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Lighting StateLighting PatternPriorityUser commands allowedPlatform
Battery Fault +
+ +
+ 		0NoD100, D150, R100, W200
Shore power Fault +
+ +
+ 		1NoD100, D150
Shore Power and Charged +
+ +
+ 		2YesD100, D150
Shore Power and Charging +
+ +
+ 		3YesD150
Shore Power +
+ +
+ 		4YesD100, D150
Charged +
+ +
+ 		5YesD100, D150, R100, W200
Charging +
+ +
+ 		6YesD150, R100
Stopped +
+ +
+ 		7NoD100, D150, R100, W200
Needs Reset +
+ +
+ 		8NoR100
Low Battery +
+ +
+ 		9NoD100, D150, R100, W200
Driving +
+ +
+ 		10YesD100, D150, R100, W200
Idle +
+ +
+ 		11YesD100, D150, R100, W200
diff --git a/docs_versioned_docs/version-ros2humble/ros/api/mcu_api.mdx b/docs_versioned_docs/version-ros2humble/ros/api/mcu_api.mdx index 4494095e..849e0ac3 100644 --- a/docs_versioned_docs/version-ros2humble/ros/api/mcu_api.mdx +++ b/docs_versioned_docs/version-ros2humble/ros/api/mcu_api.mdx @@ -8,16 +8,17 @@ toc_max_heading_level: 4 ## MCU topics -| Topic | Message type | Publisher | Description | QoS | -| :------------------------ | :--------------------------------------------------------------------------------------------------------------------------------------------------- | :-------------------- | :-------------------------------------- | :---------------------------------------------- | -| platform/emergency_stop | [std_msgs/Bool](https://github.com/ros2/common_interfaces/blob/humble/std_msgs/msg/Bool.msg) | MCU node | State of platform emergency stop | [Sensor Data](overview.mdx#sensor-data) | -| platform/mcu/status | [clearpath_platform_msgs/Status](https://github.com/clearpathrobotics/clearpath_msgs/blob/main/clearpath_platform_msgs/msg/Status.msg) | MCU node | MCU status | [Sensor Data](overview.mdx#sensor-data) | -| platform/mcu/status/power | [clearpath_platform_msgs/Power](https://github.com/clearpathrobotics/clearpath_msgs/blob/main/clearpath_platform_msgs/msg/Power.msg) | MCU node | Robot Power status | [Sensor Data](overview.mdx#sensor-data) | -| platform/mcu/status/stop | [clearpath_platform_msgs/StopStatus](https://github.com/clearpathrobotics/clearpath_msgs/blob/main/clearpath_platform_msgs/msg/StopStatus.msg) | MCU node | Stop loop status | [Sensor Data](overview.mdx#sensor-data) | -| platform/motors/cmd_drive | [clearpath_platform_msgs/Drive](https://github.com/clearpathrobotics/clearpath_msgs/blob/main/clearpath_platform_msgs/msg/Drive.msg) | Control node | Command velocities to individual wheels | [Sensor Data](overview.mdx#sensor-data) | -| platform/motors/feedback | [clearpath_platform_msgs/DriveFeedback](https://github.com/clearpathrobotics/clearpath_msgs/blob/main/clearpath_platform_msgs/msg/DriveFeedback.msg) | MCU node | Feedback from motor drive unit | [Sensor Data](overview.mdx#sensor-data) | -| platform/wifi_connected | [std_msgs/Bool](https://github.com/ros2/common_interfaces/blob/humble/std_msgs/msg/Bool.msg) | Wireless Watcher node | Wi-Fi connected status | [Sensor Data](overview.mdx#sensor-data) | -| /rosout | [rcl_interfaces/Log](https://github.com/ros2/rcl_interfaces/blob/humble/rcl_interfaces/msg/Log.msg) | MCU node | System Logs | [Transient Local](overview.mdx#transient-local) | +| Topic | Message type | Publisher | Description | QoS | +| :------------------------ | :--------------------------------------------------------------------------------------------------------------------------------------------------- | :-------------------- | :----------------------------------------------------- | :---------------------------------------------- | +| platform/emergency_stop | [std_msgs/Bool](https://github.com/ros2/common_interfaces/blob/humble/std_msgs/msg/Bool.msg) | MCU node | State of platform emergency stop | [Sensor Data](overview.mdx#sensor-data) | +| platform/mcu/_cmd_lights | [clearpath_platform_msgs/Lights](https://github.com/clearpathrobotics/clearpath_msgs/blob/main/clearpath_platform_msgs/msg/Lights.msg) | Lighting command | Hidden topic used to send lighting commands to the MCU | [Sensor Data](overview.mdx#sensor-data) | +| platform/mcu/status | [clearpath_platform_msgs/Status](https://github.com/clearpathrobotics/clearpath_msgs/blob/main/clearpath_platform_msgs/msg/Status.msg) | MCU node | MCU status | [Sensor Data](overview.mdx#sensor-data) | +| platform/mcu/status/power | [clearpath_platform_msgs/Power](https://github.com/clearpathrobotics/clearpath_msgs/blob/main/clearpath_platform_msgs/msg/Power.msg) | MCU node | Robot Power status | [Sensor Data](overview.mdx#sensor-data) | +| platform/mcu/status/stop | [clearpath_platform_msgs/StopStatus](https://github.com/clearpathrobotics/clearpath_msgs/blob/main/clearpath_platform_msgs/msg/StopStatus.msg) | MCU node | Stop loop status | [Sensor Data](overview.mdx#sensor-data) | +| platform/motors/cmd_drive | [clearpath_platform_msgs/Drive](https://github.com/clearpathrobotics/clearpath_msgs/blob/main/clearpath_platform_msgs/msg/Drive.msg) | Control node | Command velocities to individual wheels | [Sensor Data](overview.mdx#sensor-data) | +| platform/motors/feedback | [clearpath_platform_msgs/DriveFeedback](https://github.com/clearpathrobotics/clearpath_msgs/blob/main/clearpath_platform_msgs/msg/DriveFeedback.msg) | MCU node | Feedback from motor drive unit | [Sensor Data](overview.mdx#sensor-data) | +| platform/wifi_connected | [std_msgs/Bool](https://github.com/ros2/common_interfaces/blob/humble/std_msgs/msg/Bool.msg) | Wireless Watcher node | Wi-Fi connected status | [Sensor Data](overview.mdx#sensor-data) | +| /rosout | [rcl_interfaces/Log](https://github.com/ros2/rcl_interfaces/blob/humble/rcl_interfaces/msg/Log.msg) | MCU node | System Logs | [Transient Local](overview.mdx#transient-local) | ## MCU services diff --git a/docs_versioned_docs/version-ros2humble/ros/api/platform_api.mdx b/docs_versioned_docs/version-ros2humble/ros/api/platform_api.mdx index a720e73a..55c89bd6 100644 --- a/docs_versioned_docs/version-ros2humble/ros/api/platform_api.mdx +++ b/docs_versioned_docs/version-ros2humble/ros/api/platform_api.mdx @@ -14,6 +14,7 @@ toc_max_heading_level: 4 | diagnostics | [diagnostics_msgs/DiagnosticArray](https://github.com/ros2/common_interfaces/blob/humble/diagnostic_msgs/msg/DiagnosticArray.msg) | Various nodes | Diagnostic messages reported by various nodes | [System Default](overview.mdx#system-default) | | joy_teleop/cmd_vel | [geometry_msgs/Twist](https://github.com/ros2/common_interfaces/blob/humble/geometry_msgs/msg/Twist.msg) | Joy node | Velocity commands from joystick inputs | [System Default](overview.mdx#system-default) | | joy_teleop/joy | [sensor_msgs/Joy](https://github.com/ros2/common_interfaces/blob/humble/sensor_msgs/msg/Joy.msg) | Joy node | Joystick input states | [System Default](overview.mdx#system-default) | +| platform/cmd_lights | [clearpath_platform_msgs/Lights](https://github.com/clearpathrobotics/clearpath_msgs/blob/main/clearpath_platform_msgs/msg/Lights.msg) | User | User lighting command request | [System Default](overview.mdx#system-default) | | platform/cmd_vel_unstamped | [geometry_msgs/Twist](https://github.com/ros2/common_interfaces/blob/humble/geometry_msgs/msg/Twist.msg) | Twist Mux node | Resulting velocity commands from twist mux | [System Default](overview.mdx#system-default) | | platform/dynamic_joint_states | [control_msgs/DynamicJointState](https://github.com/ros-controls/control_msgs/blob/humble/control_msgs/msg/DynamicJointState.msg) | Control node | Platform dynamic joint state | [System Default](overview.mdx#system-default) | | platform/emergency_stop | [std_msgs/Bool](https://github.com/ros2/common_interfaces/blob/humble/std_msgs/msg/Bool.msg) | MCU node | State of platform emergency stop | [Sensor Data](overview.mdx#sensor-data) |