ROS Package: duckietown_msgs ¶

Contents

ROS Package: duckietown_msgs

The duckietown_msgs package contains all messages that are used for inter-node communication via ROS in Duckietown. Each of the Duckietown messages can be found documented below and live in the dt-ros-commons/packages/duckietown_msgs directory.

Diagnostics ¶

DiagnosticsCodeProfiling ¶

File: duckietown_msgs/DiagnosticsCodeProfiling.msg

Raw Message Definition:

string node                             # Node publishing this message
string block                            # Name of the profiled code block
float32 frequency                       # Execution frequency of the block
float32 duration                        # Last execution time of the block (in seconds)
string filename                         # Filename in which this block resides
uint16[2] line_nums                     # Start and end line of the block in the file
float32 time_since_last_execution       # Seconds since last execution

DiagnosticsCodeProfilingArray ¶

File: duckietown_msgs/DiagnosticsCodeProfilingArray.msg

Raw Message Definition:

Header header
duckietown_msgs/DiagnosticsCodeProfiling[] blocks

DiagnosticsRosLink ¶

File: duckietown_msgs/DiagnosticsRosLink.msg

Raw Message Definition:

# Link direction
uint8 LINK_DIRECTION_INBOUND = 0
uint8 LINK_DIRECTION_OUTBOUND = 1

string node         # Node publishing this message
string topic        # Topic transferred over the link
string remote       # Remote end of this link
uint8 direction     # Link direction
bool connected      # Status of the link
string transport    # Type of transport used for this link
uint64 messages     # Number of messages transferred over this link
uint64 dropped      # Number of messages dropped over this link
float32 bytes       # Volume of data transferred over this link
float32 frequency   # Link frequency (Hz)
float32 bandwidth   # Link bandwidth (byte/s)

DiagnosticsRosLinkArray ¶

File: duckietown_msgs/DiagnosticsRosLinkArray.msg

Raw Message Definition:

Header header
duckietown_msgs/DiagnosticsRosLink[] links

DiagnosticsRosNode ¶

File: duckietown_msgs/DiagnosticsRosNode.msg

Raw Message Definition:

# Node type (this has to match duckietown.NodeType)
uint8 NODE_TYPE_GENERIC = 0
uint8 NODE_TYPE_DRIVER = 1
uint8 NODE_TYPE_PERCEPTION = 2
uint8 NODE_TYPE_CONTROL = 3
uint8 NODE_TYPE_PLANNING = 4
uint8 NODE_TYPE_LOCALIZATION = 5
uint8 NODE_TYPE_MAPPING = 6
uint8 NODE_TYPE_SWARM = 7
uint8 NODE_TYPE_BEHAVIOR = 8
uint8 NODE_TYPE_VISUALIZATION = 9
uint8 NODE_TYPE_INFRASTRUCTURE = 10
uint8 NODE_TYPE_COMMUNICATION = 11
uint8 NODE_TYPE_DIAGNOSTICS = 12
uint8 NODE_TYPE_DEBUG = 20

# Node health (this has to match duckietown.NodeHealth)
uint8 NODE_HEALTH_UNKNOWN = 0
uint8 NODE_HEALTH_STARTING = 5
uint8 NODE_HEALTH_STARTED = 6
uint8 NODE_HEALTH_HEALTHY = 10
uint8 NODE_HEALTH_WARNING = 20
uint8 NODE_HEALTH_ERROR = 30
uint8 NODE_HEALTH_FATAL = 40

Header header
string name             # Node publishing this message
string help             # Node description
uint8 type              # Node type (see NODE_TYPE_X above)
uint8 health            # Node health (see NODE_HEALTH_X above)
string health_reason    # String describing the reason for this health status (if any)
float32 health_stamp    # Time when the health status changed into the current
bool enabled            # Status of the switch
string uri              # RPC URI of the node
string machine          # Machine hostname or IP where this node is running
string module_type      # Module containing this node
string module_instance  # ID of the instance of the module running this node

DiagnosticsRosParameterArray ¶

File: duckietown_msgs/DiagnosticsRosParameterArray.msg

Raw Message Definition:

Header header
duckietown_msgs/NodeParameter[] params  # List of parameters

DiagnosticsRosProfiling ¶

File: duckietown_msgs/DiagnosticsRosProfiling.msg

Raw Message Definition:

Header header
duckietown_msgs/DiagnosticsRosProfilingUnit[] units  # List of profiling units

DiagnosticsRosProfilingUnit ¶

File: duckietown_msgs/DiagnosticsRosProfilingUnit.msg

Raw Message Definition:

# Link direction
uint8 LINK_DIRECTION_INBOUND = 0
uint8 LINK_DIRECTION_OUTBOUND = 1

string node         # Node publishing this message
string name         # Name of the profiled unit
float32 time        # Execution time of the unit

DiagnosticsRosTopic ¶

File: duckietown_msgs/DiagnosticsRosTopic.msg

Raw Message Definition:

# Topic direction (this has to match duckietown.TopicDirection)
uint8 TOPIC_DIRECTION_INBOUND = 0
uint8 TOPIC_DIRECTION_OUTBOUND = 1

# Topic type (this has to match duckietown.TopicType)
uint8 TOPIC_TYPE_GENERIC = 0
uint8 TOPIC_TYPE_DRIVER = 1
uint8 TOPIC_TYPE_PERCEPTION = 2
uint8 TOPIC_TYPE_CONTROL = 3
uint8 TOPIC_TYPE_PLANNING = 4
uint8 TOPIC_TYPE_LOCALIZATION = 5
uint8 TOPIC_TYPE_MAPPING = 6
uint8 TOPIC_TYPE_SWARM = 7
uint8 TOPIC_TYPE_BEHAVIOR = 8
uint8 TOPIC_TYPE_VISUALIZATION = 9
uint8 TOPIC_TYPE_INFRASTRUCTURE = 10
uint8 TOPIC_TYPE_COMMUNICATION = 11
uint8 TOPIC_TYPE_DIAGNOSTICS = 12
uint8 TOPIC_TYPE_DEBUG = 20

string node                     # Node publishing this message
string name                     # Topic object of the diagnostics
string help                     # Topic description
uint8 type                      # Topic type
uint8 direction                 # Topic direction
float32 frequency               # Topic frequency (Hz)
float32 effective_frequency     # Topic (effective) frequency (Hz)
float32 healthy_frequency       # Frequency at which this topic can be considered healthy
float32 bandwidth               # Topic bandwidth (byte/s)
bool enabled                    # Topic switch

DiagnosticsRosTopicArray ¶

File: duckietown_msgs/DiagnosticsRosTopicArray.msg

Raw Message Definition:

Header header
duckietown_msgs/DiagnosticsRosTopic[] topics

Drone ¶

DroneControl ¶

File: duckietown_msgs/DroneControl.msg

Raw Message Definition:

#Roll Pitch Yaw(rate) Throttle Commands, simulating output from
#remote control. Values range from 1000 to 2000
#which corespond to values from 0% to 100%

float32 roll
float32 pitch
float32 yaw
float32 throttle

DroneMode ¶

File: duckietown_msgs/DroneMode.msg

Raw Message Definition:

# Power supply status constants
uint8 DRONE_MODE_DISARMED = 0
uint8 DRONE_MODE_ARMED = 1
uint8 DRONE_MODE_FLYING = 2

# The drone status  as reported. Values defined above
uint8 drone_mode

Commands ¶

CarControl ¶

File: duckietown_msgs/CarControl.msg

Raw Message Definition:

Header header
float32 speed
float32 steering
bool need_steering

DuckiebotLED ¶

File: duckietown_msgs/DuckiebotLED.msg

Raw Message Definition:

Header header
std_msgs/ColorRGBA[] colors

FSMState ¶

File: duckietown_msgs/FSMState.msg

Raw Message Definition:

# pseudo constants
string LANE_FOLLOWING="LANE_FOLLOWING"
string INTERSECTION_COORDINATION="INTERSECTION_COORDINATION"
string INTERSECTION_CONTROL="INTERSECTION_CONTROL"
string NORMAL_JOYSTICK_CONTROL="NORMAL_JOYSTICK_CONTROL"
string SAFE_JOYSTICK_CONTROL="SAFE_JOYSTICK_CONTROL"
string PARKING="PARKING"
string ARRIVE_AT_STOP_LINE="ARRIVE_AT_STOP_LINE"
string LANE_RECOVERY="LANE_RECOVERY"
string INTERSECTION_RECOVERY="INTERSECTION_RECOVERY"
string CALIBRATING="CALIBRATING"
string CALIBRATING_CALC="CALIBRATING_CALC"

LEDPattern ¶

File: duckietown_msgs/LEDPattern.msg

Raw Message Definition:

Header header
string[]  color_list
std_msgs/ColorRGBA[]  rgb_vals
int8[]    color_mask
float32   frequency
int8[]    frequency_mask

Twist2DStamped ¶

File: duckietown_msgs/Twist2DStamped.msg

Raw Message Definition:

Header header
float32 v
float32 omega

WheelsCmd ¶

File: duckietown_msgs/WheelsCmd.msg

Raw Message Definition:

float32 vel_left
float32 vel_right

WheelsCmdDBV2Stamped ¶

File: duckietown_msgs/WheelsCmdDBV2Stamped.msg

Raw Message Definition:

Header header
float32 gamma           #"vel_left" changed to "gamma", RFMH_2019_02_26
float32 vel_wheel       #"vel_right" changed to "vel_wheel", RFMH_2019_02_26
float32 trim            #included "trim" to be accessible in the wheels_driver_node as well, RFMH_2019_04_01

WheelsCmdStamped ¶

File: duckietown_msgs/WheelsCmdStamped.msg

Raw Message Definition:

Header header
float32 vel_left
float32 vel_right

Image Pipeline ¶

AntiInstagramThresholds ^^^^^^^^^^^^^^^^^^^^^^s

File: duckietown_msgs/AntiInstagramThresholds.msg

Raw Message Definition:

int16[3] low
int16[3] high

AprilTagDetection ¶

File: duckietown_msgs/AprilTagDetection.msg

Raw Message Definition:

geometry_msgs/Transform transform
int32 tag_id
string tag_family
int32 hamming
float32 decision_margin
float32[9] homography
float32[2] center
float32[8] corners
float32 pose_error

AprilTagDetectionArray ¶

File: duckietown_msgs/AprilTagDetectionArray.msg

Raw Message Definition:

Header header
AprilTagDetection[] detections

AprilTagsWithInfos ¶

File: duckietown_msgs/AprilTagsWithInfos.msg

Raw Message Definition:

Header header
duckietown_msgs/AprilTagDetection[] detections
duckietown_msgs/TagInfo[] infos

DisplayFragment ¶

File: duckietown_msgs/AprilTagsWithInfos.msg

Raw Message Definition:

Header header
duckietown_msgs/AprilTagDetection[] detections
duckietown_msgs/TagInfo[] infos

LineFollowerStamped ¶

File: duckietown_msgs/LineFollowerStamped.msg

Raw Message Definition:

Header header
duckietown_msgs/AprilTagDetection[] detections
duckietown_msgs/TagInfo[] infos

ObstacleImageDetection ¶

File: duckietown_msgs/ObstacleImageDetection.msg

Raw Message Definition:

duckietown_msgs/Rect bounding_box
duckietown_msgs/ObstacleType type

ObstacleImageDetectionList ¶

File: duckietown_msgs/ObstacleImageDetectionList.msg

Raw Message Definition:

Header header
duckietown_msgs/ObstacleImageDetection[] list
float32 imwidth
float32 imheight

ObstacleProjectedDetection ¶

File: duckietown_msgs/ObstacleProjectedDetection.msg

Raw Message Definition:

geometry_msgs/Point location
duckietown_msgs/ObstacleType type
float32 distance

ObstacleProjectedDetectionList ¶

File: duckietown_msgs/ObstacleProjectedDetectionList.msg

Raw Message Definition:

Header header
duckietown_msgs/ObstacleProjectedDetection[] list

ObstacleType ¶

File: duckietown_msgs/ObstacleType.msg

Raw Message Definition:

uint8 DUCKIE=0
uint8 CONE=1
uint8 type

Pixel ¶

File: duckietown_msgs/Pixel.msg

Raw Message Definition:

int32 u
int32 v

Rect ¶

File: duckietown_msgs/Rect.msg

Raw Message Definition:

# all in pixel coordinate
# (x, y, w, h) defines a rectangle
int32 x
int32 y
int32 w
int32 h

Rects ¶

File: duckietown_msgs/Rects.msg

Raw Message Definition:

duckietown_msgs/Rect[] rects

SceneSegments ¶

File: duckietown_msgs/SceneSegments.msg

Raw Message Definition:

sensor_msgs/Image segimage
duckietown_msgs/Rect[] rects

Segment ¶

File: duckietown_msgs/Segment.msg

Raw Message Definition:

uint8 WHITE=0
uint8 YELLOW=1
uint8 RED=2
uint8 color
duckietown_msgs/Vector2D[2] pixels_normalized
duckietown_msgs/Vector2D normal

geometry_msgs/Point[2] points

SegmentList ¶

File: duckietown_msgs/SegmentList.msg

Raw Message Definition:

Header header
duckietown_msgs/Segment[] segments

StreetNameDetection ¶

File: duckietown_msgs/StreetNameDetection.msg

Raw Message Definition:

#Mirrors TagDetection.h in the apriltags pkg
bool good
int32 id
float32[] p
float32[] cxy
float32 observedPerimeter
float32[] homography
float32 orientation
float32[] hxy
geometry_msgs/Transform transform
string text

TagInfo ¶

File: duckietown_msgs/TagInfo.msg

Raw Message Definition:

Header header
int32 id

#(StreetName, TrafficSign, Localization, Vehicle)
uint8 tag_type

uint8 S_NAME=0
uint8 SIGN=1
uint8 LIGHT=2
uint8 LOCALIZE=3
uint8 VEHICLE=4

string street_name

uint8 traffic_sign_type
# (12 possible traffic sign types)

uint8 STOP=5
uint8 YIELD=6
uint8 NO_RIGHT_TURN=7
uint8 NO_LEFT_TURN=8
uint8 ONEWAY_RIGHT=9
uint8 ONEWAY_LEFT=10
uint8 FOUR_WAY=11
uint8 RIGHT_T_INTERSECT=12
uint8 LEFT_T_INTERSECT=13
uint8 T_INTERSECTION=14
uint8 DO_NOT_ENTER=15
uint8 PEDESTRIAN=16
uint8 T_LIGHT_AHEAD=17
uint8 DUCK_CROSSING=18
uint8 PARKING=19

string vehicle_name

# Just added a single number for location. Probably want to use Vector2D.msg, but I get errors when I try to add it.
float32 location

VehicleCorners ¶

File: duckietown_msgs/VehicleCorners.msg

Raw Message Definition:

Header header
geometry_msgs/Point32[] corners
std_msgs/Bool detection
int32 H
int32 W

Navigation ¶

CoordinationClearance ¶

File: duckietown_msgs/CoordinationClearance.msg

Raw Message Definition:

Header header
int8 status

int8 NA=-1
int8 WAIT=0
int8 GO=1

CoordinationSignal ¶

File: duckietown_msgs/CoordinationSignal.msg

Raw Message Definition:

Header header

string signal

# these must match with LED_protocol.yaml
string OFF=light_off
#string ON = light_on
string ON=traffic_light_go
string SIGNAL_A=CAR_SIGNAL_A
string SIGNAL_B=CAR_SIGNAL_B
string SIGNAL_C=CAR_SIGNAL_C
string SIGNAL_GREEN = CAR_SIGNAL_GREEN
string SIGNAL_PRIORITY = CAR_SIGNAL_PRIORITY
string SIGNAL_SACRIFICE_FOR_PRIORITY = CAR_SIGNAL_SACRIFICE_FOR_PRIORITY

string TL_GO_ALL=tl_go_all
string TL_STOP_ALL=tl_stop_all
string TL_GO_N=tl_go_N
string TL_GO_S=tl_go_S
string TL_GO_W=tl_go_W
string TL_GO_E=tl_go_E
string TL_YIELD=tl_yield

EpisodeStart ¶

File: duckietown_msgs/EpisodeStart.msg

Raw Message Definition:

Header header
string episode_name
string other_payload_yaml

IntersectionPose ¶

File: duckietown_msgs/IntersectionPose.msg

Raw Message Definition:

Header header
float32 x
float32 y
float32 theta
uint8 type
float32 likelihood

IntersectionPoseImg ¶

File: duckietown_msgs/IntersectionPoseImg.msg

Raw Message Definition:

Header header
float32 x
float32 y
float32 theta
uint8 type
float32 likelihood
sensor_msgs/CompressedImage img

IntersectionPoseImgDebug ¶

File: duckietown_msgs/IntersectionPoseImgDebug.msg

Raw Message Definition:

Header header
float32 x
float32 y
float32 theta
uint8 type
float32 likelihood
float32 x_init
float32 y_init
float32 theta_init
sensor_msgs/CompressedImage img

KinematicsParameters ¶

File: duckietown_msgs/KinematicsParameters.msg

Raw Message Definition:

float64[] parameters

KinematicsWeights ¶

File: duckietown_msgs/KinematicsWeights.msg

Raw Message Definition:

float64[] weights

LanePose ¶

File: duckietown_msgs/LanePose.msg

Raw Message Definition:

Header header
float32 d   #lateral offset
float32 d_ref #lateral offset reference
float32 phi #heading error
float32 phi_ref #heading error reference
float32[4] d_phi_covariance
float32 curvature
float32 curvature_ref # Refernece Curvature
float32 v_ref # Referenece Velocity
int32 status #Status of duckietbot 0 if normal, 1 if error is encountered
bool in_lane #Status of duckietbot in lane

#Enum for status
int32 NORMAL=0
int32 ERROR=1

LEDInterpreter ¶

File: duckietown_msgs/LEDInterpreter.msg

Raw Message Definition:

Header header
bool vehicle
bool trafficlight

MaintenanceState ¶

File: duckietown_msgs/MaintenanceState.msg

Raw Message Definition:

Header header
string state

# pseudo constants
string WAY_TO_MAINTENANCE="WAY_TO_MAINTENANCE"
string WAY_TO_CHARGING="WAY_TO_CHARGING"
string CHARGING="CHARGING"
string WAY_TO_CALIBRATING="WAY_TO_CALIBRATING"
string CALIBRATING="CALIBRATING"
string WAY_TO_CITY="WAY_TO_CITY"
string NONE="NONE"

Pose2DStamped ¶

File: duckietown_msgs/Pose2DStamped.msg

Raw Message Definition:

Header header
float64 x
float64 y
float64 theta

SignalsDetection ¶

File: duckietown_msgs/SignalsDetection.msg

Raw Message Definition:

Header header

# this is what we can see at the intersection:
string front
string right
string left

# For the first backoff approach
# string led_detected
# string no_led_detected

# Each of these can be:
string NO_CAR='no_car_detected'
string SIGNAL_A='car_signal_A'
string SIGNAL_B='car_signal_B'
string SIGNAL_C='car_signal_C'
string SIGNAL_PRIORITY='car_signal_priority'
string SIGNAL_SACRIFICE_FOR_PRIORITY='car_signal_sacrifice_for_priority'

string NO_CARS='no_cars_detected'
string CARS   ='cars_detected'


# Plus we can see the traffic light

# for the moment we assume that no traffic light exists

string traffic_light_state

string NO_TRAFFIC_LIGHT='no_traffic_light'
string STOP='tl_stop'
string GO='tl_go'
string YIELD='tl_yield'

StopLineReading ¶

File: duckietown_msgs/StopLineReading.msg

Raw Message Definition:

Header header
bool stop_line_detected
bool at_stop_line
geometry_msgs/Point stop_line_point #this is in the "lane frame"

StreetNames ¶

File: duckietown_msgs/StreetNames.msg

Raw Message Definition:

Header header
duckietown_msgs/StreetNameDetection[] detections

ThetaDotSample ¶

File: duckietown_msgs/ThetaDotSample.msg

Raw Message Definition:

float32 d_L
float32 d_R
float32 dt
float32 theta_angle_pose_delta

Trajectory ¶

File: duckietown_msgs/Trajectory.msg

Raw Message Definition:

Header header
geometry_msgs/Vector3Stamped[] pos
geometry_msgs/Vector3Stamped[] vel
geometry_msgs/Vector3Stamped[] acc
geometry_msgs/Vector3Stamped[] jerk

TurnIDandType ¶

File: duckietown_msgs/TurnIDandType.msg

Raw Message Definition:

int16 tag_id
int16 turn_type

VehiclePose ¶

File: duckietown_msgs/VehiclePose.msg

Raw Message Definition:

Header header
std_msgs/Float32 rho
std_msgs/Float32 theta
std_msgs/Float32 psi
std_msgs/Bool detection

Vsample ¶

File: duckietown_msgs/Vsample.msg

Raw Message Definition:

float32 d_L
float32 d_R
float32 dt
float32 theta_angle_pose_delta
float32 x_axis_pose_delta
float32 y_axis_pose_delta

Primitive ¶

BoolStamped ¶

File: duckietown_msgs/BoolStamped.msg

Raw Message Definition:

Header header
bool data

Vector2D ¶

File: duckietown_msgs/Vector2D.msg

Raw Message Definition:

float32 x
float32 y

ROS ¶

NodeParameter ¶

File: duckietown_msgs/NodeParameter.msg

Raw Message Definition:

# Parameter type (this has to match duckietown.TopicType)
uint8 PARAM_TYPE_UNKNOWN = 0
uint8 PARAM_TYPE_STRING = 1
uint8 PARAM_TYPE_INT = 2
uint8 PARAM_TYPE_FLOAT = 3
uint8 PARAM_TYPE_BOOL = 4

string node         # Name of the node
string name         # Name of the parameter (fully resolved)
string help         # Description of the parameter
uint8 type          # Type of the parameter (see PARAM_TYPE_X above)
float32 min_value   # Min value (for type INT, UINT, and FLOAT)
float32 max_value   # Max value (for type INT, UINT, and FLOAT)
bool editable       # Editable (it means that the node will be notified for changes)

ParamTuner ¶

File: duckietown_msgs/ParamTuner.msg

Raw Message Definition:

Header header
float32 cross_track_err
float32 cross_track_integral
float32 diff_cross_track_err
float32 heading_err
float32 heading_integral
float32 diff_heading_err
float32 dt

SourceTargetNodes ¶

File: duckietown_msgs/SourceTargetNodes.msg

Raw Message Definition:

string source_node
string target_node

Sensors ¶

ButtonEvent ¶

File: duckietown_msgs/ButtonEvent.msg

Raw Message Definition:

uint8 EVENT_SINGLE_CLICK = 0
uint8 EVENT_HELD_3SEC = 10
uint8 EVENT_HELD_10SEC = 20

uint8 event

DuckieSensor ¶

File: duckietown_msgs/DuckieSensor.msg

Raw Message Definition:

# Sensors send value and type messages
# For analog sensors value = 0..4095 and fvalue = 0.0..1.0
# For digital sensors value= 0..1 and fvalue = 0.0
uint16 value
float32 fvalue
bool is_analog
string name

EncoderStamped ¶

File: duckietown_msgs/EncoderStamped.msg

Raw Message Definition:

Header header
float32 vel_encoder
int64 count

LEDDetection ¶

File: duckietown_msgs/LEDDetection.msg

Raw Message Definition:

time timestamp1             # initial timestamp of the camera stream used
time timestamp2             # final timestamp of the camera stream used
Vector2D pixels_normalized
float32 frequency
string color        # will be r, g or b
float32 confidence  # some value of confidence for the detection (TBD)

# for debug/visualization
float64[] signal_ts
float32[] signal
float32[] fft_fs
float32[] fft

LEDDetectionArray ¶

File: duckietown_msgs/LEDDetectionArray.msg

Raw Message Definition:

LEDDetection[] detections

LEDDetectionDebugInfo ¶

File: duckietown_msgs/LEDDetectionDebugInfo.msg

Raw Message Definition:

uint8 state # 0: idle, 1: capturing, 2: processing
float32 capture_progress

uint32[2] cell_size
float32[4] crop_rect_norm

sensor_msgs/CompressedImage variance_map
Vector2D[] candidates

LEDDetectionArray led_all_unfiltered

LightSensor ¶

File: duckietown_msgs/LightSensor.msg

Raw Message Definition:

Header header
int32 r
int32 g
int32 b
int32 c
int32 real_lux
int32 lux
int32 temp

WheelEncoderStamped ¶

File: duckietown_msgs/WheelEncoderStamped.msg

Raw Message Definition:

# Enum: encoder type
uint8 ENCODER_TYPE_ABSOLUTE = 0
uint8 ENCODER_TYPE_INCREMENTAL = 1

Header header
int32 data
uint16 resolution
uint8 type