From 7b3e64ff8db0391a464f53038768c7d52fd006ad Mon Sep 17 00:00:00 2001
From: SebastianEbert <sebastian.ebert@tu-dresden.de>
Date: Wed, 8 Apr 2020 10:54:50 +0200
Subject: [PATCH] documentation of mqtt-interfaces
---
README.md | 52 ++++++++++++++++++++++++++++++++++++++
src/RobotStateProvider.cpp | 6 ++---
2 files changed, 55 insertions(+), 3 deletions(-)
diff --git a/README.md b/README.md
index 1e746f7..c2ba625 100644
--- a/README.md
+++ b/README.md
@@ -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
diff --git a/src/RobotStateProvider.cpp b/src/RobotStateProvider.cpp
index cfd6878..c91f02c 100644
--- a/src/RobotStateProvider.cpp
+++ b/src/RobotStateProvider.cpp
@@ -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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