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The MRDT RoveComm Communication Manifest to be Embeded in RoveComm Repositories

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RoveComm Manifest

Core Board

IP: 192.168.2.110

Commands

name dataId type count description
DriveLeftRight 3000 FLOAT_T 2 [LeftSpeed, RightSpeed] (-1, 1)-> (-100%, 100%)
DriveIndividual 3001 FLOAT_T 6 [LF, LM, LR, RF, RM, RR] (-1, 1)-> (-100%, 100%)
WatchdogOverride 3002 UINT8_T 1 [0-override off, 1-override on]
LeftDriveGimbalIncrement 3003 INT16_T 1 [Tilt](degrees -180-180)
RightDriveGimbalIncrement 3004 INT16_T 1 [Tilt](degrees -180-180)
LeftMainGimbalIncrement 3005 INT16_T 2 [Pan, Tilt](degrees -180-180)
RightMainGimbalIncrement 3006 INT16_T 2 [Pan, Tilt](degrees -180-180)
BackDriveGimbalIncrement 3007 INT16_T 1 [Tilt](degrees -180-180)
LEDRGB 3008 UINT8_T 3 [R, G, B] (0, 255)
LEDPatterns 3009 UINT8_T 1 [Pattern] (Enum)
StateDisplay 3010 UINT8_T 1 [Teleop, Autonomy, Reached Goal] (enum)
Brightness 3011 UINT8_T 1 Set Brightness (0-255)
SetWatchdogMode 3012 UINT8_T 1 0: Teleop, 1: Autonomy
LEDText 3013 CHAR 256 Set the message to display on the lighting panel; null terminator ends string early

Telemetry

name dataId type count description
DriveSpeeds 3100 FLOAT_T 6 [LF, LM, LR, RF, RM, RR] (-1, 1)-> (-100%, 100%)
IMUData 3101 FLOAT_T 3 [Roll, Pitch, Yaw] degrees
AccelerometerData 3102 FLOAT_T 3 [xAxis, yAxis, zAxis] Accel in m/s^2

Enums

DISPLAYSTATE

0: Teleop
1: Autonomy
2: Reached_Goal

PATTERNS

0: MRDT
1: BELGIUM
2: MERICA
3: DIRT
4: DOTA
5: MCD
6: WINDOWS

PMS Board

IP: 192.168.2.102

Commands

name dataId type count description
EStop 4000 UINT8_T 1 Power off all systems except network (PMS will stay on)
Suicide 4001 UINT8_T 1 Power off all systems including network, cannot recover without physical reboot (PMS will stay on)
Reboot 4002 UINT8_T 1 Cycle all systems including network off and back on (PMS will stay on)
EnableBus 4003 UINT8_T 1 [Motor, Core, Aux] (bitmasked) [1-Enable, 0-No change]
DisableBus 4004 UINT8_T 1 [Motor, Core, Aux] (bitmasked) [1-Disable, 0-No change]
SetBus 4005 UINT8_T 1 [Motor, Core, Aux] (bitmasked) [1-Enable, 0-Disable]

Telemetry

name dataId type count description
PackCurrent 4100 FLOAT_T 1 Total current draw from battery
PackVoltage 4101 FLOAT_T 1 Pack voltage
CellVoltage 4102 FLOAT_T 6 C1, C2, C3, C4, C5, C6
AuxCurrent 4103 FLOAT_T 1 Current draw by aux systems (before 12V buck)
MiscCurrent 4104 FLOAT_T 3 Current draw from other devices (CS1, CS2, CS3)
BusStatus 4105 UINT8_T 1 [Motor, Core, Aux, Network] (bitmasked) [1-Enabled, 0-Disabled]

Errors

name dataId type count description
PackOvercurrent 4200 UINT8_T 1 Higher current draw than the battery can support. Rover will Reboot automatically
CellUndervoltage 4201 UINT8_T 1 (bitmasked) [1-Undervolt, 0-OK]. Rover will EStop automatically
CellCritical 4202 UINT8_T 1 (bitmasked) [1-Critical, 0-OK]. Rover will Suicide automatically
AuxOvercurrent 4203 UINT8_T 1 Aux system current draw too high. Rover will disable Aux bus automatically

Nav Board

IP: 192.168.2.104

Telemetry

name dataId type count description
GPSLatLonAlt 6100 DOUBLE_T 3 [Lat, Long, Alt] [(-90, 90), (-180, 180)(deg), (0, 1000)]
IMUData 6101 FLOAT_T 3 [Pitch, Yaw, Roll] [(-90, 90), (0, 360), (-90, 90)] (deg)
CompassData 6102 FLOAT_T 1 [Heading] [ 0, 360 ]
SatelliteCountData 6103 UINT8_T 1 [Number of satellites]
AccelerometerData 6104 FLOAT_T 3 [xAxis, yAxis, zAxis] Accel in m/s^2
AccuracyData 6105 FLOAT_T 5 [horizontal_accur, vertical_accur, heading_accur, fix_type, is_differentia] [meters, meters, degrees, ublox_navpvt fix type (http://docs.ros.org/en/noetic/api/ublox_msgs/html/msg/NavPVT.html), boolean]

Errors

name dataId type count description
GPSLockError 6200 UINT8_T 1

BaseStationNav Board

IP: 192.168.100.112

SignalStack Board

IP: 192.168.100.101

Commands

name dataId type count description
OpenLoop 7000 INT16_T 1 Motor decipercent [-1000, 1000]
SetAngleTarget 7001 FLOAT_T 1 [Heading] [0, 360)
SetGPSTarget 7002 DOUBLE_T 4 [Rover Lat, Rover Long, Basestation Lat, Basestation Long] [Lat:(-90, 90), Long:(-180, 180)] (deg)
WatchdogOverride 7003 UINT8_T 1 [0-override off, 1-override on]

Telemetry

name dataId type count description
CompassAngle 7100 FLOAT_T 1 [Heading] [0, 360)

Errors

name dataId type count description
WatchdogStatus 7200 UINT8_T 1 (1-Watchdog timeout, 0-OK)

Arm Board

IP: 192.168.2.107

Commands

name dataId type count description
SetIndividualSpeeds 8000 INT16_T 6 [X, J2, J3, J4, P, R] Motor decipercent [-1000, 1000]
SetJointSpeed 8001 INT16_T 2 [JointID, Decipercent] Motor decipercent [-1000, 1000]
SetIndividualTargetAngles 8002 FLOAT_T 6 [X, J2, J3, J4, P, R] (in, deg, deg, deg, deg, deg)
SetJointTargetAngle 8003 FLOAT_T 2 [JointID, Position] (in for id 0, deg otherwise)
IncrementIndividualTargetAngles 8004 FLOAT_T 6 [X, J2, J3, J4, P, R] (in, deg, deg, deg, deg, deg)
IncrementJointTargetAngle 8005 FLOAT_T 2 [JointID, Angle] (in for id 0, deg otherwise)
SetIKPosition 8006 FLOAT_T 6 [X, Y, Z, J4, P, R] (in, in, in, deg, deg, deg)
IncrementIKPosition 8007 FLOAT_T 6 [X, Y, Z, J4, P, R] (in, in, in, deg, deg, deg)
SetLockModePosition 8008 FLOAT_T 3 [J4, P, R] (deg, deg, deg)
IncrementLockModePosition 8009 FLOAT_T 3 [J4, P, R] (deg, deg, deg)
Laser 8010 UINT8_T 1 [0-disable, 1-enable]
Solenoid 8011 UINT8_T 1 [0-retract, 1-extend]
SetGripperSpeed 8012 INT16_T 1 Motor decipercent [-1000, 1000]
WatchdogOverride 8013 UINT8_T 1 [0-override off, 1-override on] (bitmasked)
LimitSwitchOverride 8014 UINT16_T 9 [X+, X-, J2+, J2-, J3+, J3-, J4+, J4-, P] (0-override off, 1-override on) (bitmasked)
ClosedLoopOverride 8015 UINT8_T 6 [X, J2, J3, J4, P, R] (0-override off, 1-override on) (bitmasked)
CalibrateEncoder 8016 UINT8_T 2 [X, Roll] (1-calibrate, 0-no action) (bitmasked)
SoftLimitOverride 8017 UINT16_T 10 [X+, X-, J2+, J2-, J3+, J3-, J4+, J4-, P+, P-] (0-override off, 1-override on) (bitmasked)

Telemetry

name dataId type count description
Positions 8100 FLOAT_T 7 [X, Y1, Y2, Z, Pitch, Roll1, Roll2] (in, in, in, in, deg, deg, deg)
Coordinates 8101 FLOAT_T 5 [X, Y, Z, P, R] (in, in, in, deg, deg)
LimitSwitchTriggered 8102 UINT16_T 1 [X+, X-, J2+, J2-, J3+, J3-, J4+, J4-, Pitch] (0-off, 1-on) (bitmasked)

Errors

name dataId type count description
WatchdogStatus 8200 UINT8_T 1 (1-Watchdog timeout, 0-OK)

Enums

Joints

1: X
2: J2
3: J3
4: J4
5: PITCH
6: ROLL

ScienceActuation Board

IP: 192.168.2.108

Commands

name dataId type count description
ScoopAxis_OpenLoop 9000 INT16_T 1 Motor decipercent [-1000, 1000]
SensorAxis_OpenLoop 9001 INT16_T 1 Motor decipercent [-1000, 1000]
ScoopAxis_SetPosition 9002 FLOAT_T 1 Absolute position (in)
SensorAxis_SetPosition 9003 FLOAT_T 1 Absolute position (in)
ScoopAxis_IncrementPosition 9004 FLOAT_T 1 (in)
SensorAxis_IncrementPosition 9005 FLOAT_T 1 (in)
LimitSwitchOverride 9006 UINT8_T 1 [ScoopAxis+, ScoopAxis-, SensorAxis+, SensorAxis-] (0-override off, 1-override on) (bitmasked)
Auger 9007 INT16_T 1 Motor decipercent [-1000, 1000]
Microscope 9008 UINT8_T 1 [0-180] (degrees)
WatchdogOverride 9010 UINT8_T 1 [0-override off, 1-override on]
CalibrateEncoder 9011 UINT8_T 1 [ScoopAxis, SensorAxis, Proboscis] (1-calibrate, 0-no action) (bitmasked)
RequestHumidity 9012 UINT8_T 1 Request the humidity of the instrument
AugerGimbalIncrement 9013 INT16_T 2 [Pan, Tilt](degrees -180-180)

Telemetry

name dataId type count description
Positions 9100 FLOAT_T 2 [ScoopAxis, SensorAxis] (in)
LimitSwitchTriggered 9101 UINT8_T 1 [ScoopAxis+, ScoopAxis-, SensorAxis+, SensorAxis-] (0-off, 1-on) (bitmasked)
Humidity 9102 FLOAT_T 1 [Humidity] (relative humidity %)
AugerSpeed 9103 FLOAT_T 1 (in/s)

Errors

name dataId type count description
WatchdogStatus 9200 UINT8_T 1 (1-Watchdog timeout, 0-OK)
AugerStalled 9201 UINT8_T 1 (1-Stalled, 0-OK)

Autonomy Board

IP: 192.168.3.100

Commands

name dataId type count description
StartAutonomy 11000 UINT8_T 1
DisableAutonomy 11001 UINT8_T 1
AddPositionLeg 11002 DOUBLE_T 2 [Lat, Lon]
AddMarkerLeg 11003 DOUBLE_T 4 [Lat, Lon, MarkerID, MarkerRadius (meters)]
AddObjectLeg 11004 DOUBLE_T 3 [Lat, Lon, ObjectRadius (meters)]
AddObstacle 11008 DOUBLE_T 3 [Lat, Lon, ObstacleRadius (meters)]
ClearWaypoints 11005 UINT8_T 1
SetMaxSpeed 11006 FLOAT_T 1 A multiplier from 0.0 to 1.0 that will scale the max power effort of Autonomy
SetLoggingLevels 11007 UINT8_T 3 [Enum (AUTONOMYLOG), Enum (AUTONOMYLOG), Enum (AUTONOMYLOG)] {Console, File, RoveComm}

Telemetry

name dataId type count description
CurrentState 11100 UINT8_T 1 Enum (AUTONOMYSTATE)
ReachedGoal 11101 UINT8_T 1
CurrentLog 11102 CHAR 255 String version of most current error log

Enums

AUTONOMYSTATE

0: Idle
1: Navigating
2: SearchPattern
3: ApproachingMarker
4: ApproachingObject
5: VerifyingGPS
6: VerifyingMarker
7: VerifyingObject
8: Avoidance
9: Reversing
10: Stuck

AUTONOMYLOG

0: TraceL3
1: TraceL2
2: TraceL1
3: Debug
4: Info
5: Notice
6: Warning
7: Error
8: Critical

Camera1 Board

IP: 192.168.4.100

Commands

name dataId type count description
ChangeCameras 12000 UINT8_T 2 Change which camera a feed is looking at. [0] is the feed, [1] is the camera to view.
TakePicture 12001 UINT8_T 2 Take a picture with the current camera. [0] is the camera to take a picture with. [1] tells the camera whether to restart the stream afterwards.
ToggleStream1 12002 UINT8_T 2 Stop the current camera stream. [0] is the camera to stop streaming. [1] is whether to restart the stream.

Telemetry

name dataId type count description
AvailableCameras 12100 UINT8_T 1 Bitmask values for which cameras are able to stream. LSB is Camera 0, MSB is Camera 7.
StreamingCameras 12101 UINT8_T 4 Which cameras the system is currently streaming on each port
PictureTaken1 12102 UINT8_T 1 Picture has been taken.

Errors

name dataId type count description
CameraUnavailable 12200 UINT8_T 1 Camera has errored and stopped streaming. [0] is ID of camera as an integer (not bitmask).

Camera2 Board

IP: 192.168.4.101

Commands

name dataId type count description
TakePicture 13001 UINT8_T 1 Take a picture with the current camera. [0] is the camera to take a picture with. [1] tells the camera whether to restart the stream afterwards.
ToggleStream2 13002 UINT8_T 2 Stop the current camera stream. [0] is the camera to stop streaming. [1] is whether to restart the stream.

Telemetry

name dataId type count description
PictureTaken2 13100 UINT8_T 1 Picture has been taken.

CameraServer Board

IP: 192.168.4.102

Commands

name dataId type count description
TakePhoto 14000 UINT8_T 1 Take a picture with the current camera. [0] is the camera to take a picture with.
ToggleStream 14001 UINT8_T 2 Stop the current camera stream. [0] is the camera to stop streaming. [1] is the action (0 = Shutdown, 1 = Startup, 2 = Restart).
AdjustBrightness 14002 UINT8_T 2 Adjust brightness level (0-255). [0] is the camera ID, [1] is the brightness level.
AdjustContrast 14003 UINT8_T 2 Adjust contrast level (0-255). [0] is the camera ID, [1] is the contrast level.
AdjustSaturation 14004 UINT8_T 2 Adjust saturation level (0-255). [0] is the camera ID, [1] is the saturation level.
AdjustHue 14005 UINT8_T 2 Adjust hue level (0-255). [0] is the camera ID, [1] is the hue level.
SetWhiteBalance 14008 UINT8_T 2 Set white balance temperature. [0] is the camera ID, [1] is the white balance level.
AdjustBacklightContrast 14009 UINT8_T 2 Adjust backlight contrast level (0-255). [0] is the camera ID, [1] is the backlight contrast level.
SetExposure 14010 INT32_T 2 Set exposure level. [0] is the camera ID, [1] is the exposure level.

Telemetry

name dataId type count description
AvailableCameras 14100 UINT8_T 1 Bitmask values for which cameras are able to stream. LSB is Camera 0, MSB is Camera 7.
StreamingCameras 14101 UINT8_T 4 Which cameras the system is currently streaming on each port
PictureTaken1 14102 UINT8_T 1 Picture has been taken.

Errors

name dataId type count description
CameraUnavailable 14200 UINT8_T 1 Camera has errored and stopped streaming. [0] is ID of camera as an integer (not bitmask).

IRSpectrometer Board

IP: 192.168.3.104

Instruments Board

IP: 192.168.3.105

Commands

name dataId type count description
EnableLEDs 16000 UINT8_T 1 [Green, White] [1-Enabled, 0-Disabled] (bitmasked)
RequestRamanReading 16001 UINT32_T 1 Start a Raman reading, with the provided integration time (milliseconds)
RequestReflectanceReading 16002 UINT32_T 1 Start a Reflectance reading, with the provided integration time (milliseconds)
RequestTemperature 16003 UINT8_T 1 Request the temperature of the instrument

Telemetry

name dataId type count description
RamanReading_Part1 16100 UINT16_T 500 Raman CCD elements 1-500
RamanReading_Part2 16101 UINT16_T 500 Raman CCD elements 501-1000
RamanReading_Part3 16102 UINT16_T 500 Raman CCD elements 1001-1500
RamanReading_Part4 16103 UINT16_T 500 Raman CCD elements 1501-2000
RamanReading_Part5 16104 UINT16_T 48 Raman CCD elements 2001-2048
ReflectanceReading 16105 UINT8_T 288 Reflectance CCD elements 1-288
Temperature 16106 INT8_T 1 [Temperature] (degrees C)

RoveSoSimulator Board

IP: 127.0.0.1

Telemetry

name dataId type count description
Ultrasonic1 99100 FLOAT_T 2 Ultrasonic sensor distance reading in centimeters (cm). Value ranges from 0.00 to 500.00 cm

Network Devices

name ip
BasestationSwitch 192.168.254.2
RoverSwitch 192.168.254.1
Rover900MHzRocket 10.0.0.3
Basestation900MHzRocket 10.0.0.4
Rover5GHzRocket 10.0.0.19
Basestation5GHzRocket 10.0.0.20
Rover2_4GHzRocket 10.0.0.11
Basestation2_4GHzRocket 10.0.0.12

Multicast Devices

name ip port device
DriveCamLeft 239.0.0.1 50000 0
DriveCamRight 239.0.0.2 50000 1
GimbalCamLeft 239.0.0.3 50000 2
GimbalCamRight 239.0.0.4 50000 3
BackCam 239.0.0.5 50000 4
AuxCam1 239.0.0.6 50000 5
AuxCam2 239.0.0.7 50000 6
AuxCam3 239.0.0.8 50000 7
AuxCam4 239.0.0.9 50000 8
Microscope 239.0.0.10 50000 9

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The MRDT RoveComm Communication Manifest to be Embeded in RoveComm Repositories

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2024 Competition Release Latest
Jul 22, 2024
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