Definitions

Message Definitions

cpr_control_msgs/ControlMode.msg

# Control mode message

int8 NEUTRAL=0
int8 MANUAL=1
int8 AUTONOMY=2

int8 mode

cpr_control_msgs/ControlSelectionState.msg

# The complete state of the control selection module. This message includes the autonomy state as well as the navigation mode.

ControlState autonomy
ControlMode mode

cpr_control_msgs/ControlState.msg

# The autonomy state message, The autonomy can be either enabled/disabled and active/paused.

bool enabled
bool paused

cpr_localization_msgs/LocalizationStatus.msg

# Localization status message for all sources of localization

# the localization accuracy as a percentage value (covariance?)
float32 accuracy

# status information related to the GPS receiver units
GPSStatus[] gps

bool dead_reckoning

uint8 sensors_used  # IN DEVELOPMENT # Bitfield denoting which sensors are used in the localization

cpr_localization_msgs/GPSStatus.msg

# GPS receiver status message

uint8 MODE_NO_FIX = 0
uint8 MODE_SPP = 1
uint8 MODE_SBAS = 2
uint8 MODE_FLOAT_RTK = 3
uint8 MODE_FIXED_RTK = 4

uint8 fix_mode            # No Fix, Single Point Position (SPP), SBAS, Float RTK, Fixed RTK according to enum above.

uint8 num_connected_sats  # Number of satellites connected to the antenna/receiver
uint8[] cnr_sats          # The carrier-to-noise ratio of each connected satellite

float64 correction_age    # IN DEVELOPMENT

cpr_navigation_msgs/Mission.msg

# Message definition for an OutdoorNav mission

std_msgs/Header header

# The goal's final waypoint
cpr_navigation_msgs/Waypoint goalpoint

# If a final heading is to be set for the goal, the following fields are required
bool enable_final_heading
float64 goalpoint_heading

# If a goal tolerance is to be set for the goal, the following fields are required
bool enable_goal_tolerance
float64 position_tolerance
float64 yaw_tolerance

# The intermediate waypoints on the way to the goal
cpr_navigation_msgs/Waypoint[] viapoints

# The list of internal/external software calls that can be assigned to the goal. These will be called in the order that they are added to the list.
cpr_navigation_msgs/Task[] tasks

cpr_navigation_msgs/CurrentGoalInfo.msg

# Message contains an identifier for the goal, as well as the final goal heading and tolerances

string goal_id
cpr_navigation_msgs/Waypoint goal
float64 goal_heading
float64 goal_position_tolerance
float64 goal_heading_tolerance
cpr_navigation_msgs/Waypoint[] viapoints
float64[] viapoint_headings
float64[] viapoint_position_tolerances
float64[] viapoint_heading_tolerances

cpr_navigation_msgs/DistanceToGoal.msg

# Message includes Euclidean and Path distance to goal

float32 euclidean
float32 path

cpr_navigation_msgs/MotionState.msg

# Motion state message to indicate the current motion, expected motion and the direction of travel of the robot.

# State pertaining to current motion of the robot.
uint8 MOTION_NORMAL=10
uint8 MOTION_SLOWING=11
uint8 MOTION_STOPPED=12
uint8 MOTION_REVERSE=13
uint8 motion

# State pertaining to the robot's movement along the path. Predictive, ie state
# will be INDICATOR_LEFT_TURN if in or approaching a left turn.
uint8 INDICATOR_NORMAL=20
uint8 INDICATOR_LEFT_TURN=21
uint8 INDICATOR_RIGHT_TURN=22
uint8 INDICATOR_CLOCKWISE=23
uint8 INDICATOR_COUNTERCLOCKWISE=24
uint8 INDICATOR_HAZARD=25
uint8 indicator

# Direction of travel of the robot relative to its physical forward direction.
uint8 DIRECTION_FORWARD=30
uint8 DIRECTION_REVERSE=31
uint8 direction

cpr_navigation_msgs/NavigationState.msg

# Message containing the current navigation state(s). Navigation may be in multiple states.

uint8 STATE_IDLE = 0
uint8 STATE_COMPUTE_PATH = 1
uint8 STATE_EXECUTE_PATH = 2
uint8 STATE_REPLAN = 3
uint8 STATE_NAVIGATING_AROUND_OBSTACLE = 4
uint8 STATE_RECOVERY = 5
uint8 STATE_LOST = 6
uint8 STATE_DONE = 7
uint8 STATE_SAFETY_STOP = 8
uint8 STATE_PAUSE = 9
uint8 STATE_DISABLE = 10

uint8[] states

cpr_navigation_msgs/OdomIntent.msg

# Message containing current and predicted odom related information

std_msgs/Header header

# Current and predicted odom
perception_navigation_msgs/Odom2DLean odom
perception_navigation_msgs/Odom2DLean predicted_odom

# Time offset corresponding to prediction
float32 dt

cpr_navigation_msgs/PointVector.msg

# Vector of point vectors (for GUI)
std_msgs/Header header

cpr_navigation_msgs/Vector2D[] cloud

cpr_navigation_msgs/Progress.msg (BETA)

# Message containing the completion percentage of the currently executed path and the current goal.

float32 path_progress
float32 goal_progress
float32 mission_progress

cpr_navigation_msgs/ScanPoints.msg

# Message definition for the detection points used by the navigation that relate to the detected obstacles.

std_msgs/Header header

string[] frames_vector
cpr_navigation_msgs/PointVector[] cloud_vector

cpr_navigation_msgs/Task.msg

# Message definition for the tasks (ie. internal/external software calls) that can be assigned to an OutdoorNav mission.


string task_name
string service_call
string version
float64[] floats
string[] strings

cpr_navigation_msgs/TrackError.msg

# The path error message containing the off-path cross track error and the relative heading error to the path direction

std_msgs/Header header
float32 cross_track_error
float32 heading_error

cpr_navigation_msgs/Vector2D.msg

# 2D Vector of floats (used for GUI)

float32[2] point

cpr_navigation_msgs/Waypoints.msg

float64 x
float64 y

cpr_platform_msgs/PlatformID.msg

# Platform ID message containing the model, serial #, hardware and firmware versions

string model
string serial_id
string hardware_revision
string firmware_revision

cpr_safety_msgs/WatchdogStatus.msg

# Watchdog status message containing information related to sensor monitoring, emergency stop and safety stops

bool[] gps_watchdog_triggered
bool[] lidar_watchdog_triggered
bool[] camera_watchdog_triggered

onav_ms2_msgs/msg/Mission.msg

# A mission containing one or more Waypoints, which may contain zero or more Tasks

# A UUID string used to uniquely identify this mission
string uuid

# The human-readable name of this mission
string name

# The ordered list of Waypoints that make up the mission
onav_ms2_msgs/Waypoint[] waypoints

# Configuration parameters for the mission
# Currently unused, but planned for future development
string onav_config

onav_ms2_msgs/msg/Task.msg

# A single task that can be executed at a Waypoint

# A UUID string to uniquely identify this Task
string uuid

# The human-readable name of this task
string name

# The ROS action that this task executes
string service_call

# The version of this task
string version

# Numerical/boolean data to be passed to the service_call
# The exact meaning of these values is dependent on the underlying service
float64[] floats

# String data to be passed to the service_call
# The exact meaning of these values is dependent on the underlying service
string[] strings

onav_ms2_msgs/msg/Waypoint.msg

# A single Waypoint along a Mission

# A UUID string to uniquely identify this Waypoint
string uuid

# The human-readable name of this Waypoint
string name

# The latitude (in degrees) of this Waypoint
float64 latitude

# The longitude (in degrees) of this Waypoint
float64 longitude

# The compass heading (in degrees) of this Waypoint
float64 heading

# A radius in meters indicating the acceptable radius from the target location
# Posititon tolerance is disabled if this value is negative
float64 position_tolerance

# A tolerance in degrees indicating the acceptable deviation from the heading
# Heading tolerance is disabled if this value is negative
float64 yaw_tolerance

# The ordered set of Tasks to execute once the goal position & orientation are reached
onav_ms2_msgs/Task[] tasks

onav_mission_manager_msgs/msg/StorageState.msg

# The entire contents of the Mission database
# Note that all of the following cases are valid:
# - a Task can be referenced in multiple Waypoints
# - a Waypoint can be referenced in multiple Missions
# - a Waypoint can be orphaned (i.e. not included in any Missions)
# - a Task can be orphaned (i.e. not included in any Waypoints)

# All missions defined in the database
onav_ms2_msgs/Mission[] missions

# All waypoints defined in the database
onav_ms2_msgs/Waypoint[] waypoints

# All tasks defined in the database
onav_ms2_msgs/Task[] tasks

Standard ROS Messages

• actionlib_msgs/GoalID
• diagnostic_msgs/DiagnosticArray
• geometry_msgs/PolygonStamped
• geometry_msgs/Polygon
• geometry_msgs/PoseArray
• geometry_msgs/Twist
• nav_msgs/OccupancyGrid
• nav_msgs/Odometry
• nav_msgs/Path
• sensor_msgs/Imu
• sensor_msgs/LaserScan
• sensor_msgs/NavSatFix
• sensor_msgs/PointCloud2
• std_msgs/Bool
• std_msgs/Empty
• std_msgs/String
• tf2_msgs/TFMessage
• wireless_msgs/Connection

---

Service Definitions

cpr_control_msgs/srv/SetControlMode.srv

# Service definition to set the control mode

cpr_control_msgs/ControlMode mode
---

cpr_localization_msgs/srv/SetDatum.srv

# Service definition to set the datum with a latitude (lat) and longitude (lon)

float32 lat
float32 lon
---
bool success

cpr_navigation_msgs/srv/SetDelayCompensation.srv

# Service definition to enable/disable the delay compensation feature. If enabling, the delay to compensate for must be specified in the request.

bool enable_delay_compensation
uint16 delay
---
bool success
string message

cpr_navigation_msgs/srv/SetPathSmoother.srv

# Service definition to enable/disable the path smoothing feature. If enabling, minimum turning radius must be specified in the request.

bool enable_path_smoother
float32 turn_radius
float32 step_size
---
bool success
string message

cpr_navigation_msgs/srv/SetPathShifter.srv

# Service definition to enable/disable the path smoothing feature. If enabling, minimum turning radius must be specified in the request.

bool enable_path_shifter
float32 path_shift_offset
float32 path_shift_time
---
bool success
string message

cpr_navigation_msgs/srv/SetStopDistance.srv

# Service definition to enable/disable the stop distance. If enabling, the stop distance must be specified in the request.

bool enable_stop_distance
float32 stop_distance
---
bool success
string message

onav_mission_manager_msgs/srv/AddRemoveById.srv

# The UUID of the object we're inserting/removing
# When removing, all instances with this UUID are deleted from the parent
string uuid

# The UUID of the parent object
string parent_uuid

# The zero-based index to insert the object into
# Ignored when removing
int32 position
---
# True if the object was added/removed successfully, otherwise False
bool ok

onav_mission_manager_msgs/srv/CloneMission.srv

# The desired name for the new mission
string name

# The additional configuration options
# see onav_ms2_msgs/msg/Mission for details
string onav_config

# The ordered list of Waypoint UUIDs to include in this mission
string[] waypoint_ids
---
# The resulting Mission, with an auto-generated UUID is returned
onav_ms2_msgs/Mission result

onav_mission_manager_msgs/srv/CreateMission.srv

# The desired name for the new mission
string name

# The additional configuration options
# see onav_mission_manager_msgs/msg/Mission for details
string onav_config

# The ordered list of Waypoint UUIDs to include in this mission
string[] waypoint_ids
---
# The resulting Mission, with an auto-generated UUID is returned
onav_ms2_msgs/Mission result

onav_mission_manager_msgs/srv/CreateTask.srv

# The desired name for the Task
string name

# The ROS Action to invoke to execute the task
string service_call

# The version of the task
string version

# The numerical arguments to pass to the service_call
float64[] floats

# The string arguments to pass to the service_call
string[] strings

# Optional list of Waypoint UUIDs to assign this task to automatically
# The new task will be appended to the end of the existing Waypoints
string[] assign_to
---
# The resulting Task with an auto-generated UUID is returned
onav_ms2_msgs/Task result

onav_mission_manager_msgs/srv/CreateWaypoint.srv

# The desired name for the Waypoint
string name

# The latitude for the Waypoint in degrees
float64 latitude

# The longitude for the Waypoint in degrees
float64 longitude

# The compass heading in degrees for the Waypoint
float64 heading

# The position tolerance for the Waypoint in meters
float64 position_tolerance

# The orientation tolerance for the Waypoint in degrees
float64 yaw_tolerance

# Optional ordered list of Task UUIDs to execute at this Waypoint
string[] task_ids

# Optional list of Mission UUIDs to assign the new Waypoint to
# The new Waypoint is appended to the end of the existing Missions
string[] assign_to
---
# The resulting Waypoint with an auto-generated UUID is returned
onav_ms2_msgs/Waypoint result

onav_mission_manager_msgs/srv/DeleteById.srv

# The UUID of the object we want to delete
string uuid
---
# True if the item was successfully deleted, otherwise False
bool ok

onav_mission_manager_msgs/srv/DeleteEverything.srv

# Used to permanently delete everything from the database.
# Use this service at your own risk

# This must be set to true to confirm you really want to delete everything
bool yes_i_am_absolutely_sure_i_want_to_do_this
---
# True if the database was cleared, otherwise False
bool ok

onav_mission_manager_msgs/srv/ExportData.srv

---
# A base-64 encoded string representing a compressed version of
# the database contents.
# The data itself is a gzipped JSON string representing the database contents
# This can be written to a file or used with the ImportData.srv
# to back-up/restore the database contents
string data

onav_mission_manager_msgs/srv/GetAllMissions.srv

---
# An array of all Missions defined in the database
onav_ms2_msgs/Mission[] missions

onav_mission_manager_msgs/srv/GetAllTasks.srv

---
# The array of all Tasks defined in the database
onav_ms2_msgs/Task[] tasks

onav_mission_manager_msgs/srv/GetAllWaypoints.srv

---
# The array of all Waypoints defined in the database
onav_ms2_msgs/Waypoint[] waypoints

onav_mission_manager_msgs/srv/GetEverything.srv

---
# All Missions, Waypoints, and Tasks defined in the database
onav_mission_manager_msgs/StorageState state

onav_mission_manager_msgs/srv/GetMission.srv

# The UUID of the Mission we want to retrieve
string uuid
---
# The Mission with the given ID, or null if no Mission with that ID exists
onav_ms2_msgs/Mission mission

onav_mission_manager_msgs/srv/GetTask.srv

# The UUID of the Task we want to retrieve
string uuid
---
# The Task with the given ID, or null if no Task with that ID exists
onav_ms2_msgs/Task task

onav_mission_manager_msgs/srv/GetWaypoint.srv

# The UUID of the Waypoint we want to retrieve
string uuid
---
# The Waypoint with the given ID, or null if no Waypoint with that ID exists
onav_ms2_msgs/Waypoint waypoint

onav_mission_manager_msgs/srv/ImportData.srv

# A base-64 encoded string representing a compressed version of
# the database contents.
# The data itself is a gzipped JSON string representing the database contents
# This is the same as the data output by the ExportData service, and is intended
# to be used to restore the database to a previous state
string data
---
# The state of the database after importing the data
onav_mission_manager_msgs/StorageState state

onav_mission_manager_msgs/srv/UpdateMission.srv

# The UUID of the mission we want to edit
string uuid

# The human-readable name for the Mission
string name

# The configuration parameters for the Mission
string onav_config

# The ordered list of Waypoint UUIDs to include in the Mission
string[] waypoint_ids
---
# The edited Mission, or null if no mission with the given ID exists
onav_ms2_msgs/Mission result

onav_mission_manager_msgs/srv/UpdateTask.srv

# The UUID of the Task to edit
string uuid

# The human-readable name for the Task
string name

# The ROS Action that the Task executes
string service_call

# The version of the Task
string version

# The numerical data to pass to the service_call
float64[] floats

# The string data to pass to the service_call
string[] strings
---
# The edited Task, or null if no Task with the given ID exists
onav_ms2_msgs/Task result

onav_mission_manager_msgs/srv/UpdateWaypoint.srv

# The UUID of the Waypoint to edit
string uuid

# The human-readable name for the Waypoint
string name

# The latitude of the Waypoint in degrees
float64 latitude

# The longitude of the Waypoint in degrees
float64 longitude

# The compass heading of the Waypoint in degrees
float64 heading

# The Waypoint's position tolerance in meters
float64 position_tolerance

# The Waypoint's orientation tolerance in degrees
float64 yaw_tolerance

# The ordered list of Task UUIDs to execute at this Waypoint
string[] task_ids
---
# The edited Waypoint, or null if no Waypoint with the given ID exists
onav_ms2_msgs/Waypoint result

Standard ROS Services

• std_srvs/Empty
• std_srvs/SetBool

---

Action Definitions

cpr_localization_msgs/action/SurveyBaseStation.action

# Action definition for surveying the base station

# goal
# the number of GPS fixes that will be used to compute to surveyed position
uint32 number_of_desired_fixes
---
# result
bool success
---
# feedback
# current progress, as a percentage, of the surveying
float32 percent_complete

cpr_navigation_msgs/action/Mission.action

# Action definition for sending a mission to the Clearpath OutdoorNav software

# goal
cpr_navigation_msgs/Mission mission
---
# result
bool success
---
# feedback
string state

cpr_dock_msgs/action/Dock.action

# Action definition for sending a Clearpath UGV to its charging dock.

# goal
uint8 DOCK = 0
uint8 UNDOCK = 1
float32 type
float32 enable_predock
---
# result
bool success
---
# feedback
string state
float64 dist_to_dock # (IN DEVELOPMENT)