Teleop Consumers Lookup - umrover/mrover-ros2 GitHub Wiki

Consumers handle communication to ROS2 topics and services, as well as frontend websockets

With the 25' school year, we have switched from one main consumers.py file to multiple consumers to increase the bandwidth and reduce latency to the frontend.

Each consumer corresponds to a core function of the rover, such as the robotic arm, autonomous navigation, etc.

! = warning, red squiggle

AutonTask
├── OdometryReading !
│   ├── FlightAltitudeIndicator !
│   └── IMUCalibration
├── CameraFeed !
├── AutonRoverMap !
├── AutonWaypointEditor !
│   ├── AutonWaypointItem !
│   ├── AutonModeCheckbox
│   ├── BasicCheckbox
│   ├── VelocityReading
│   └── AutonWaypointStore !
├── DriveControls
├── MastGimbalControls
└── ControllerDataTable

CameraView
├── ToggleButton
└── CameraFeed !

DMESTask !
├── BasicRoverMap !
├── BasicWaypointEditor !
│   └── BasicWaypointItem
├── DriveControls
├── ArmControls
├── Rover3D ! (separate back out to a js file, then @ts-ignore)
├── ControllerDataTable
└── MastGimbalControls

ISHTask
├── SelectSite ! (no warning but written like shit)
├── NinhydrinBenedict
├── CameraFeed !
├── ToggleButton
├── AutoShutdown
│   └── ToggleButton
├── SensorData ! (mess)
└── WhiteLEDs

SATask
├── BasicRoverMap !
├── SoilData ! (this component does nothing??)
├── BasicWaypointEditor !
│   └── BasicWaypointItem
├── DriveControls
├── MastGimbalControls
├── OdometryReading !
│   ├── FlightAltitudeIndicator !
│   └── IMUCalibration
├── ControllerDataTable
├── SAArmControls
├── HexHub ! (very bad)
└── LSActuator ! (maybe rethink)

Unused:
CacheControls
CalibrationCheckbox

Pano not implemented

Websocket Usage per Mission

Check which websockets a certain mission uses

Auton

  • auton
  • drive
  • nav
  • science
  • waypoints

DM/ES

  • arm
  • drive
  • mast
  • nav
  • waypoints

ISH

  • science

SA

  • arm
  • mast
  • nav
  • science
  • waypoints

Topic and Service consumer lookup

Check below to see which consumer handles a topic or service

ArmConsumer

websocket: arm

Publishing

  • arm_throttle_cmd
  • ee_pos_cmd
  • ee_vel_cmd
  • controller_cmd_vel
  • sa_throttle_cmd

Forwarding

  • arm_controller_state
  • arm_joint_data

Receiving

  • ra_controller
  • ra_mode
  • sa_controller
  • sa_mode

AutonConsumer

websocket: auton

Services

  • enable_teleop
  • enable_auton

Receiving

  • teleop_enable
  • auton_enable

DriveConsumer

websocket: drive

Publishing

  • joystick_cmd_vel

Forwarding

  • drive_left_controller_data
  • drive_right_controller_data
  • drive_controller_data

Receiving

  • joystick

MastConsumer

websocket: mast

Publishing

  • mast_gimbal_throttle_cmd

Receiving

  • mast_keyboard

NavConsumer

websocket: nav

Forwarding

  • nav_state
  • gps/fix
  • basestation/position
  • drone_odometry

ScienceConsumer

websocket: science

Forwarding

  • led
  • science_thermistors
  • science_heater_state
  • science_oxygen_data
  • science_methane_data
  • science_uv_data
  • science_temperature_data
  • science_humidity_data
  • sa_controller_state
  • sa_gear_diff_position

Services

  • science_change_heater_auto_shutoff_state
  • sa_enable_limit_switch_sensor_actuator
  • sa_gear_diff_set_position
  • science_enable_heater_<name> (one per name in heater_names)
  • science_enable_white_led_a
  • science_enable_white_led_b

Receiving

  • heater_enable
  • set_gear_diff_pos
  • auto_shutoff
  • white_leds
  • ls_toggle

WaypointsConsumer

websocket: waypoints

Receiving

  • save_auton_waypoint_list
  • save_basic_waypoint_list
  • save_current_auton_course
  • save_current_basic_course
  • delete_auton_waypoint_from_course
  • get_basic_waypoint_list
  • get_auton_waypoint_list
  • get_current_basic_course
  • get_current_auton_course
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