smarc2_structure.md

SMaRC2 Packages, Launches and Nodes

This file is auto-generated by this script and thus should not be edited by hand!

It is based on this json which is generated by this script.

This list does not contain the common topics that all nodes have(['parameter_events', 'rosout', 'describe_parameters', 'get_parameter_types', 'get_parameters', 'list_parameters', 'set_parameters', 'set_parameters_atomically'])

The robot_name parameter given to all launch files: test_robot

SMaRC2 Commit: 1c17548b2b87fbd0a794bf63639a773667bfe33a

Created: 1715868732 (2024-05-16 16:12:12)

dead_reckoning_msgs

This package did not have any launch files.

dubins_planner

This package did not have any launch files.

mqtt_bridge

demo.launch.py

No nodes worked in this launch file!

ros2_python_examples

basic_controller_example.launch

/test_robot/pid_controller_node

Subscribers

• /tf :: tf2_msgs/msg/TFMessage

• /tf_static :: tf2_msgs/msg/TFMessage

Publishers

• /test_robot/core/lcg_cmd :: sam_msgs/msg/PercentStamped

• /test_robot/core/thrust_vector_cmd :: sam_msgs/msg/ThrusterAngles

• /test_robot/core/thruster1_cmd :: smarc_msgs/msg/ThrusterRPM

• /test_robot/core/thruster2_cmd :: smarc_msgs/msg/ThrusterRPM

• /test_robot/core/vbs_cmd :: sam_msgs/msg/PercentStamped

ros_tcp_endpoint

endpoint.py

/UnityEndpoint

sam_basic_controllers

sam_control.launch

No nodes worked in this launch file!

sam_dead_reckoning

sam_dr_launch.launch

/test_robot/compass_heading_node

Subscribers

• /clock :: rosgraph_msgs/msg/Clock

• /test_robot/dr/yaw :: std_msgs/msg/Float64

Publishers

• /test_robot/dr/compass_heading :: std_msgs/msg/Float64

/test_robot/depth_node

Subscribers

• /clock :: rosgraph_msgs/msg/Clock

• /test_robot/core/depth20_pressure :: sensor_msgs/msg/FluidPressure

Publishers

• /test_robot/dr/depth_pose :: geometry_msgs/msg/PoseWithCovarianceStamped

/test_robot/dr_node

Subscribers

• /clock :: rosgraph_msgs/msg/Clock

• /test_robot/core/dvl :: smarc_msgs/msg/DVL

• /test_robot/core/imu :: sensor_msgs/msg/Imu

• /test_robot/core/sbg_imu :: sensor_msgs/msg/Imu

• /test_robot/core/thrust_vector_cmd :: sam_msgs/msg/ThrusterAngles

• /test_robot/core/thruster1_fb :: smarc_msgs/msg/ThrusterFeedback

• /test_robot/core/thruster2_fb :: smarc_msgs/msg/ThrusterFeedback

• /test_robot/dr/depth_pose :: geometry_msgs/msg/PoseWithCovarianceStamped

• /test_robot/dr/gps_odom :: nav_msgs/msg/Odometry

• /tf :: tf2_msgs/msg/TFMessage

• /tf_static :: tf2_msgs/msg/TFMessage

Publishers

• /test_robot/dr/odom :: nav_msgs/msg/Odometry

• /tf :: tf2_msgs/msg/TFMessage

• /tf_static :: tf2_msgs/msg/TFMessage

/test_robot/gps_node

Subscribers

• /clock :: rosgraph_msgs/msg/Clock

• /sam/core/gps/prt :: sensor_msgs/msg/NavSatFix

• /sam/core/gps/stb :: sensor_msgs/msg/NavSatFix

• /test_robot/core/gps :: sensor_msgs/msg/NavSatFix

• /tf :: tf2_msgs/msg/TFMessage

• /tf_static :: tf2_msgs/msg/TFMessage

Publishers

• /test_robot/dr/gps_odom :: nav_msgs/msg/Odometry

• /test_robot/gps_odom :: nav_msgs/msg/Odometry

• /test_robot/gps_odom_prt :: nav_msgs/msg/Odometry

• /test_robot/gps_odom_stb :: nav_msgs/msg/Odometry

• /tf_static :: tf2_msgs/msg/TFMessage

testing_sam_dr_launch.py

/depth_node

Subscribers

• /core/depth20_pressure :: sensor_msgs/msg/FluidPressure

Publishers

• /dr/depth_pose :: geometry_msgs/msg/PoseWithCovarianceStamped

/gps_node

Subscribers

• /core/gps :: sensor_msgs/msg/NavSatFix

• /sam/core/gps/prt :: sensor_msgs/msg/NavSatFix

• /sam/core/gps/stb :: sensor_msgs/msg/NavSatFix

• /tf :: tf2_msgs/msg/TFMessage

• /tf_static :: tf2_msgs/msg/TFMessage

Publishers

• /dr/gps_odom :: nav_msgs/msg/Odometry

• /gps_odom :: nav_msgs/msg/Odometry

• /gps_odom_prt :: nav_msgs/msg/Odometry

• /gps_odom_stb :: nav_msgs/msg/Odometry

• /tf_static :: tf2_msgs/msg/TFMessage

sam_dr_launch.py

/sam0/depth_node

Subscribers

• /clock :: rosgraph_msgs/msg/Clock

• /sam0/core/depth20_pressure :: sensor_msgs/msg/FluidPressure

Publishers

• /sam0/dr/depth_pose :: geometry_msgs/msg/PoseWithCovarianceStamped

/sam0/dr_node

Subscribers

• /clock :: rosgraph_msgs/msg/Clock

• /sam0/core/dvl :: smarc_msgs/msg/DVL

• /sam0/core/imu :: sensor_msgs/msg/Imu

• /sam0/core/sbg_imu :: sensor_msgs/msg/Imu

• /sam0/core/thrust_vector_cmd :: sam_msgs/msg/ThrusterAngles

• /sam0/core/thruster1_fb :: smarc_msgs/msg/ThrusterFeedback

• /sam0/core/thruster2_fb :: smarc_msgs/msg/ThrusterFeedback

• /sam0/dr/depth_pose :: geometry_msgs/msg/PoseWithCovarianceStamped

• /sam0/dr/gps_odom :: nav_msgs/msg/Odometry

• /tf :: tf2_msgs/msg/TFMessage

• /tf_static :: tf2_msgs/msg/TFMessage

Publishers

• /sam0/dr/odom :: nav_msgs/msg/Odometry

• /tf :: tf2_msgs/msg/TFMessage

• /tf_static :: tf2_msgs/msg/TFMessage

/sam0/gps_node

Subscribers

• /clock :: rosgraph_msgs/msg/Clock

• /sam/core/gps/prt :: sensor_msgs/msg/NavSatFix

• /sam/core/gps/stb :: sensor_msgs/msg/NavSatFix

• /sam0/core/gps :: sensor_msgs/msg/NavSatFix

• /tf :: tf2_msgs/msg/TFMessage

• /tf_static :: tf2_msgs/msg/TFMessage

Publishers

• /sam0/dr/gps_odom :: nav_msgs/msg/Odometry

• /sam0/gps_odom :: nav_msgs/msg/Odometry

• /sam0/gps_odom_prt :: nav_msgs/msg/Odometry

• /sam0/gps_odom_stb :: nav_msgs/msg/Odometry

• /tf_static :: tf2_msgs/msg/TFMessage

/sam0/rpy_node

Subscribers

• /clock :: rosgraph_msgs/msg/Clock

• /sam0/core/sbg_imu :: sensor_msgs/msg/Imu

Publishers

• /sam0/dr/pitch :: std_msgs/msg/Float64

• /sam0/dr/roll :: std_msgs/msg/Float64

• /sam0/dr/yaw :: std_msgs/msg/Float64

sam_description

sam_description.launch

/test_robot/joint_state_publisher

Subscribers

• /test_robot/command_states :: sensor_msgs/msg/JointState

• /test_robot/robot_description :: std_msgs/msg/String

Publishers

• /test_robot/joint_states :: sensor_msgs/msg/JointState

/test_robot/robot_state_publisher

Subscribers

• /test_robot/joint_states :: sensor_msgs/msg/JointState

Publishers

• /test_robot/robot_description :: std_msgs/msg/String

• /tf :: tf2_msgs/msg/TFMessage

• /tf_static :: tf2_msgs/msg/TFMessage

sam_graph_slam_2_msgs

This package did not have any launch files.

sam_msgs

This package did not have any launch files.

smarc_bringups

dummies.launch

/DUMMY_vehicle_ready

Publishers

• /test_robot/core/vehicle_ready :: std_msgs/msg/Bool

/test_robot/DUMMY_action_server

Publishers

• /test_robot/core/thruster1_cmd :: smarc_msgs/msg/ThrusterRPM

• /test_robot/core/thruster2_cmd :: smarc_msgs/msg/ThrusterRPM

Action Servers

• /test_robot/mission/goto_wp_action :: smarc_mission_msgs/action/GotoWaypoint

mission.launch

/test_robot/smarc_bt

Subscribers

• /test_robot/core/abort :: std_msgs/msg/Empty

• /test_robot/core/battery :: sensor_msgs/msg/BatteryState

• /test_robot/core/depth20_pressure :: sensor_msgs/msg/FluidPressure

• /test_robot/core/dvl :: smarc_msgs/msg/DVL

• /test_robot/core/gps :: sensor_msgs/msg/NavSatFix

• /test_robot/core/heading :: smarc_msgs/msg/FloatStamped

• /test_robot/core/lcg_fb :: sam_msgs/msg/PercentStamped

• /test_robot/core/leak :: sam_msgs/msg/Leak

• /test_robot/core/thruster1_fb :: smarc_msgs/msg/ThrusterFeedback

• /test_robot/core/thruster2_fb :: smarc_msgs/msg/ThrusterFeedback

• /test_robot/core/vbs_fb :: sam_msgs/msg/PercentStamped

• /test_robot/core/vehicle_ready :: std_msgs/msg/Bool

• /test_robot/mission/bt_command :: smarc_mission_msgs/msg/BTCommand

• /test_robot/mission/mission_control :: smarc_mission_msgs/msg/MissionControl

• /tf :: tf2_msgs/msg/TFMessage

• /tf_static :: tf2_msgs/msg/TFMessage

Publishers

• /test_robot/core/abort :: std_msgs/msg/Empty

• /test_robot/core/heartbeat :: std_msgs/msg/Empty

• /test_robot/mission/bt_tip :: py_trees_ros_interfaces/msg/Behaviour

Action Clients

• /test_robot/mission/goto_wp_action :: smarc_mission_msgs/action/GotoWaypoint

utilities.launch

/test_robot/dubins_service

Service Servers

• /test_robot/mission/dubins_service :: smarc_mission_msgs/srv/DubinsPlan

/test_robot/utm_latlon_service

Service Servers

• /test_robot/mission/utm_latlon_conversion_service :: smarc_mission_msgs/srv/UTMLatLon

smarc_bt

test_sam_bt.launch

/test_robot/action_server_node

Publishers

• /test_robot/core/thruster1_cmd :: smarc_msgs/msg/ThrusterRPM

• /test_robot/core/thruster2_cmd :: smarc_msgs/msg/ThrusterRPM

Action Servers

• /test_robot/mission/goto_wp_action :: smarc_mission_msgs/action/GotoWaypoint

/test_robot/dubins_service

Service Servers

• /test_robot/mission/dubins_service :: smarc_mission_msgs/srv/DubinsPlan

/test_robot/smarc_bt

Subscribers

• /test_robot/core/abort :: std_msgs/msg/Empty

• /test_robot/core/battery :: sensor_msgs/msg/BatteryState

• /test_robot/core/depth20_pressure :: sensor_msgs/msg/FluidPressure

• /test_robot/core/dvl :: smarc_msgs/msg/DVL

• /test_robot/core/gps :: sensor_msgs/msg/NavSatFix

• /test_robot/core/heading :: smarc_msgs/msg/FloatStamped

• /test_robot/core/lcg_fb :: sam_msgs/msg/PercentStamped

• /test_robot/core/leak :: sam_msgs/msg/Leak

• /test_robot/core/thruster1_fb :: smarc_msgs/msg/ThrusterFeedback

• /test_robot/core/thruster2_fb :: smarc_msgs/msg/ThrusterFeedback

• /test_robot/core/vbs_fb :: sam_msgs/msg/PercentStamped

• /test_robot/core/vehicle_ready :: std_msgs/msg/Bool

• /test_robot/mission/bt_command :: smarc_mission_msgs/msg/BTCommand

• /test_robot/mission/mission_control :: smarc_mission_msgs/msg/MissionControl

• /tf :: tf2_msgs/msg/TFMessage

• /tf_static :: tf2_msgs/msg/TFMessage

Publishers

• /test_robot/core/abort :: std_msgs/msg/Empty

• /test_robot/core/heartbeat :: std_msgs/msg/Empty

• /test_robot/mission/bt_tip :: py_trees_ros_interfaces/msg/Behaviour

Action Clients

• /test_robot/mission/goto_wp_action :: smarc_mission_msgs/action/GotoWaypoint

/test_robot/utm_latlon_service

Service Servers

• /test_robot/mission/utm_latlon_conversion_service :: smarc_mission_msgs/srv/UTMLatLon

smarc_mission_msgs

This package did not have any launch files.

smarc_msgs

This package did not have any launch files.

smarc_nodered

smarc_nodered.launch

/test_robot/mqtt_bridge_cloud

Subscribers

• /test_robot/core/abort :: std_msgs/msg/Empty

• /test_robot/core/battery :: sensor_msgs/msg/BatteryState

• /test_robot/core/gps :: sensor_msgs/msg/NavSatFix

• /test_robot/core/heartbeat :: std_msgs/msg/Empty

• /test_robot/core/lcg_fb :: sam_msgs/msg/PercentStamped

• /test_robot/core/leak :: sam_msgs/msg/Leak

• /test_robot/core/thruster1_fb :: smarc_msgs/msg/ThrusterFeedback

• /test_robot/core/thruster2_fb :: smarc_msgs/msg/ThrusterFeedback

• /test_robot/core/vbs_fb :: sam_msgs/msg/PercentStamped

• /test_robot/dr/altitude :: std_msgs/msg/Float64

• /test_robot/dr/depth :: std_msgs/msg/Float64

• /test_robot/dr/lat_lon :: geographic_msgs/msg/GeoPoint

• /test_robot/dr/pitch :: std_msgs/msg/Float64

• /test_robot/dr/roll :: std_msgs/msg/Float64

• /test_robot/dr/yaw :: std_msgs/msg/Float64

• /test_robot/mission/bt_command :: smarc_mission_msgs/msg/BTCommand

• /test_robot/mission/bt_tip :: py_trees_ros_interfaces/msg/Behaviour

• /test_robot/mission/mission_control :: smarc_mission_msgs/msg/MissionControl

Publishers

• /test_robot/mission/mission_control :: smarc_mission_msgs/msg/MissionControl

utm_latlon_converter

This package did not have any launch files.

workshopfun

do_science.launch

/test_robot/science_node

Publishers

• /test_robot/core/thruster1_cmd :: smarc_msgs/msg/ThrusterRPM

• /test_robot/core/thruster2_cmd :: smarc_msgs/msg/ThrusterRPM

Service Servers

• /test_robot/log_rpm_info :: example_interfaces/srv/SetBool

actionserver.launch

/test_robot/action_client_node

Action Clients

• /test_robot/mission/goto_wp_action :: smarc_mission_msgs/action/GotoWaypoint

/test_robot/action_server_node

Publishers

• /test_robot/core/thruster1_cmd :: smarc_msgs/msg/ThrusterRPM

• /test_robot/core/thruster2_cmd :: smarc_msgs/msg/ThrusterRPM

Action Servers

• /test_robot/mission/goto_wp_action :: smarc_mission_msgs/action/GotoWaypoint