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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

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
OpenLoop 8000 INT16_T 6 [X, Y1, Y2, Z, P, R] Motor decipercent [-1000, 1000]
SetPosition 8001 FLOAT_T 6 [X, Y1, Y2, Z, P, R] (in, in, in, in, deg, deg)
IncrementPosition 8002 FLOAT_T 5 [X, Y, Z, P, R] (in, in, in, deg, deg, deg)
SetIK 8003 FLOAT_T 5 [X, Y, Z, P, R] (in, in, in, deg, deg)
IncrementIK_RoverRelative 8004 FLOAT_T 5 [X, Y, Z, P, R] (in, in, in, deg, deg)
IncrementIK_WristRelative 8005 FLOAT_T 5 [X, Y, Z, P, R] (in, in, in, deg, deg)
Laser 8006 UINT8_T 1 [0-disable, 1-enable]
Solenoid 8007 UINT8_T 1 [0-retract, 1-extend]
Gripper 8008 INT16_T 1 Motor decipercent [-1000, 1000]
WatchdogOverride 8009 UINT8_T 1 [0-override off, 1-override on]
LimitSwitchOverride 8010 UINT16_T 1 [X+, X-, Y1+, Y1-, Y2+, Y2-, Z+, Z-, P+, P-] (0-override off, 1-override on) (bitmasked)
CalibrateEncoder 8011 UINT8_T 1 [X, Y1, Y2, Z, P, R1, R2] (1-calibrate, 0-no action) (bitmasked)
SelectGripper 8012 UINT8_T 1 Toggle gripper and roll motors controlled by other packets; 0-Gripper1, 1-Gripper2
SoftLimitOverride 8013 UINT8_T 1 [X+, X-, Y1+, Y1-, Y2+, Y2-, Z+, Z-, 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-, Y1+, Y1-, Y2+, Y2-, Z+, Z-, Pitch+, Pitch-] (0-off, 1-on) (bitmasked)

Errors

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

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 2 [Lat, Lon]
AddObjectLeg 11004 DOUBLE_T 2 [Lat, Lon]
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

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)

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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