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replace obstacle_avoidance message with trajectory_waypoint and trajectory_bezier

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Martina 2018-03-31 13:43:24 +02:00 committed by Daniel Agar
parent 82e0547f6e
commit e59a29197e
4 changed files with 63 additions and 17 deletions
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3
msg/CMakeLists.txt
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@ -74,7 +74,6 @@ set(msg_files
mission_result.msg
mount_orientation.msg
multirotor_motor_limits.msg
obstacle_avoidance.msg
obstacle_distance.msg
offboard_control_mode.msg
optical_flow.msg
@ -107,6 +106,8 @@ set(msg_files
telemetry_status.msg
test_motor.msg
timesync_status.msg
trajectory_bezier.msg
trajectory_waypoint.msg
transponder_report.msg
tune_control.msg
uavcan_parameter_request.msg

16
msg/obstacle_avoidance.msg
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@ -1,16 +0,0 @@
# Output of a external avoidance. Obstacle avoidance message with trajectory points, PCA and FOV. See also Mavlink OBSTACLE_AVOIDANCE msg
uint8 MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS = 0
uint8 MAV_TRAJECTORY_REPRESENTATION_BEZIER = 1
uint8 type # Type from MAV_TRAJECTORY_REPRESENTATION enum.
float32[11] point_1 # Depending on the type (see MAV_TRAJECTORY_REPRESENTATION)
float32[11] point_2 # Depending on the type (see MAV_TRAJECTORY_REPRESENTATION)
float32[11] point_3 # Depending on the type (see MAV_TRAJECTORY_REPRESENTATION)
float32[11] point_4 # Depending on the type (see MAV_TRAJECTORY_REPRESENTATION)
float32[11] point_5 # Depending on the type (see MAV_TRAJECTORY_REPRESENTATION)
bool[5] point_valid # States if respective point is valid
int16[4] field_of_view # Field of View of the sensor/s being used. The first two parameters are used to indicate the direction (Azimuth: 0 - 360 degrees and elevation: -90 - 90 degrees) and the last two indicate the range (Azimuth and elevation). The range is applied symmetrically in the direction. Set first element to -1 to mark as unknown.

28
msg/trajectory_bezier.msg Normal file
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@ -0,0 +1,28 @@
# Bezier Trajectory description. See also Mavlink TRAJECTORY msg
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 TIME_HORIZON = 3
uint8 YAW = 4
uint8 YAW_SPEED = 5
uint8 MAV_TRAJECTORY_REPRESENTATION_BEZIER = 1
uint8 type # Type from MAV_TRAJECTORY_REPRESENTATION enum.
float32[6] point_0 # MAV_TRAJECTORY_REPRESENTATION_BEZIER, index 0-2 position sp, index 3 time horizon, index 9 yaw, index 10 yaw speed
float32[6] point_1 # MAV_TRAJECTORY_REPRESENTATION_BEZIER, index 0-2 position sp, index 3 time horizon, index 9 yaw, index 10 yaw speed
float32[6] point_2 # MAV_TRAJECTORY_REPRESENTATION_BEZIER, index 0-2 position sp, index 3 time horizon, index 9 yaw, index 10 yaw speed
float32[6] point_3 # MAV_TRAJECTORY_REPRESENTATION_BEZIER, index 0-2 position sp, index 3 time horizon, index 9 yaw, index 10 yaw speed
float32[6] point_4 # MAV_TRAJECTORY_REPRESENTATION_BEZIER, index 0-2 position sp, index 3 time horizon, index 9 yaw, index 10 yaw speed
bool[5] point_valid # States if respective point is valid
# TOPICS trajectory_bezier trajectory_bezier_desired

33
msg/trajectory_waypoint.msg Normal file
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@ -0,0 +1,33 @@
# Waypoints Trajectory description. See also Mavlink TRAJECTORY msg
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
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 sp, index 3-5 velocity sp, index 6-8 acceleration sp, index 9 yaw, index 10 yaw speed
float32[11] point_1 # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position sp, index 3-5 velocity sp, index 6-8 acceleration sp, index 9 yaw, index 10 yaw speed
float32[11] point_2 # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position sp, index 3-5 velocity sp, index 6-8 acceleration sp, index 9 yaw, index 10 yaw speed
float32[11] point_3 # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position sp, index 3-5 velocity sp, index 6-8 acceleration sp, index 9 yaw, index 10 yaw speed
float32[11] point_4 # MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS, index 0-2 position sp, index 3-5 velocity sp, index 6-8 acceleration sp, index 9 yaw, index 10 yaw speed
bool[5] point_valid # States if respective point is valid
# TOPICS trajectory_waypoint trajectory_waypoint_desired