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Commit 7b3e64ff authored by Sebastian Ebert's avatar Sebastian Ebert
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documentation of mqtt-interfaces

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......@@ -77,6 +77,58 @@ $ sudo ldconfig
(source: https://github.com/eclipse/paho.mqtt.cpp/blob/master/README.md)
## Provided MQTT-Interfaces
### Configuration of the data-stream (ROS -> RAG)
#### General
* Channel: dataconfig
* Protobuff-message format defined in ../panda_simulation/src/proto/dataconfig.proto
* Changes submitted data starting from the next data-package retreived from gazebo
#### Parameter
* Parameter "data_publish_rate" means in which intervals messages are pulled out of gazebo's data stream
* data_enable_position, true -> send joint positions
* data_enable_orientation, true -> send joint orientations
* data_enable_twist_linear, true -> sent linear twists of joints
* data_enable_twist_angular, true -> sent angular twists of joints
### Configuration of the simulated robot
#### General
* Channel: robotconfig
* Protobuff-message format defined in ../panda_simulation/src/proto/robotconfig.proto
#### Parameter
* robot_speed_factor, defines how fast the robot moves starting from the next trajectory-point
* is a factor multiplied to the speed computed by the trajectory-planning algorithm
* Range: 0,1 to 1,0 (recommed are values > 0.3)
### Datastream format
#### General
* Data for every link has its own mqtt-channel (defined in section bellow)
* Protobuff-message format defined in ../panda_simulation/src/proto/linkstate.proto
#### Channels
* panda_ground: ground-plate
* panda_link_0: link_0 of the panda
* panda_link_1: link_1 of the panda
* panda_link_2: link_2 of the panda
* panda_link_3: link_3 of the panda
* panda_link_4: link_4 of the panda
* panda_link_5: link_5 of the panda
* panda_link_6: link_6 of the panda
* panda_link_7: link_7 of the panda (end effector)
* panda_link_8: link_8 of the panda (left finger)
* panda_link_9: link_9 of the panda (right finger)
## Changelog
#### Safetyzones
......
......@@ -14,9 +14,9 @@ bool export_to_log = false;
* mqtt-topics for all links
* ground, link0, link1, link2, link3, link4, link5, link6, link7 (end-effector), left finger, right finder
*/
std::string topics[11] = {"panda_link_0", "panda_link_1", "panda_link_2", "panda_link_3",
"panda_link_4", "panda_link_5", "panda_link_6", "panda_link_7",
"panda_link_8", "panda_link_9", "panda_link_10"};
std::string topics[11] = {"panda_ground", "panda_link_0", "panda_link_1", "panda_link_2",
"panda_link_3", "panda_link_4", "panda_link_5", "panda_link_6",
"panda_link_7", "panda_link_8", "panda_link_9"};
bool mqttSetup = false;
bool isInitialized = false;
......
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