RoveComm Base

This is the repository that contains manifest.json, which is used by all RoveComm implementations as a schema for sending and parsing RoveComm packets. These are the current implementations of RoveComm so far:

RoveComm_Arduino -- Used by embedded microcontrollers. Written for the Arduino framework.
RoveComm_CPP -- Used by Autonomy_Software and the Simulator. Written in multithreaded C++.
RoveComm_Python -- Used by RoveCommTester and Old Autonomy. It is also used where shell scripts need to interact with RoveComm, such as on NavBoard and on the Camera PIs.
RoveComm_CSharp -- Used by New BaseStation. Written for C# .NET projects. Hosted on nuget.org.
RoveComm_TypeScript -- Used by Old BaseStation. Written for Node.js apps.
Though not actively maintained, there are also implementations for Dart and Swift.

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

Enums

DISPLAYSTATE

0: Teleop
1: Autonomy
2: Reached_Goal

PATTERNS

0: MRDT
1: BELGIUM
2: MERICA
3: DIRT
4: DOTA
5: MCD
6: WINDOWS

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
SetIndividualSpeeds	8000	`INT16_T`	6	[X, J2, J3, J4, P, R] Motor decipercent [-1000, 1000]
SetJointSpeed	8001	`INT16_T`	2	[JointID, Decipercent] Motor decipercent [-1000, 1000]
SetIndividualTargetAngles	8002	`FLOAT_T`	6	[X, J2, J3, J4, P, R] (in, deg, deg, deg, deg, deg)
SetJointTargetAngle	8003	`FLOAT_T`	2	[JointID, Position] (in for id 0, deg otherwise)
IncrementIndividualTargetAngles	8004	`FLOAT_T`	6	[X, J2, J3, J4, P, R] (in, deg, deg, deg, deg, deg)
IncrementJointTargetAngle	8005	`FLOAT_T`	2	[JointID, Angle] (in for id 0, deg otherwise)
SetIKPosition	8006	`FLOAT_T`	6	[X, Y, Z, J4, P, R] (in, in, in, deg, deg, deg)
IncrementIKPosition	8007	`FLOAT_T`	6	[X, Y, Z, J4, P, R] (in, in, in, deg, deg, deg)
SetLockModePosition	8008	`FLOAT_T`	3	[J4, P, R] (deg, deg, deg)
IncrementLockModePosition	8009	`FLOAT_T`	3	[J4, P, R] (deg, deg, deg)
Laser	8010	`UINT8_T`	1	[0-disable, 1-enable]
Solenoid	8011	`UINT8_T`	1	[0-retract, 1-extend]
SetGripperSpeed	8012	`INT16_T`	1	Motor decipercent [-1000, 1000]
WatchdogOverride	8013	`UINT8_T`	1	[0-override off, 1-override on] (bitmasked)
LimitSwitchOverride	8014	`UINT16_T`	1	[X+, X-, J2+, J2-, J3+, J3-, J4+, J4-, P] (0-override off, 1-override on) (bitmasked)
ClosedLoopOverride	8015	`UINT8_T`	1	[X, J2, J3, J4, P, R] (0-override off, 1-override on) (bitmasked)
CalibrateEncoder	8016	`UINT8_T`	1	[X, Roll] (1-calibrate, 0-no action) (bitmasked)
SoftLimitOverride	8017	`UINT16_T`	1	[X+, X-, J2+, J2-, J3+, J3-, J4+, J4-, P+, P-] (0-override off, 1-override on) (bitmasked)
EStop	8018	`UINT8_T`	1	Shut off all motors (set decipercents to 0 and disable closed loop)

Telemetry

name	dataId	type	count	description
Positions	8100	`FLOAT_T`	6	[X, J2, J3, J4, P, R] (in, deg, deg, deg, deg, deg)
Coordinates	8101	`FLOAT_T`	6	[X, Y, Z, J4, P, R] (in, in, in, deg, deg, deg)
LimitSwitchTriggered	8102	`UINT16_T`	1	[X+, X-, J2+, J2-, J3+, J3-, J4+, J4-, P] (0-off, 1-on) (bitmasked)

Errors

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

Enums

Joints

0: X
1: J2
2: J3
3: J4
4: PITCH
5: ROLL

Auger Board

IP: 192.168.2.108

Commands

name	dataId	type	count	description
AugerAxis_OpenLoop	9000	`INT16_T`	1	Motor decipercent [-1000, 1000]
AugerAxis_SetPosition	9001	`FLOAT_T`	1	Absolute position (in)
AugerAxis_IncrementPosition	9002	`FLOAT_T`	1	(in)
LimitSwitchOverride	9003	`UINT8_T`	1	[AugerAxis+, AugerAxis-] (0-override off, 1-override on) (bitmasked)
CalibrateEncoder	9004	`UINT8_T`	1	Request calibration of the AugerAxis encoder
Auger	9005	`INT16_T`	1	Motor decipercent [-1000, 1000]
WatchdogOverride	9006	`UINT8_T`	1	[0-override off, 1-override on]
RequestTemperature	9007	`UINT8_T`	1	Request a reading of the temperature at the end of the auger
RequestHumidity	9008	`UINT8_T`	1	Request a reading of the humidity at the end of the auger
UVLED	9009	`UINT8_T`	1	Ultraviolet LED on AutoFluorescence (0-off, 1-on)
AugerGimbalIncrement	9010	`INT16_T`	2	[Pan, Tilt](degrees -180-180)

Telemetry

name	dataId	type	count	description
Position	9100	`FLOAT_T`	1	[AugerAxis] (in)
AugerSpeed	9101	`FLOAT_T`	1	(in/s)
LimitSwitchTriggered	9102	`UINT8_T`	1	[AugerAxis+, AugerAxis-] (0-off, 1-on) (bitmasked)
Temperature	9103	`FLOAT_T`	1	[Temperature] (degrees C)
Humidity	9104	`FLOAT_T`	1	[Humidity] (relative humidity %)

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	Start Autonomy_Software
DisableAutonomy	11001	`UINT8_T`	1	Return Autonomy_Software to Idle state
AddPositionLeg	11002	`DOUBLE_T`	2	[Lat, Lon]
AddMarkerLeg	11003	`DOUBLE_T`	4	[Lat, Lon, MarkerID, MarkerRadius (meters)]
AddObjectLeg	11004	`DOUBLE_T`	3	[Lat, Lon, ObjectRadius (meters)]
ClearWaypoints	11005	`UINT8_T`	1	Clear queued positions, markers, and objects waypoints.
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}
AddObstacle	11008	`DOUBLE_T`	3	[Lat, Lon, ObstacleRadius (meters)]
ClearObstacles	11009	`UINT8_T`	1	Clear queued permanent obstacles.

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

Enums

AUTONOMYSTATE

0: Idle
1: Navigating
2: SearchPattern
3: ApproachingMarker
4: ApproachingObject
5: VerifyingGPS
6: VerifyingMarker
7: VerifyingObject
8: Avoidance
9: Reversing
10: Stuck

AUTONOMYLOG

0: TraceL3
1: TraceL2
2: TraceL1
3: Debug
4: Info
5: Notice
6: Warning
7: Error
8: Critical

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`	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.
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

Raman Board

IP: 192.168.3.105

Commands

name	dataId	type	count	description
InstrumentsAxis_OpenLoop	16000	`INT16_T`	1	Motor decipercent [-1000, 1000]
InstrumentsAxis_SetPosition	16001	`FLOAT_T`	1	Absolute position (in)
InstrumentsAxis_IncrementPosition	16002	`FLOAT_T`	1	(in)
LimitSwitchOverride	16003	`UINT8_T`	1	[InstrumentsAxis+, InstrumentsAxis-] (0-override off, 1-override on) (bitmasked)
CalibrateEncoder	16004	`UINT8_T`	1	Request calibration of the InstrumentsAxis encoder
WatchdogOverride	16005	`UINT8_T`	1	[0-override off, 1-override on]
Laser	16006	`UINT8_T`	1	[0-disable, 1-enable]
RequestRamanReading	16007	`UINT32_T`	1	Start a Raman reading, with the provided integration time (milliseconds)

Telemetry

name	dataId	type	count	description
Position	16100	`FLOAT_T`	1	[InstrumentsAxis] (in)
LimitSwitchTriggered	16101	`UINT8_T`	1	[InstrumentsAxis+, InstrumentsAxis-] (0-off, 1-on) (bitmasked)
RamanReading_Part1	16102	`UINT16_T`	512	Raman CCD elements 1-512
RamanReading_Part2	16103	`UINT16_T`	512	Raman CCD elements 513-1024
RamanReading_Part3	16104	`UINT16_T`	512	Raman CCD elements 1025-1536
RamanReading_Part4	16105	`UINT16_T`	512	Raman CCD elements 1537-2048

Errors

name	dataId	type	count	description
WatchdogStatus	16200	`UINT8_T`	1	(1-Watchdog timeout, 0-OK)

RoveSoSimulator Board

IP: 127.0.0.1

Telemetry

name	dataId	type	count	description
Ultrasonic1	99100	`FLOAT_T`	2	Ultrasonic sensor distance reading in centimeters (cm). Value ranges from 0.00 to 500.00 cm

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`

Name		Name	Last commit message	Last commit date
Latest commit History 115 Commits
.github		.github
README.md		README.md
manifest.json		manifest.json

MissouriMRDT/RoveComm_Base

Folders and files

Latest commit

History

Repository files navigation

RoveComm Base

RoveComm Manifest

Core Board

Commands

Telemetry

Enums

PMS Board

Commands

Telemetry

Errors

Nav Board

Telemetry

Errors

BaseStationNav Board

SignalStack Board

Commands

Telemetry

Errors

Arm Board

Commands

Telemetry

Errors

Enums

Auger Board

Commands

Telemetry

Errors

Autonomy Board

Commands

Telemetry

Enums

Camera1 Board

Commands

Telemetry

Errors

Camera2 Board

Commands

Telemetry

CameraServer Board

Commands

Telemetry

Errors

IRSpectrometer Board

Raman Board

Commands

Telemetry

Errors

RoveSoSimulator Board

Telemetry

Network Devices

Multicast Devices

About

Resources

Stars

Watchers

Forks

Releases 2

Contributors 7