ROS API¶
全ての API を網羅してはおらず，主要なものについてのみ記載しています．
詳しくは実行時に$ ros2 topic list等でご確認ください．
remote_interface名前空間内の API を使うと，外部端末から FC と通信することもできます．
トピック¶
Common¶
実機，シミュレーション両方で使用できるトピックです．
battery (tobas_msgs/Battery)¶
バッテリーの状態．
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
float64 voltage # [V]
float64 current # [A]
engine_state (tobas_msgs/EngineState)¶
エンジンの状態．
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
float64 speed # [rad/s]
float64 fuel_quantity # [L]
float64 oil_temperature # [degC]
cpu (tobas_msgs/Cpu)¶
CPU の状態．
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
float64 temperature # [degC]
uint64 frequency # [Hz]
float64 load # [-]
sbus (tobas_msgs/Sbus)¶
RC レシーバから取得した生の S.BUS メッセージ．
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
uint16[16] periods
bool ch17
bool ch18
bool frame_lost
bool failsafe
rc_input (tobas_msgs/RCInput)¶
S.BUS を変換し，扱いやすくしたメッセージ．
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
bool ok
float64 roll # CH1: [-1, 1]
float64 pitch # CH2: [-1, 1]
float64 throttle # CH3: [-1, 1]
float64 yaw # CH4: [-1, 1]
uint8 mode # CH7: Flight Mode
bool sub_mode # CH8: Sub Flight Mode
bool enable # CH5: Enable Radio Control
bool kill # CH6: Kill Switch
bool[8] gpsw # CH9-16: General Purpose Switch
imu_raw (tobas_msgs/Imu)¶
フィルタリング前の IMU．
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
tobas_kdl_msgs/Vector accel # [m/s^2]
float64 x
float64 y
float64 z
tobas_kdl_msgs/Vector gyro # [rad/s]
float64 x
float64 y
float64 z
tobas_kdl_msgs/Vector dgyro # [rad/s^2]
float64 x
float64 y
float64 z
imu_filtered (tobas_msgs/Imu)¶
フィルタリング後の IMU．
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
tobas_kdl_msgs/Vector accel # [m/s^2]
float64 x
float64 y
float64 z
tobas_kdl_msgs/Vector gyro # [rad/s]
float64 x
float64 y
float64 z
tobas_kdl_msgs/Vector dgyro # [rad/s^2]
float64 x
float64 y
float64 z
magnetic_field (tobas_msgs/MagneticField)¶
3 軸の地磁気．
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
tobas_kdl_msgs/Vector mag # [-]
float64 x
float64 y
float64 z
air_pressure (tobas_msgs/FluidPressure)¶
大気圧．
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
float64 pressure # [Pa]
gnss (tobas_msgs/Gnss)¶
GNSS から取得した位置と速度．
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
# Fix Type: gpsFix (UBX-STATUS), fixType (UBX-PVT)
uint8 fix_type
uint8 NO_FIX = 0
uint8 DEAD_RECHONING_ONLY = 1
uint8 FIX_2D = 2
uint8 FIX_3D = 3
uint8 GPS_DEAD_RECHONING_COMBINED = 4
uint8 TIME_ONLY_FIX = 5
# Position
float64 latitude # [deg]
float64 longitude # [deg]
float64 altitude # [m]
tobas_eigen_msgs/Matrix3d position_covariance # [m^2]
float64[9] data
# Velocity
tobas_kdl_msgs/Vector ground_speed # [m/s]
float64 x
float64 y
float64 z
tobas_eigen_msgs/Matrix3d velocity_covariance # [m^2/s^2]
float64[9] data
# Status
uint8 num_satellites_used # The number of satellites used in NAV solution
rotor_states (tobas_msgs/RotorStateArray)¶
各ロータの状態．
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
tobas_msgs/RotorState[] states
string link_name
float64 speed # [rad/s]
float64 thrust # [N]
uint8 status
uint8 NO_ERROR = 0
uint8 COMMUNICATION_FAILURE = 1
joint_states_2 (tobas_msgs/JointStateArray)¶
可動ジョイントの状態．
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
tobas_msgs/JointState[] states
string name
float64 position
float64 velocity
float64 effort
odom (tobas_msgs/OdometryWithCovarianceStamped)¶
状態推定器によって推定された，起動位置に対する位置，速度，加速度．
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
tobas_msgs/OdometryWithCovariance odom
tobas_msgs/Odometry odom
tobas_kdl_msgs/Frame frame # The transformation from the global frame to the body frame
tobas_kdl_msgs/Vector trans
float64 x
float64 y
float64 z
tobas_kdl_msgs/Rotation rot
float64[9] data
tobas_kdl_msgs/Twist twist # The 6D twist expressed in the body frame
tobas_kdl_msgs/Vector linear
float64 x
float64 y
float64 z
tobas_kdl_msgs/Vector angular
float64 x
float64 y
float64 z
tobas_kdl_msgs/Accel accel # The 6D accel expressed in the body frame
tobas_kdl_msgs/Vector linear
float64 x
float64 y
float64 z
tobas_kdl_msgs/Vector angular
float64 x
float64 y
float64 z
tobas_eigen_msgs/Matrix3d position_covariance # [m^2]
float64[9] data
tobas_eigen_msgs/Matrix3d orientation_covariance # [rad^2]
float64[9] data
tobas_eigen_msgs/Matrix3d velocity_covariance # [m^2/s^2]
float64[9] data
tobas_eigen_msgs/Matrix3d gyro_covariance # [rad^2/s^2]
float64[9] data
trajectory_setpoint (tobas_msgs/OdometryStamped)¶
制御器の現在の設定値． 制御されていない値（例: 姿勢制御モードにおける位置速度）には NaN が入る．
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
tobas_msgs/Odometry odom
tobas_kdl_msgs/Frame frame # The transformation from the global frame to the body frame
tobas_kdl_msgs/Vector trans
float64 x
float64 y
float64 z
tobas_kdl_msgs/Rotation rot
float64[9] data
tobas_kdl_msgs/Twist twist # The 6D twist expressed in the body frame
tobas_kdl_msgs/Vector linear
float64 x
float64 y
float64 z
tobas_kdl_msgs/Vector angular
float64 x
float64 y
float64 z
tobas_kdl_msgs/Accel accel # The 6D accel expressed in the body frame
tobas_kdl_msgs/Vector linear
float64 x
float64 y
float64 z
tobas_kdl_msgs/Vector angular
float64 x
float64 y
float64 z
arming (tobas_msgs/Arming)¶
全てのロータがアームされているか否か．
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
bool data
Command¶
ユーザは FC 内部からこれらのトピックを発行することでドローンを操作することができます． 受け付けるコマンドは機体フレームの型と飛行モードによって決まるため，ROS 2 の CLI でご確認ください．
command/rate (tobas_command_msgs/Rate)¶
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
tobas_command_msgs/Priority priority
uint8 data
uint8 NORMAL = 0
uint8 DEFENSIVE = 1
uint8 MANUAL = 2
tobas_kdl_msgs/Vector rate # Target angular velocity expressed in the local frame [rad/s]
float64 x
float64 y
float64 z
command/rate_throttle (tobas_command_msgs/RateThrottle)¶
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
tobas_command_msgs/Priority priority
uint8 data
uint8 NORMAL = 0
uint8 DEFENSIVE = 1
uint8 MANUAL = 2
tobas_kdl_msgs/Vector rate # Target angular velocity expressed in the local frame [rad/s]
float64 x
float64 y
float64 z
float64 throttle # Target throttle [0, 1]
command/rate_throttle_vector (tobas_command_msgs/RateThrottleVector)¶
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
tobas_command_msgs/Priority priority
uint8 data
uint8 NORMAL = 0
uint8 DEFENSIVE = 1
uint8 MANUAL = 2
tobas_kdl_msgs/Vector rate # Target angular velocity expressed in the local frame [rad/s]
float64 x
float64 y
float64 z
float64 throttle # Target throttle [0, 1]
float64 thrust_angle # Target thrust angle [rad]
command/angle (tobas_command_msgs/Angle)¶
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
tobas_command_msgs/Priority priority
uint8 data
uint8 NORMAL = 0
uint8 DEFENSIVE = 1
uint8 MANUAL = 2
tobas_kdl_msgs/Euler angle # Target euler angles expressed in the global frame [rad]
float64 roll # [rad]
float64 pitch # [rad]
float64 yaw # [rad]
command/angle_throttle (tobas_command_msgs/AngleThrottle)¶
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
tobas_command_msgs/Priority priority
uint8 data
uint8 NORMAL = 0
uint8 DEFENSIVE = 1
uint8 MANUAL = 2
tobas_kdl_msgs/Euler angle # Target euler angles expressed in the global frame [rad]
float64 roll # [rad]
float64 pitch # [rad]
float64 yaw # [rad]
float64 throttle # Target throttle [0, 1]
command/angle_throttle_vector (tobas_command_msgs/AngleThrottleVector)¶
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
tobas_command_msgs/Priority priority
uint8 data
uint8 NORMAL = 0
uint8 DEFENSIVE = 1
uint8 MANUAL = 2
tobas_kdl_msgs/Euler angle # Target euler angles expressed in the global frame [rad]
float64 roll # [rad]
float64 pitch # [rad]
float64 yaw # [rad]
float64 throttle # Target throttle [0, 1]
float64 thrust_angle # Target thrust angle [rad]
command/accel (tobas_command_msgs/Accel)¶
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
tobas_command_msgs/Priority priority
uint8 data
uint8 NORMAL = 0
uint8 DEFENSIVE = 1
uint8 MANUAL = 2
tobas_kdl_msgs/Vector accel # Target linear acceleration expressed in the global frame [m/s^2]
float64 x
float64 y
float64 z
command/accel_yaw (tobas_command_msgs/AccelYaw)¶
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
tobas_command_msgs/Priority priority
uint8 data
uint8 NORMAL = 0
uint8 DEFENSIVE = 1
uint8 MANUAL = 2
tobas_kdl_msgs/Vector accel # Target linear acceleration expressed in the global frame [m/s^2]
float64 x
float64 y
float64 z
float64 yaw # Target yaw angle [rad]
command/accel_pitch_yaw (tobas_command_msgs/AccelPitchYaw)¶
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
tobas_command_msgs/Priority priority
uint8 data
uint8 NORMAL = 0
uint8 DEFENSIVE = 1
uint8 MANUAL = 2
tobas_kdl_msgs/Vector accel # Target linear acceleration expressed in the global frame [m/s^2]
float64 x
float64 y
float64 z
float64 pitch # Target pitch angle [rad]
float64 yaw # Target yaw angle [rad]
command/pos_vel_acc (tobas_command_msgs/PosVelAcc)¶
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
tobas_command_msgs/Priority priority
uint8 data
uint8 NORMAL = 0
uint8 DEFENSIVE = 1
uint8 MANUAL = 2
tobas_kdl_msgs/Vector pos # Target position expressed in the global frame [m]
float64 x
float64 y
float64 z
tobas_kdl_msgs/Vector vel # Target linear velocity expressed in the global frame [m/s]
float64 x
float64 y
float64 z
tobas_kdl_msgs/Vector acc # Target linear acceleration expressed in the global frame [m/s]
float64 x
float64 y
float64 z
command/pos_vel_acc_yaw (tobas_command_msgs/PosVelAccYaw)¶
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
tobas_command_msgs/Priority priority
uint8 data
uint8 NORMAL = 0
uint8 DEFENSIVE = 1
uint8 MANUAL = 2
tobas_kdl_msgs/Vector pos # Target position expressed in the global frame [m]
float64 x
float64 y
float64 z
tobas_kdl_msgs/Vector vel # Target linear velocity expressed in the global frame [m/s]
float64 x
float64 y
float64 z
tobas_kdl_msgs/Vector acc # Target linear acceleration expressed in the global frame [m/s]
float64 x
float64 y
float64 z
float64 yaw # Target yaw angle [rad]
command/pos_vel_acc_pitch_yaw (tobas_command_msgs/PosVelAccPitchYaw)¶
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
tobas_command_msgs/Priority priority
uint8 data
uint8 NORMAL = 0
uint8 DEFENSIVE = 1
uint8 MANUAL = 2
tobas_kdl_msgs/Vector pos # Target position expressed in the global frame [m]
float64 x
float64 y
float64 z
tobas_kdl_msgs/Vector vel # Target linear velocity expressed in the global frame [m/s]
float64 x
float64 y
float64 z
tobas_kdl_msgs/Vector acc # Target linear acceleration expressed in the global frame [m/s]
float64 x
float64 y
float64 z
float64 pitch # Target pitch angle [rad]
float64 yaw # Target yaw angle [rad]
command/speed_roll_delta_pitch (tobas_command_msgs/SpeedRollDeltaPitch)¶
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
tobas_command_msgs/Priority priority
uint8 data
uint8 NORMAL = 0
uint8 DEFENSIVE = 1
uint8 MANUAL = 2
float64 speed # [m/s]
float64 roll # [rad]
float64 delta_pitch # [rad]
command/joint_positions (tobas_msgs/JointCommandArray)¶
ジョイントに対する位置指令．
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
tobas_msgs/JointCommand[] commands
string name
float64 data
command/joint_velocities (tobas_msgs/JointCommandArray)¶
ジョイントに対する速度指令．
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
tobas_msgs/JointCommand[] commands
string name
float64 data
command/joint_efforts (tobas_msgs/JointCommandArray)¶
ジョイントに対する力指令．
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
tobas_msgs/JointCommand[] commands
string name
float64 data
Gazebo¶
Gazeboシミュレーション時にのみ使用されるトピックです．
gazebo/ground_truth/battery (tobas_msgs/Battery)¶
バッテリーの状態の真値．
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
float64 voltage # [V]
float64 current # [A]
gazebo/ground_truth/odom (tobas_msgs/OdometryWithCovarianceStamped)¶
起動位置に対する位置，速度，加速度の真値．
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
tobas_msgs/OdometryWithCovariance odom
tobas_msgs/Odometry odom
tobas_kdl_msgs/Frame frame # The transformation from the global frame to the body frame
tobas_kdl_msgs/Vector trans
float64 x
float64 y
float64 z
tobas_kdl_msgs/Rotation rot
float64[9] data
tobas_kdl_msgs/Twist twist # The 6D twist expressed in the body frame
tobas_kdl_msgs/Vector linear
float64 x
float64 y
float64 z
tobas_kdl_msgs/Vector angular
float64 x
float64 y
float64 z
tobas_kdl_msgs/Accel accel # The 6D accel expressed in the body frame
tobas_kdl_msgs/Vector linear
float64 x
float64 y
float64 z
tobas_kdl_msgs/Vector angular
float64 x
float64 y
float64 z
tobas_eigen_msgs/Matrix3d position_covariance # [m^2]
float64[9] data
tobas_eigen_msgs/Matrix3d orientation_covariance # [rad^2]
float64[9] data
tobas_eigen_msgs/Matrix3d velocity_covariance # [m^2/s^2]
float64[9] data
tobas_eigen_msgs/Matrix3d gyro_covariance # [rad^2/s^2]
float64[9] data
gazebo/ground_truth/wind (tobas_msgs/Wind)¶
グローバル座標系における風速の真値．
std_msgs/Header header
builtin_interfaces/Time stamp
int32 sec
uint32 nanosec
string frame_id
tobas_kdl_msgs/Vector vel # [m/s]
float64 x
float64 y
float64 z
サービス¶
Common¶
実機，シミュレーション両方で使用できるサービスです．
set_arm (tobas_msgs/SetArm)¶
全てのロータのアーム状態を変更する．
bool arming
---
bool success
string message
Gazebo¶
Gazeboシミュレーション時にのみ使用されるサービスです．
gazebo/charge_battery (std_srvs/Empty)¶
バッテリーをフルチャージする．
---
gazebo/get_wind_parameters (tobas_gazebo_msgs/GetWindParams)¶
シミュレーション中の風を生成するパラメータを取得する．
---
tobas_gazebo_msgs/WindParams params
float64 mean_speed # [m/s]
float64 direction # [rad]
float64 gust_speed_factor # [-]
float64 gust_duration # [s]
float64 gust_interval # [s]
gazebo/set_wind_parameters (tobas_gazebo_msgs/SetWindParams)¶
シミュレーション中の風を生成するパラメータを設定する．
tobas_gazebo_msgs/WindParams params
float64 mean_speed # [m/s]
float64 direction # [rad]
float64 gust_speed_factor # [-]
float64 gust_duration # [s]
float64 gust_interval # [s]
---
bool success
tobas_gazebo_msgs/WindParams params
float64 mean_speed # [m/s]
float64 direction # [rad]
float64 gust_speed_factor # [-]
float64 gust_duration # [s]
float64 gust_interval # [s]
gazebo/get_tether_parameters (tobas_gazebo_msgs/GetTetherParams)¶
テザーステーションに関するパラメータを取得する．
---
tobas_gazebo_msgs/TetherParams params
float64 tension # [N]
float64 maximum_length # [m]
gazebo/set_tether_parameters (tobas_gazebo_msgs/SetTetherParams)¶
テザーステーションに関するパラメータを設定する．
tobas_gazebo_msgs/TetherParams params
float64 tension # [N]
float64 maximum_length # [m]
---
bool success
tobas_gazebo_msgs/TetherParams params
float64 tension # [N]
float64 maximum_length # [m]
gazebo/attach_suspended_load (tobas_gazebo_msgs/AttachSuspendedLoad)¶
吊り下げ荷物を取り付ける．
geometry_msgs/Vector3 attachment_point # [m] Attachment point on the aircraft wrt. the local frame
float64 x
float64 y
float64 z
float64 load_sx # [m]
float64 load_sy # [m]
float64 load_sz # [m]
float64 load_mass # [kg]
float64 cable_length # [m]
float64 cable_young_modulus # [Pa]
float64 cable_cross_sectional_area # [m^2]
---
bool success
string message
gazebo/detach_suspended_load (tobas_gazebo_msgs/DetachSuspendedLoad)¶
吊り下げ荷物を取り外す．
---
bool success
string message
gazebo/break_rotor/${rotor_link_name} (std_srvs/Trigger)¶
モータを強制的に停止する．
---
bool success # indicate successful run of triggered service
string message # informational, e.g. for error messages
アクション¶
Common¶
実機，シミュレーション両方で使用できるアクションです．
execute_mission (tobas_mission_msgs/ExecuteMission)¶
一連のミッションを実行する．
各コマンドの具体的な内容はtobas_mission_itemsを参照．
# Goal
tobas_mission_msgs/MissionItem[] items
uint8 type
byte[] data
tobas_mission_msgs/Priority priority
uint8 data
uint8 NORMAL = 0
uint8 DEFENSIVE = 1
---
# Result
tobas_mission_msgs/ErrorCode error_code
int8 data
int8 NO_ERROR = 0
int8 MISSION_SUPERSEDED = -1
int8 MANUAL_OVERRIDE = -2
int8 ACCEPTANCE_TIMEOUT = -3
int8 OTHER_ERROR = -4
string error_message
---
# Feedback
uint32 current_index