.0 to 12.0 (float, amps)
+  Description: TODO
+
+- type: `PCDrawCurrLimCommand`
+  topic: `/pc_draw_curr_lim_command`
+  args: 2.0 to 12.0 (float, amps)
+  Description: TODO
+
+- type: `PCPackRateCommand`
+  topic: `/pc_pack_rate_command`
+  args: 10 to 50 (int, hz)
   Description: set PCRecord publish rate in Hz
-  
-- type: `PCRetractCommand`  
-  topic: `/pc_retract_command`  
-  args: 0.4 to 1.0 (float)  
+
+- type: `PCRetractCommand`
+  topic: `/pc_retract_command`
+  args: 0.4 to 1.0 (float)
   Description: TODO
-  
-- type: `PCScaleCommand`  
-  topic: `/pc_scale_command`  
-  args: 0.5 to 1.4 (float)  
+
+- type: `PCScaleCommand`
+  topic: `/pc_scale_command`
+  args: 0.5 to 1.4 (float)
   Description: TODO
-  
-- type: `PCStdDevTargCommand`  
-  topic: `/pc_std_dev_targ_command`  
-  args: 0 to 2000 (int) 
+
+- type: `PCStdDevTargCommand`
+  topic: `/pc_std_dev_targ_command`
+  args: 0 to 2000 (int)
   Description: TODO
-  
-- type: `PCVTargMaxCommand`  
-  topic: `/pc_v_targ_max_command`  
-  args: 320.0 to 330.0 (float, volts)  
+
+- type: `PCVTargMaxCommand`
+  topic: `/pc_v_targ_max_command`
+  args: 320.0 to 330.0 (float, volts)
   Description: TODO
-  
-- type: `PCWindCurrCommand`  
-  topic: `/pc_wind_curr_command`  
-  args: -35.0 to 35.0 (float, amps)  
+
+- type: `PCWindCurrCommand`
+  topic: `/pc_wind_curr_command`
+  args: -35.0 to 35.0 (float, amps)
   Description: TODO
-  
-- type: `GainCommand`  
-  topic: `/gain_command`  
-  args: OFF, 1 to 200 (enum or int)  
+
+- type: `GainCommand`
+  topic: `/gain_command`
+  args: OFF, 1 to 200 (enum or int)
   Description: TODO
 
 ### Battery Microcontroller
 Services available to configure the Battery Microcontroller.
 
-- type: `BCResetCommand`  
-  topic: `/bc_reset_command`  
-  args: None  
+- type: `BCResetCommand`
+  topic: `/bc_reset_command`
+  args: None
   Description: TODO
 
 ### Spring Microcontroller
-- type: `SCPackRateCommand`  
-  topic: `/sc_pack_rate_command`  
-  args: 10 to 50 (int, hz)  
+- type: `SCPackRateCommand`
+  topic: `/sc_pack_rate_command`
+  args: 10 to 50 (int, hz)
   Description: set SCRecord publish rate in Hz
-  
-- type: `SCResetCommand`  
-  topic: `/sc_reset_command`  
-  args: None  
+
+- type: `SCResetCommand`
+  topic: `/sc_reset_command`
+  args: None
   Description: TODO
-  
-- type: `ValveCommand`  
-  topic: `/valve_command`  
-  args: OFF, 1 to 127 (enum or int, seconds)  
+
+- type: `ValveCommand`
+  topic: `/valve_command`
+  args: OFF, 1 to 127 (enum or int, seconds)
   Description: TODO
-  
-- type: `PumpCommand`  
-  topic: `/pump_command`  
-  args: OFF, 1 to 127 (enum or int, seconds)  
+
+- type: `PumpCommand`
+  topic: `/pump_command`
+  args: OFF, 1 to 127 (enum or int, seconds)
   Description: TODO
-  
-- type: `BenderCommand`  
-  topic: `/bender_command`  
-  args: OFF, ON, AUTO (enum)  
+
+- type: `BenderCommand`
+  topic: `/bender_command`
+  args: OFF, ON, AUTO (enum)
   Description: TODO
-  
-- type: `TetherCommand`  
-  topic: `/tether_command`  
-  args: OFF, ON (enum)  
+
+- type: `TetherCommand`
+  topic: `/tether_command`
+  args: OFF, ON (enum)
   Description: TODO
 
 ### Trefoil Microcontroller
 Services available to configure the Trefoil.
 
-- type: `TFResetCommand`  
-  topic: `/tf_reset_command`  
-  args: None  
-  Description: TODO
-  
-- type: `TFSetActualPosCommand`  
-  topic: `/tf_set_actual_pos_command`  
-  args: OPEN, CLOSED (enum)  
-  Description: TODO
-  
-- type: `TFSetChargeModeCommand`  
-  topic: `/tf_set_charge_mode_command`  
-  args: OFF, ON, AUTO_TIME, AUTO_VOLTAGE (enum)  
-  Description: TODO
-  
-- type: `TFSetCurrLimCommand`  
-  topic: `/tf_set_curr_lim_command`  
-  args: 500 to 5000 (int, TODO(units))  
-  Description: TODO
-  
-- type: `TFSetModeCommand`  
-  topic: `/tf_set_mode_command`  
-  args: POWER_10W, MONITOR_POS, HOLD_POS (enum)  
-  Description: TODO
-  
-- type: `TFSetPosCommand`  
-  topic: `/tf_set_pos_command`  
-  args: OPEN, CLOSED (enum)  
-  Description: TODO
-  
-- type: `TFSetStateMachineCommand`  
-  topic: `/tf_set_state_machine_command`  
-  args: HOME_MOVE, VEL_MOVE (enum)  
-  Description: TODO
-  
-- type: `TFWatchDogCommand`  
-  topic: `/tf_watchdog_command`  
-  args: None  
-  Description: TODO
-  
+- type: `TFResetCommand`
+  topic: `/tf_reset_command`
+  args: None
+  Description: TODO
+
+- type: `TFSetActualPosCommand`
+  topic: `/tf_set_actual_pos_command`
+  args: OPEN, CLOSED (enum)
+  Description: TODO
+
+- type: `TFSetChargeModeCommand`
+  topic: `/tf_set_charge_mode_command`
+  args: OFF, ON, AUTO_TIME, AUTO_VOLTAGE (enum)
+  Description: TODO
+
+- type: `TFSetCurrLimCommand`
+  topic: `/tf_set_curr_lim_command`
+  args: 500 to 5000 (int, TODO(units))
+  Description: TODO
+
+- type: `TFSetModeCommand`
+  topic: `/tf_set_mode_command`
+  args: POWER_10W, MONITOR_POS, HOLD_POS (enum)
+  Description: TODO
+
+- type: `TFSetPosCommand`
+  topic: `/tf_set_pos_command`
+  args: OPEN, CLOSED (enum)
+  Description: TODO
+
+- type: `TFSetStateMachineCommand`
+  topic: `/tf_set_state_machine_command`
+  args: HOME_MOVE, VEL_MOVE (enum)
+  Description: TODO
+
+- type: `TFWatchDogCommand`
+  topic: `/tf_watchdog_command`
+  args: None
+  Description: TODO
+
 
 ## Quality Declaration
 

msg/XBRecord.msg

@@ -1,26 +1,19 @@
-#Crossbow AHRS
+# Crossbow AHRS
 
-std_msgs/Header header  # timestamp, seq_num
+# Timestamp, seq_num
+std_msgs/Header header
 
-float32 roll_angle  # Radians -pi to +pi
-float32 pitch_angle  # Radians -pi to +pi
-float32 yaw_angle_true  # (true north) Radians -pi to +pi
+# IMU data
+# * orientation expressed as a quaternion (radians)
+# * angular velocity (rad/s)
+# * linear acceleration (m/s^2, not in g)
+sensor_msgs/Imu imu
 
-float32 x_rate_corrected  # Corrected X angular rate, rads/sec
-float32 y_rate_corrected  # Corrected Y angular rate, rads/sec
-float32 z_rate_corrected  # Corrected Z angular rate, rads/sec
+# GPS latitude, longitude, altitude
+sensor_msgs/NavSatFix gps
 
-float32 x_accel  # X accelerometer, g
-float32 y_accel  # Y accelerometer, g
-float32 z_accel  # Z accelerometer, g
-
-float32 n_velocity  # North velocity, m/s
-float32 e_velocity  # East  velocity, m/s
-float32 d_velocity  # Down  velocity, m/s
-
-float32 longitude  # GPS longitude, radians
-float32 latitude  # GPS latitude,  radians
-float32 altitude  # GPS altitude,  meters (-100 to 16284)
-
-float32 x_rate_temp  # X rate temperature, C
+# Linear velocity expressed in North-East-Down frame, in m/s
+geometry_msgs/Vector3 ned_velocity
 
+# X rate temperature, C
+sensor_msgs/Temperature x_rate_temp

package.xml

@@ -9,14 +9,16 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_python</buildtool_depend>
-  
+
   <depend>rclcpp</depend>
   <depend>rclpy</depend>
-  
+
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
 
-  <exec_depend>std_msgs</exec_depend>
+  <depend>geometry_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>