Published Topics

A separate message package videoray_msgs contains all message types that the package publishes and subscribes (separation of interface and implementation).

• videoray_control/nav_data (videoray_msgs/NavData): packaged sensor measurements includeing time stamp, depth sensor, IMU, compass and DVL.
  • stamp (time)
  • depth (float32): z down
  • linear_velocity (geometry_msgs/Vector3): linear velocity in body frame (x forward z down)
  • orientation (geometry_msgs/Vector3): orientation about x, y, z axis in degree
  • linear_acceleration (geometry_msgs/Vector3): linear acceleration in m/s^2
  • angular_velocity (geometry_msgs/Vector3): angular velcocity about x, y, z axis in radians
• /videoray_input/throttle (videoray_msgs/Throttle): combination of throttle and auto pilot commands.
  • port (float32): [-1, 1]
  • star (float32): [-1, 1]
  • vert (float32): [-1, 1]
  • auto_depth (bool)
  • desired_depth (float32): z down in meters
  • auto_heading (bool)
  • desired_heading (float32): in degrees

Subscribed Topics

The videoray_control package subscribes /videoray_input/throttle topic, which is published by videoray_input package. It has two sources, joystick and command. The command isn't fed into control package directly.

• videoray_input/command (videoray_msgs/Throttle)