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trajectory_waypoint: refactor to contain information about one of the 5 

points of the trajectory
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Martina 2018-06-12 11:22:23 +02:00 committed by Daniel Agar
parent c15f2e45d6
commit 00bc70a49c
1 changed files with 8 additions and 35 deletions
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43
msg/trajectory_waypoint.msg
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@ -1,38 +1,11 @@
# Waypoints Trajectory description. See also Mavlink TRAJECTORY msg
# The topic trajectory_waypoint_desired is used to send the user desired waypoints from the position controller to the companion computer / avoidance module.
# The topic trajectory_waypoint is used to send the adjusted waypoints from the companion computer / avoidance module to the position controller.
# Waypoint Trajectory description. See also Mavlink TRAJECTORY msg
# The topic trajectory_waypoint describe each waypoint defined in vehicle_trajectory_waypoint
uint8 POINT_0 = 0
uint8 POINT_1 = 1
uint8 POINT_2 = 2
uint8 POINT_3 = 3
uint8 POINT_4 = 4
uint8 X = 0
uint8 Y = 1
uint8 Z = 2
uint8 VX = 3
uint8 VY = 4
uint8 VZ = 5
uint8 AX = 6
uint8 AY = 7
uint8 AZ = 8
uint8 YAW = 9
uint8 YAW_SPEED = 10
float32[3] position
float32[3] velocity
float32[3] acceleration
float32 yaw
float32 yaw_speed
uint8 POINT_SIZE = 11
uint8 NUMBER_POINTS = 5
uint8 MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS = 0
uint8 type # Type from MAV_TRAJECTORY_REPRESENTATION enum.
float32[11] point_0 # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position wp, index 3-5 velocity wp, index 6-8 acceleration wp, index 9 yaw, index 10 yaw speed
float32[11] point_1 # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position wp, index 3-5 velocity wp, index 6-8 acceleration wp, index 9 yaw, index 10 yaw speed
float32[11] point_2 # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position wp, index 3-5 velocity wp, index 6-8 acceleration wp, index 9 yaw, index 10 yaw speed
float32[11] point_3 # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position wp, index 3-5 velocity wp, index 6-8 acceleration wp, index 9 yaw, index 10 yaw speed
float32[11] point_4 # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position wp, index 3-5 velocity wp, index 6-8 acceleration wp, index 9 yaw, index 10 yaw speed
bool[5] point_valid # States if respective point is valid
# TOPICS trajectory_waypoint trajectory_waypoint_desired
bool point_valid