From 00bc70a49c4edabdfee516301e814afa8a998ecd Mon Sep 17 00:00:00 2001 From: Martina Date: Tue, 12 Jun 2018 11:22:23 +0200 Subject: [PATCH] trajectory_waypoint: refactor to contain information about one of the 5 points of the trajectory --- msg/trajectory_waypoint.msg | 43 +++++++------------------------------ 1 file changed, 8 insertions(+), 35 deletions(-) diff --git a/msg/trajectory_waypoint.msg b/msg/trajectory_waypoint.msg index 2a3f6ecbea..e23998ce59 100644 --- a/msg/trajectory_waypoint.msg +++ b/msg/trajectory_waypoint.msg @@ -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