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updated ros interface
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@klaxalk
klaxalk committed Oct 12, 2023
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45 changes: 17 additions & 28 deletions docs/system/uav_ros_interface.md
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Expand Up @@ -5,7 +5,7 @@ parent: The UAV system
nav_order: 3
---

| :warning: **Attention please: This page is outdated.** |
| :warning: **Attention please: This page needs work.** |
| :--- |
| The MRS UAV System 1.5 is being released and this page needs updating. Plase, keep in mind that the information on this page might not be valid. |

Expand Down Expand Up @@ -38,8 +38,7 @@ General topics reporting on the current state of the ControlManager:
| **topic** | **description** | **topic type** |
|-------------------------------------|-------------------------------------------|-------------------------------------------------------------------------------------------------------------|
| control_manager/diagnostics | status of the ControlManager | [mrs_msgs/ControlManagerDiagnostics](https://ctu-mrs.github.io/mrs_msgs/msg/ControlManagerDiagnostics.html) |
| control_manager/position_cmd | control reference from the active tracker | [mrs_msgs/PositionCommand](https://ctu-mrs.github.io/mrs_msgs/msg/PositionCommand.html) |
| control_manager/attitude_cmd | output from the active controller | [mrs_msgs/AttitudeCommand](https://ctu-mrs.github.io/mrs_msgs/msg/AttitudeCommand.html) |
| control_manager/tracker_cmd | control reference from the active tracker | [mrs_msgs/TrackerCommand](https://ctu-mrs.github.io/mrs_msgs/msg/TrackerCommand.html) |
| control_manager/mass_estimate | total estimated mass | `std_msgs/Float64` |
| control_manager/current_constraints | current values of the dynamic constraints | [mrs_msgs::DynamicsConstraints](https://ctu-mrs.github.io/mrs_msgs/msg/DynamicsConstraints.html) |
| control_manager/heading | current heading | [mrs_msgs::Float64Stamped](https://ctu-mrs.github.io/mrs_msgs/msg/Float64Stamped.html) |
Expand All @@ -48,7 +47,7 @@ Topics dedicated to Rviz vizualization:

| **topic** | **description** | **topic type** |
|---------------------------------------------|---------------------------------------------------------|-----------------------------------|
| control_manager/cmd_odom | control reference from the active tracker (Rviz-able) | `nav_msgs/Odometry` |
| control_manager/control_reference | control reference from the active tracker | `nav_msgs/Odometry` |
| control_manager/safety_area_markers | Rviz markers showing the safety area | `visualization_msgs::MarkerArray` |
| control_manager/safety_area_coordinates | Rviz markers showing the coordinates of the safety area | `visualization_msgs::MarkerArray` |
| control_manager/disturbance_markers | Rviz markers showing the estimated distrubances | `visualization_msgs::MarkerArray` |
Expand All @@ -64,7 +63,7 @@ Use those services to interact with the drone from the terminal:
| **service** | **description** | **service type** | **args** |
|--------------------------------------|---------------------------------------------------|-------------------------------------------------------------------|---------------|
| control_manager/goto | fly to given coordinates | [mrs_msgs/Vec4](https://ctu-mrs.github.io/mrs_msgs/srv/Vec4.html) | `[x,y,z,hdg]` |
| control_manager/goto_fcu | fly to given coordinates in the drone's frame | [mrs_msgs/Vec4](https://ctu-mrs.github.io/mrs_msgs/srv/Vec4.html) | `[x,y,z,hdg]` |
| control_manager/goto_fcu | fly to given coordinates in the drone's frame | [mrs_msgs/Vec4](https://ctu-mrs.github.io/mrs_msgs/srv/Vec4.html) | `[x,y,z,hdg]` |
| control_manager/goto_relative | fly to relative coordinates in the world frame | [mrs_msgs/Vec4](https://ctu-mrs.github.io/mrs_msgs/srv/Vec4.html) | `[x,y,z,hdg]` |
| control_manager/goto_altitude | fly to a given height/altitude (the z coordinate) | [mrs_msgs/Vec1](https://ctu-mrs.github.io/mrs_msgs/srv/Vec1.html) | `[z]` |
| control_manager/set_heading | set the heading | [mrs_msgs/Vec1](https://ctu-mrs.github.io/mrs_msgs/srv/Vec1.html) | `[hdg]` |
Expand Down Expand Up @@ -145,7 +144,7 @@ The ConstraintManager maintains feasible constraints active during the flight ba
## GainManager

The [GainManager](https://github.com/ctu-mrs/mrs_uav_managers#GainManager) handles the definition and switching of controller gains for the [Se3Controller](https://github.com/ctu-mrs/mrs_uav_controllers#available-controllers).
The Se3Controller should be tuned for a particular UAV model, desired dynamics, and the [Odometry](https://github.com/ctu-mrs/mrs_uav_odometry#mrs-uav-odometry-) under which it is going to fly.
The Se3Controller should be tuned for a particular UAV model, desired dynamics, and the state estimator used for obtained the UAV State.
A proper set of gains needs to be provided based on the flight conditions and odometry source.

### Provided topics
Expand All @@ -160,36 +159,27 @@ A proper set of gains needs to be provided based on the flight conditions and od
|------------------------|----------------------------|-----------------------------------------------------------------------|
| gain_manager/set_gains | activate the desired gains | [mrs_msgs/String](https://ctu-mrs.github.io/mrs_msgs/srv/String.html) |

## MRS Odometry
## Estimation Manager

The [mrs_uav_odometry](https://github.com/ctu-mrs/mrs_uav_odometry#mrs-uav-odometry-) handles the fusion of various measurements of the UAV state variables (position, velocity, acceleration, heading, heading rate) and publishes odometry messages for the [ControlManager](https://github.com/ctu-mrs/mrs_uav_managers#ControlManager).
The estimation of UAV odometry is seperated into lateral, altitude and heading estimation based on sets of three-state Linear Kalman Filters to keep the models simple and modular.
Each filter has a specific sets of fused measurements (GPS, Optic Flow, Visual Odometry, etc.) and it is possible to switch between these filters mid-flight, which allows the UAV to condinue flying even in the case of failure of the primary localization technique.
The estimation manager handles the fusion of various measurements of the UAV state variables (position, velocity, acceleration, heading, heading rate) and publishes [UAV State](https://ctu-mrs.github.io/mrs_msgs/msg/UavState.html) messages for the [ControlManager](https://github.com/ctu-mrs/mrs_uav_managers#ControlManager).

### Provided topics

Please refer to [odometry.launch](https://github.com/ctu-mrs/mrs_uav_odometry/blob/master/launch/odometry.launch) for a complete list of topics.
Please refer to [estimation_manager.launch](https://github.com/ctu-mrs/mrs_uav_managers/blob/master/launch/estimation_manager.launch) for a complete list of topics.

Notable topics:

| **topic** | **description** | **topic type** |
|-------------------------|---------------------------------------------------------------------------------------|---------------------------------------------------------------------------|
| odometry/uav_state | UAV state msg used for control | [mrs_msgs/UavState](https://ctu-mrs.github.io/mrs_msgs/msg/UavState.html) |
| odometry/odom_main | odometry msg used for control | `nav_msgs/Odometry` |
| odometry/slow_odom | odometry msg published at lower rate (2 Hz default) | `nav_msgs/Odometry` |
| odometry/odom_local | odometry msg with origin in the takeoff position | `nav_msgs/Odometry` |
| odometry/odom_stable | odometry msg without discontinuities caused by estimator switches | `nav_msgs/Odometry` |
| odometry/rtk_local_odom | unfiltered RTK odometry msg. Unsuitable for control, but can be used as ground truth. | `nav_msgs/Odometry` |
| **topic** | **description** | **topic type** |
|-------------------------------|------------------------------------------|----------------------------------------------------------------------------------------|
| estimation_manager/uav_state | UAV state msg used for control | [mrs_msgs/UavState](https://ctu-mrs.github.io/mrs_msgs/msg/UavState.html) |
| estimation_manager/odom_main | current UAV state in the _Odometry_ type | `nav_msgs/Odometry` |
| estimation_manager/height_agl | height above ground level | [mrs_msgs::Float64Stamped](https://ctu-mrs.github.io/mrs_msgs/msg/Float64Stamped.html) |

### Provided services

| **service** | **description** | **service type** |
|-------------------------------------------|---------------------------------------------------------|-----------------------------------------------------------------------|
| odometry/toggle_garmin | turns Garmin rangefinder correction on/off | `std_srvs::SetBool` |
| odometry/change_odometry_source | start using the requested odometry source for control | [mrs_msgs/String](https://ctu-mrs.github.io/mrs_msgs/srv/String.html) |
| odometry/change_estimator_type_string | start using the requested lateral estimator for control | [mrs_msgs/String](https://ctu-mrs.github.io/mrs_msgs/srv/String.html) |
| odometry/change_alt_estimator_type_string | start using the requested altitude source for control | [mrs_msgs/String](https://ctu-mrs.github.io/mrs_msgs/srv/String.html) |
| odometry/change_hdg_estimator_type_string | start using the requested heading source for control | [mrs_msgs/String](https://ctu-mrs.github.io/mrs_msgs/srv/String.html) |
| estimation_manager/change_estimator | switch to a desired estimator | [mrs_msgs/String](https://ctu-mrs.github.io/mrs_msgs/srv/String.html) |

## Trajectory generation

Expand All @@ -203,7 +193,6 @@ The [mrs_uav_trajectory_generation](https://github.com/ctu-mrs/mrs_uav_trajector

### Provided services

| **service** | **description** | **service type** |
|----------------------------|--------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------|
| trajectory_generation/path | desired path to fly | [mrs_msgs/PathSrv](https://ctu-mrs.github.io/mrs_msgs/srv/PathSrv.html) |
| trajectory_generation/test | test using [example.yaml](https://github.com/ctu-mrs/mrs_uav_trajectory_generation/blob/master/paths/example.yaml) | `std_srvs/Trigger` |
| **service** | **description** | **service type** |
|----------------------------|---------------------|-------------------------------------------------------------------------|
| trajectory_generation/path | desired path to fly | [mrs_msgs/PathSrv](https://ctu-mrs.github.io/mrs_msgs/srv/PathSrv.html) |

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