Alpheus Messages

Alpheus Custom messages used by Alpheus nodes to communicate.

1. headingPID

float32 hKp  // Proportional Gain Constant
float32 hKi  // Integral Gain Constant
float32 hKd  // Derivative Gain Constant

2. pressurePID

float32 pKp  // Proportional Gain Constant
float32 pKi  // Integral Gain Constant
float32 pKd  // Derivative Gain Constant

3. offsetData

float32 offsetX // offset for X-coordinate
float32 offsetY // offset for Y-coordinate

4. Pressure

float32 pressure // Pressure Data from pressure sensor.

5. Thruster

uint16 speedfwd1  
uint16 speedfwd2
uint16 speedup1
uint16 speedup2
uint16 speedup3
uint16 speedup4
uint16 speeddir1
uint16 speeddir2

6. Pose2D (ROS Geometry Package)

float64 x
float64 y
float64 theta

7. IMU (ROS Sensor Package)

std_msgs/Header header
geometry_msgs/Quaternion orientation
float64[9] orientation_covariance
geometry_msgs/Vector3 angular_velocity
float64[9] angular_velocity_covariance
geometry_msgs/Vector3 linear_acceleration
float64[9] linear_acceleration_covariance