Autonomy API
The Autonomy provides some relevant topics and services suitable for controlling and monitoring the robot as it is performing autonomous navigation.
Topics Published by Autonomy
The OutdoorNav software publishes to the topics in this section either all the time or while an autonomous navigation missions is running. They can be used to monitor the behaviour of OutdoorNav.
/assisted_teleop/cmd_vel
Message Type: geometry_msgs/Twist
Description: The safe output velocity from the assisted teleop node computes. If assisted teleop is enabled the UGV will use this velocity.
/assisted_teleop/footprint
Message Type: geometry_msgs/Polygon
Description: The footprint that the assisted teleop node uses to compute if it is in a collision state.
/assisted_teleop/obstacle_map
Message Type: clearpath_safety_msgs/ObstacleMap
Description: The radial mapping of detected obstacles used to populate the joystick on the OutdoorNav UI.
/assisted_teleop/safe_path
Message Type: nav_msgs/Path
Description: The path used by assisted teleop to lookahead for collisions.
/assisted_teleop/safety_footprints
Message Type: nav_msgs/Path
Description: Footprint sets used for detecting obstacles and slowing down the robot to a standstill. The footprints are modular in size according to the current velocity of the robot.
/assisted_teleop/state
Message Type: clearpath_safety_msgs/AssistedTeleopState
Description: The current state of the assisted teleop node including any error conditions that may occur.
/control_selection/control_state
Message Type: clearpath_control_msgs/ControlSelectionState
Description: Indicates the complete state of control selection including autonomy state and mode.
/control_selection/current_mode
Message Type: clearpath_control_msgs/ControlMode
Description: Current control mode (NEUTRAL, MANUAL, AUTONOMY).
/dock/feedback
Message Type: clearpath_dock_msgs/DockActionFeedback
Description: Feedback topic from the dock action.
/dock/result
Message Type: clearpath_dock_msgs/DockActionResult
Description: Result topic from the dock action.
/dock/properties
Message Type: clearpath_dock_msgs/DockProperties
Description: A list of docks, in which each dock includes information related to the location, id, etc...
/dock/state
Message Type: clearpath_dock_msgs/DockState
Description: The current state of the docking process.
/localization/odom
Message Type: nav_msgs/Odometry
Description: The robot's current pose and velocity.
/localization/status
Message Type: clearpath_localization_msgs/LocalizationStatus
Description: Current localization status. Includes accuracy, GNSS status, and whether the robot is dead reckoning.
/mission/feedback
Message Type: clearpath_navigation_msgs/MissionActionFeedback
Description: Feedback topic from the mission action.
/mission/result
Message Type: clearpath_navigation_msgs/MissionActionResult
Description: Result topic from the mission action.
/navigation/cmd_vel
Message Type: geometry_msgs/Twist
Description: This output commanded velocity from the autonomy software (OutdoorNav) to control the velocity of the platform. It is commonly relayed directly into the UGV's velocity controller.
/navigation/distance_to_goal
Message Type: clearpath_navigation_msgs/DistanceToGoal
Description: The current Euclidean distance and the path distance, in meters, from the robot to its current goal.
/navigation/footprint
Message Type: geometry_msgs/Polygon
Description: The footprint of the robot.
/navigation/global_costmap
Message Type: nav_msgs/OccupancyGrid
Description: An occupancy grid consisting of the Free, Occupied or Unknown space that the robot uses to plan paths in the environment.
/navigation/local_costmap
Message Type: nav_msgs/OccupancyGrid
Description: An occupancy grid consisting of the Free, Occupied or Unknown space that the robot uses to detect obstacles.
/navigation/local_plan
Message Type: nav_msgs/Path
Description: The MPC local plan that the navigation uses to control the robot along the reference path.
/navigation/metrics
Message Type: clearpath_navigation_msgs/Metrics
Description: This topic provides metric information regarding the lifetime of the navigation. This includes the total distance travelled, duration run, as well as mission information such as how many missions have been sent, how many have been completed and the number of replanning maneuvers, recoveries and number of tasks executed.
/navigation/motion_state
Message Type: clearpath_navigation_msgs/MotionState
Description: This topic provides information about the motion state of the robot. This includes information about whether the robot is moving or stopped. Whether it is about to make a turn and the direction of the turn, and the direction of travel of the robot in regards to its physical orientation.
/navigation/odom_intent (IN DEVELOPMENT)
Message Type: clearpath_navigation_msgs/OdomIntent
Description: The robot's current pose and velocity as well as an intended pose and velocity in the immediate future.
/navigation/path
Message Type: geometry_msgs/PoseArray
Description: The path that the robot is currently traversing. This is initialized with the initial path and may be updated with paths generated from replanning maneuvers.
/navigation/progress (BETA)
Message Type: clearpath_navigation_msgs/Progress
Description: The completion percentage of the current path, the current goal and the current mission.
/navigation/safety_footprints
Message Type: geometry_msgs/PolygonStamped
Description: Footprint sets used for detecting obstacles and slowing down the robot to a standstill. The footprints are modular in size according to the current velocity of the robot.
/navigation/scan_points (IN DEVELOPMENT)
Message Type: clearpath_navigation_msgs/ScanPoints
Description: Scans and pointclouds from the various ROS message formats converted into a simple PointVector format that can be easily consumed by the UI.
/navigation/state (BETA)
Message Type: clearpath_navigation_msgs/NavigationState
Description: The current navigation state. The available states are COMPUTE PATH, EXECUTE, REPLAN, NAVIGATING AROUND OBSTACLE, RECOVERY, IDLE, PAUSE, ESTOP, LOST. Multiple simultaneous states are possible.
/navigation/track_error
Message Type: clearpath_navigation_msgs/TrackError
Description: The current crosstrack error (ie. the off-path distance between the robot and the reference path) and as well as the heading error (ie. the difference between the current heading and the path direction).
/safety/safety_stop
Message Type: clearpath_safety_msgs/Safety
Description: Flag denoting if autonomy should be stopped due to any of the following reasons: emergency stop active, one of the sensors has triggered the safety monitor watchdog.
/safety/watchdog_status (IN DEVELOPMENT)
Message Type: clearpath_safety_msgs/WatchdogStatus
Description: Provides a list of status flags for each of the possible sensors that may trigger a safety stop. The watchdog will trigger if the sensor times out (ie. does not publish a relevant ROS message for 1 second).
/target_tracker/state
Message Type: clearpath_dock_msgs/TargetTrackerState
Description: The state information for target tracker used as part of docking.
/undock/feedback
Message Type: clearpath_dock_msgs/UndockActionFeedback
Description: Feedback topic from the undock action.
/undock/result
Message Type: clearpath_dock_msgs/UndockActionResult
Description: Result topic from the undock action.
Topics Subscribed to by Autonomy
The OutdoorNav software subscribes to the topics in this section. They can be used to control the behaviour of OutdoorNav.
/platform/cmd_vel
Message Type: geometry_msgs/Twist
Description: Platform-level commanded velocity. This should be the velocity tracked by the platforms velocity controller.
/mission/cancel
Message Type: actionlib_msgs/GoalID
Description: This topic is used to cancel all the missions that have been sent to the OutdoorNav software.
/mission/goal
Message Type: clearpath_navigation_msgs/msg/MissionActionGoal
Description: This topic is used to send a goal to the OutdoorNav software. The goal can consist of a series of Waypoints and must include a Goal point.
/dock/cancel
Message Type: actionlib_msgs/GoalID
Description: This topic is used to cancel the docking process that has been initialized by a previously sent goal.
/dock/goal
Message Type: clearpath_dock_msgs/msg/DockActionGoal
Description: This topic is used to send a goal to the docking process. The goal consists of the UUID of the dock to dock at as well as wether or not local docking should be performed.
/undock/cancel
Message Type: actionlib_msgs/GoalID
Description: This topic is used to cancel the undocking process that has been initialized by a previously sent goal.
/undock/goal
Message Type: clearpath_dock_msgs/msg/UndockActionGoal
Description: This topic is used to send a goal to the undocking process. The goal is empty since we always consider undocking to be a local undocking process.
Services Exported by Autonomy
/control_selection/set_mode
Service Type: clearpath_control_msgs/srv/SetControlMode
Description: Change the current control mode from NEUTRAL to MANUAL or AUTONOMY.
/control_selection/autonomy_pause
Service Type: std_srvs/SetBool
Description: Pause the autonomy when it is currently in AUTONOMY mode. Will only pause when autonomy is active.
/control_selection/autonomy_resume
Service Type: std_srvs/SetBool
Description: Resume the autonomy when it is current mode is in AUTONOMY. Will only resume if the robot is in a paused state.
/dock/add
Service Type: clearpath_dock_msgs/srv/AddDock
Description: Add a dock to the database of docks. Complete list of dock information is required as input. The new dock will appear on the UI.
/dock/remove
Service Type: clearpath_dock_msgs/srv/RemoveDock
Description: Remove and existing dock from the database. Input to this service requires ether the UUID or the semantic name of the dock.
/dock/clear_data
Service Type: std_srvs/srv/Trigger
Description: Remove all existing dock data from storage.
/dock/set_location/by_id
Service Type: clearpath_dock_msgs/srv/SetDockLocationByID
Description: Can be used to either set up a new dock (empty string in the uuid field), or update
the location of an existing dock (where the uuid field is required).
/dock/set_location/by_name
Service Type: clearpath_dock_msgs/srv/SetDockLocationByName
Description: Can be used to update the location of an existing dock. Requires the semantic name
of the dock to be input into the name field.
/localization/set_datum
Service Type: clearpath_localization_msgs/srv/SetDatum
Description: This service is used to manually set the datum parameters of OutdoorNav running on the UGV. After setting the datum parameter, this service also reinitializes the states of the localization according to the current sensor readings. If you are sending a mission to the UGV without using the UI and through the API, you must call this service before sending the mission.
/localization/reset
Service Type: clearpath_localization_msgs/srv/ResetLocalization
Description: This service can be used to trigger a reset of the UGVs localization.
/navigation/set_collision_avoidance
Service Type: std_srvs/SetBool
Description: Modify the state of the collision avoidance feature. If True, collision avoidance is ENABLED and the robot will use its lidar(s) to detect and maneuver around obstacles. If False, collision avoidance is DISABLED and the robot will NOT use its lidar(s) to detect and maneuver around obstacles. Disabling this feature is not recommended and should be used with caution.
This feature does not take effect immediately when the service is called, but only takes effect at the next Goal.
Disabling collision avoidance also disables the continuous planner, in such a case where the continuous planner is enabled. When re-enabling the collision avoidance, the continuous planner must also be re-enabled using the following API service.
/navigation/set_continuous_planner
Service Type: std_srvs/SetBool
Description: Modify the state of the continuous planning feature. If True, continuous planning is ENABLED and the robot will proactively attempt to generate a path around detected obstacles. If False, continuous planning is DISABLED and the robot will stop in front of obstacles before generating a path around the obstacle.
- This feature takes effect immediately once the service is called.
- This service needs to be called if you are re-enabling the collision avoidance and want the continuous planner to be active. Disabling collision avoidance will have disabled the continous planner.
/navigation/set_path_smoother
Service Type: clearpath_navigation_msgs/srv/SetPathSmoother
Description: Modify the state of the path smoothing feature. If True, path smoothing is ENABLED and curved paths will be generated according to the specified turning radius. If False, path smoothing is DISABLED and point-to-point paths will be generated.
This feature takes effect immediately once the service is called.
/navigation/set_path shifter
Service Type: clearpath_navigation_msgs/srv/SetPathShifter
Description: Modify the state of the path shifting feature. If True, path shifting is ENABLED and the reference path will be automatically shifted as it veers off the reference path (to prevent oscillations). If False, path shifting is DISABLED and normal behaviour is active.
This feature takes effect immediately once the service is called.
/navigation/set_stop_distance (IN DEVELOPMENT)
Service Type: clearpath_navigation_msgs/srv/SetStopDistance
Description: Modify the state of the stop distance feature. If True, the stop distance feature is ENABLED and the robot will stop the specified distance from obstacles. If False, the stop distance feature is DISABLED and the robot will stop the default distance from obstacles.
/navigation/set_delay_compensation (IN DEVELOPMENT)
Service Type: clearpath_navigation_msgs/srv/SetDelayCompensation
Description: Modify the state of the delay compensation feature. If True, delay compensation is ENABLED and the controller will compensate for low-level mechanical delays. If False, delay compensation is DISABLED and the normal behaviour is expected.
Actions Exported by Autonomy
/dock
Action Type: clearpath_dock_msgs/action/Dock
Description: Send the robot to the charging dock, if the docking package has been included.
/localization/survey
Action Type: clearpath_localization_msgs/action/SurveyBaseStation
Description: Start surveying the base station, if available.
/mission
Action Type: clearpath_navigation_msgs/action/Mission
Description: Send goals for execution by the robot. This will include the goal, the waypoint(s), tasks, goal tolerances, goal heading, a from_start flag, and an optional start_waypoint_uuid.
/mission/by_id
Action Type: clearpath_navigation_msgs/action/ExecuteMissionByUuid
Description: Send goals for execution by the robot according to the specific mission uuid. This will include the goal, the waypoint(s), tasks, goal tolerances, goal heading, an optional start_waypoint_uuid, and a from_start flag.
/undock
Action Type: clearpath_dock_msgs/action/Dock
Description: Undock the robot to the charging dock, if the docking package has been included.