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Topics
bdhollis edited this page Jun 25, 2014
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ROS framework separates the code into small modular parts called nodes. To communicate between nodes, the nodes subscribe and listen to topics, which contain the data as messages. This is a list of topics used by the FCS software along with descriptions of custom messages
| Topic | Message | FCS Subscriber | FCS Publisher | Package | Custom | Description |
|---|---|---|---|---|---|---|
| fcsStatus | status | FCS Display Node, BS Display Node | Status Publisher | * | This topic contains the status of the vehicle (battery voltage, air pressure, ...) | |
| midCMD | deltaV2D | Control Interpreter Node | BS Controller Node, FCS Controller Node, Waypoint Node(?) | * | This topic contains the motion command for the FCS at the acceleration/delta velocity level for 2 deminisions (a_x, a_y, alpha). | |
| lowCMD | thrusters8 | Thuster Subscriber | Control Interpreter Node | * | This topic will pass which thrusters should be on by each thruster being assigned a bit. This current implementation does not allow variable speeds changes (such implementation would use pwm) |