smarc2_structure.json

{"hash": "1c17548b2b87fbd0a794bf63639a773667bfe33a", "created": 1715868732, "robot_name": "test_robot", "structure": {"dead_reckoning_msgs": {"path": "messages/dead_reckoning_msgs", "launchfiles": {}}, "dubins_planner": {"path": "utilities/dubins_planner", "launchfiles": {}}, "mqtt_bridge": {"path": "external_packages/mqtt_bridge", "launchfiles": {"external_packages/mqtt_bridge/launch/demo.launch.py": {"nodes": {}}}}, "ros2_python_examples": {"path": "examples/ros2_python_examples", "launchfiles": {"examples/ros2_python_examples/launch/basic_controller_example.launch": {"nodes": {"/test_robot/pid_controller_node": {"Subscribers": [["/tf", "tf2_msgs/msg/TFMessage"], ["/tf_static", "tf2_msgs/msg/TFMessage"]], "Publishers": [["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/rosout", "rcl_interfaces/msg/Log"], ["/test_robot/core/lcg_cmd", "sam_msgs/msg/PercentStamped"], ["/test_robot/core/thrust_vector_cmd", "sam_msgs/msg/ThrusterAngles"], ["/test_robot/core/thruster1_cmd", "smarc_msgs/msg/ThrusterRPM"], ["/test_robot/core/thruster2_cmd", "smarc_msgs/msg/ThrusterRPM"], ["/test_robot/core/vbs_cmd", "sam_msgs/msg/PercentStamped"]], "Service Servers": [["/test_robot/pid_controller_node/describe_parameters", "rcl_interfaces/srv/DescribeParameters"], ["/test_robot/pid_controller_node/get_parameter_types", "rcl_interfaces/srv/GetParameterTypes"], ["/test_robot/pid_controller_node/get_parameters", "rcl_interfaces/srv/GetParameters"], ["/test_robot/pid_controller_node/list_parameters", "rcl_interfaces/srv/ListParameters"], ["/test_robot/pid_controller_node/set_parameters", "rcl_interfaces/srv/SetParameters"], ["/test_robot/pid_controller_node/set_parameters_atomically", "rcl_interfaces/srv/SetParametersAtomically"]], "Service Clients": [], "Action Servers": [], "Action Clients": []}}}}}, "ros_tcp_endpoint": {"path": "external_packages/ROS-TCP-Endpoint", "launchfiles": {"external_packages/ROS-TCP-Endpoint/launch/endpoint.py": {"nodes": {"/UnityEndpoint": {"Subscribers": [], "Publishers": [["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/rosout", "rcl_interfaces/msg/Log"]], "Service Servers": [["/UnityEndpoint/describe_parameters", "rcl_interfaces/srv/DescribeParameters"], ["/UnityEndpoint/get_parameter_types", "rcl_interfaces/srv/GetParameterTypes"], ["/UnityEndpoint/get_parameters", "rcl_interfaces/srv/GetParameters"], ["/UnityEndpoint/list_parameters", "rcl_interfaces/srv/ListParameters"], ["/UnityEndpoint/set_parameters", "rcl_interfaces/srv/SetParameters"], ["/UnityEndpoint/set_parameters_atomically", "rcl_interfaces/srv/SetParametersAtomically"]], "Service Clients": [], "Action Servers": [], "Action Clients": []}}}}}, "sam_basic_controllers": {"path": "examples/sam_basic_controllers", "launchfiles": {"examples/sam_basic_controllers/launch/sam_control.launch": {"nodes": {}}}}, "sam_dead_reckoning": {"path": "navigation/dead_reckoning/sam_dead_reckoning", "launchfiles": {"navigation/dead_reckoning/sam_dead_reckoning/launch/sam_dr_launch.launch": {"nodes": {"/test_robot/compass_heading_node": {"Subscribers": [["/clock", "rosgraph_msgs/msg/Clock"], ["/test_robot/dr/yaw", "std_msgs/msg/Float64"]], "Publishers": [["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/rosout", "rcl_interfaces/msg/Log"], ["/test_robot/dr/compass_heading", "std_msgs/msg/Float64"]], "Service Servers": [["/test_robot/compass_heading_node/describe_parameters", "rcl_interfaces/srv/DescribeParameters"], ["/test_robot/compass_heading_node/get_parameter_types", "rcl_interfaces/srv/GetParameterTypes"], ["/test_robot/compass_heading_node/get_parameters", "rcl_interfaces/srv/GetParameters"], ["/test_robot/compass_heading_node/list_parameters", "rcl_interfaces/srv/ListParameters"], ["/test_robot/compass_heading_node/set_parameters", "rcl_interfaces/srv/SetParameters"], ["/test_robot/compass_heading_node/set_parameters_atomically", "rcl_interfaces/srv/SetParametersAtomically"]], "Service Clients": [], "Action Servers": [], "Action Clients": []}, "/test_robot/depth_node": {"Subscribers": [["/clock", "rosgraph_msgs/msg/Clock"], ["/test_robot/core/depth20_pressure", "sensor_msgs/msg/FluidPressure"]], "Publishers": [["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/rosout", "rcl_interfaces/msg/Log"], ["/test_robot/dr/depth_pose", "geometry_msgs/msg/PoseWithCovarianceStamped"]], "Service Servers": [["/test_robot/depth_node/describe_parameters", "rcl_interfaces/srv/DescribeParameters"], ["/test_robot/depth_node/get_parameter_types", "rcl_interfaces/srv/GetParameterTypes"], ["/test_robot/depth_node/get_parameters", "rcl_interfaces/srv/GetParameters"], ["/test_robot/depth_node/list_parameters", "rcl_interfaces/srv/ListParameters"], ["/test_robot/depth_node/set_parameters", "rcl_interfaces/srv/SetParameters"], ["/test_robot/depth_node/set_parameters_atomically", "rcl_interfaces/srv/SetParametersAtomically"]], "Service Clients": [], "Action Servers": [], "Action Clients": []}, "/test_robot/dr_node": {"Subscribers": [["/clock", "rosgraph_msgs/msg/Clock"], ["/test_robot/core/dvl", "smarc_msgs/msg/DVL"], ["/test_robot/core/imu", "sensor_msgs/msg/Imu"], ["/test_robot/core/sbg_imu", "sensor_msgs/msg/Imu"], ["/test_robot/core/thrust_vector_cmd", "sam_msgs/msg/ThrusterAngles"], ["/test_robot/core/thruster1_fb", "smarc_msgs/msg/ThrusterFeedback"], ["/test_robot/core/thruster2_fb", "smarc_msgs/msg/ThrusterFeedback"], ["/test_robot/dr/depth_pose", "geometry_msgs/msg/PoseWithCovarianceStamped"], ["/test_robot/dr/gps_odom", "nav_msgs/msg/Odometry"], ["/tf", "tf2_msgs/msg/TFMessage"], ["/tf_static", "tf2_msgs/msg/TFMessage"]], "Publishers": [["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/rosout", "rcl_interfaces/msg/Log"], ["/test_robot/dr/odom", "nav_msgs/msg/Odometry"], ["/tf", "tf2_msgs/msg/TFMessage"], ["/tf_static", "tf2_msgs/msg/TFMessage"]], "Service Servers": [["/test_robot/dr_node/describe_parameters", "rcl_interfaces/srv/DescribeParameters"], ["/test_robot/dr_node/get_parameter_types", "rcl_interfaces/srv/GetParameterTypes"], ["/test_robot/dr_node/get_parameters", "rcl_interfaces/srv/GetParameters"], ["/test_robot/dr_node/list_parameters", "rcl_interfaces/srv/ListParameters"], ["/test_robot/dr_node/set_parameters", "rcl_interfaces/srv/SetParameters"], ["/test_robot/dr_node/set_parameters_atomically", "rcl_interfaces/srv/SetParametersAtomically"]], "Service Clients": [], "Action Servers": [], "Action Clients": []}, "/test_robot/gps_node": {"Subscribers": [["/clock", "rosgraph_msgs/msg/Clock"], ["/sam/core/gps/prt", "sensor_msgs/msg/NavSatFix"], ["/sam/core/gps/stb", "sensor_msgs/msg/NavSatFix"], ["/test_robot/core/gps", "sensor_msgs/msg/NavSatFix"], ["/tf", "tf2_msgs/msg/TFMessage"], ["/tf_static", "tf2_msgs/msg/TFMessage"]], "Publishers": [["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/rosout", "rcl_interfaces/msg/Log"], ["/test_robot/dr/gps_odom", "nav_msgs/msg/Odometry"], ["/test_robot/gps_odom", "nav_msgs/msg/Odometry"], ["/test_robot/gps_odom_prt", "nav_msgs/msg/Odometry"], ["/test_robot/gps_odom_stb", "nav_msgs/msg/Odometry"], ["/tf_static", "tf2_msgs/msg/TFMessage"]], "Service Servers": [["/test_robot/gps_node/describe_parameters", "rcl_interfaces/srv/DescribeParameters"], ["/test_robot/gps_node/get_parameter_types", "rcl_interfaces/srv/GetParameterTypes"], ["/test_robot/gps_node/get_parameters", "rcl_interfaces/srv/GetParameters"], ["/test_robot/gps_node/list_parameters", "rcl_interfaces/srv/ListParameters"], ["/test_robot/gps_node/set_parameters", "rcl_interfaces/srv/SetParameters"], ["/test_robot/gps_node/set_parameters_atomically", "rcl_interfaces/srv/SetParametersAtomically"]], "Service Clients": [], "Action Servers": [], "Action Clients": []}}}, "navigation/dead_reckoning/sam_dead_reckoning/launch/testing_sam_dr_launch.py": {"nodes": {"/depth_node": {"Subscribers": [["/core/depth20_pressure", "sensor_msgs/msg/FluidPressure"]], "Publishers": [["/dr/depth_pose", "geometry_msgs/msg/PoseWithCovarianceStamped"], ["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/rosout", "rcl_interfaces/msg/Log"]], "Service Servers": [["/depth_node/describe_parameters", "rcl_interfaces/srv/DescribeParameters"], ["/depth_node/get_parameter_types", "rcl_interfaces/srv/GetParameterTypes"], ["/depth_node/get_parameters", "rcl_interfaces/srv/GetParameters"], ["/depth_node/list_parameters", "rcl_interfaces/srv/ListParameters"], ["/depth_node/set_parameters", "rcl_interfaces/srv/SetParameters"], ["/depth_node/set_parameters_atomically", "rcl_interfaces/srv/SetParametersAtomically"]], "Service Clients": [], "Action Servers": [], "Action Clients": []}, "/gps_node": {"Subscribers": [["/core/gps", "sensor_msgs/msg/NavSatFix"], ["/sam/core/gps/prt", "sensor_msgs/msg/NavSatFix"], ["/sam/core/gps/stb", "sensor_msgs/msg/NavSatFix"], ["/tf", "tf2_msgs/msg/TFMessage"], ["/tf_static", "tf2_msgs/msg/TFMessage"]], "Publishers": [["/dr/gps_odom", "nav_msgs/msg/Odometry"], ["/gps_odom", "nav_msgs/msg/Odometry"], ["/gps_odom_prt", "nav_msgs/msg/Odometry"], ["/gps_odom_stb", "nav_msgs/msg/Odometry"], ["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/rosout", "rcl_interfaces/msg/Log"], ["/tf_static", "tf2_msgs/msg/TFMessage"]], "Service Servers": [["/gps_node/describe_parameters", "rcl_interfaces/srv/DescribeParameters"], ["/gps_node/get_parameter_types", "rcl_interfaces/srv/GetParameterTypes"], ["/gps_node/get_parameters", "rcl_interfaces/srv/GetParameters"], ["/gps_node/list_parameters", "rcl_interfaces/srv/ListParameters"], ["/gps_node/set_parameters", "rcl_interfaces/srv/SetParameters"], ["/gps_node/set_parameters_atomically", "rcl_interfaces/srv/SetParametersAtomically"]], "Service Clients": [], "Action Servers": [], "Action Clients": []}}}, "navigation/dead_reckoning/sam_dead_reckoning/launch/sam_dr_launch.py": {"nodes": {"/sam0/depth_node": {"Subscribers": [["/clock", "rosgraph_msgs/msg/Clock"], ["/sam0/core/depth20_pressure", "sensor_msgs/msg/FluidPressure"]], "Publishers": [["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/rosout", "rcl_interfaces/msg/Log"], ["/sam0/dr/depth_pose", "geometry_msgs/msg/PoseWithCovarianceStamped"]], "Service Servers": [["/sam0/depth_node/describe_parameters", "rcl_interfaces/srv/DescribeParameters"], ["/sam0/depth_node/get_parameter_types", "rcl_interfaces/srv/GetParameterTypes"], ["/sam0/depth_node/get_parameters", "rcl_interfaces/srv/GetParameters"], ["/sam0/depth_node/list_parameters", "rcl_interfaces/srv/ListParameters"], ["/sam0/depth_node/set_parameters", "rcl_interfaces/srv/SetParameters"], ["/sam0/depth_node/set_parameters_atomically", "rcl_interfaces/srv/SetParametersAtomically"]], "Service Clients": [], "Action Servers": [], "Action Clients": []}, "/sam0/dr_node": {"Subscribers": [["/clock", "rosgraph_msgs/msg/Clock"], ["/sam0/core/dvl", "smarc_msgs/msg/DVL"], ["/sam0/core/imu", "sensor_msgs/msg/Imu"], ["/sam0/core/sbg_imu", "sensor_msgs/msg/Imu"], ["/sam0/core/thrust_vector_cmd", "sam_msgs/msg/ThrusterAngles"], ["/sam0/core/thruster1_fb", "smarc_msgs/msg/ThrusterFeedback"], ["/sam0/core/thruster2_fb", "smarc_msgs/msg/ThrusterFeedback"], ["/sam0/dr/depth_pose", "geometry_msgs/msg/PoseWithCovarianceStamped"], ["/sam0/dr/gps_odom", "nav_msgs/msg/Odometry"], ["/tf", "tf2_msgs/msg/TFMessage"], ["/tf_static", "tf2_msgs/msg/TFMessage"]], "Publishers": [["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/rosout", "rcl_interfaces/msg/Log"], ["/sam0/dr/odom", "nav_msgs/msg/Odometry"], ["/tf", "tf2_msgs/msg/TFMessage"], ["/tf_static", "tf2_msgs/msg/TFMessage"]], "Service Servers": [["/sam0/dr_node/describe_parameters", "rcl_interfaces/srv/DescribeParameters"], ["/sam0/dr_node/get_parameter_types", "rcl_interfaces/srv/GetParameterTypes"], ["/sam0/dr_node/get_parameters", "rcl_interfaces/srv/GetParameters"], ["/sam0/dr_node/list_parameters", "rcl_interfaces/srv/ListParameters"], ["/sam0/dr_node/set_parameters", "rcl_interfaces/srv/SetParameters"], ["/sam0/dr_node/set_parameters_atomically", "rcl_interfaces/srv/SetParametersAtomically"]], "Service Clients": [], "Action Servers": [], "Action Clients": []}, "/sam0/gps_node": {"Subscribers": [["/clock", "rosgraph_msgs/msg/Clock"], ["/sam/core/gps/prt", "sensor_msgs/msg/NavSatFix"], ["/sam/core/gps/stb", "sensor_msgs/msg/NavSatFix"], ["/sam0/core/gps", "sensor_msgs/msg/NavSatFix"], ["/tf", "tf2_msgs/msg/TFMessage"], ["/tf_static", "tf2_msgs/msg/TFMessage"]], "Publishers": [["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/rosout", "rcl_interfaces/msg/Log"], ["/sam0/dr/gps_odom", "nav_msgs/msg/Odometry"], ["/sam0/gps_odom", "nav_msgs/msg/Odometry"], ["/sam0/gps_odom_prt", "nav_msgs/msg/Odometry"], ["/sam0/gps_odom_stb", "nav_msgs/msg/Odometry"], ["/tf_static", "tf2_msgs/msg/TFMessage"]], "Service Servers": [["/sam0/gps_node/describe_parameters", "rcl_interfaces/srv/DescribeParameters"], ["/sam0/gps_node/get_parameter_types", "rcl_interfaces/srv/GetParameterTypes"], ["/sam0/gps_node/get_parameters", "rcl_interfaces/srv/GetParameters"], ["/sam0/gps_node/list_parameters", "rcl_interfaces/srv/ListParameters"], ["/sam0/gps_node/set_parameters", "rcl_interfaces/srv/SetParameters"], ["/sam0/gps_node/set_parameters_atomically", "rcl_interfaces/srv/SetParametersAtomically"]], "Service Clients": [], "Action Servers": [], "Action Clients": []}, "/sam0/rpy_node": {"Subscribers": [["/clock", "rosgraph_msgs/msg/Clock"], ["/sam0/core/sbg_imu", "sensor_msgs/msg/Imu"]], "Publishers": [["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/rosout", "rcl_interfaces/msg/Log"], ["/sam0/dr/pitch", "std_msgs/msg/Float64"], ["/sam0/dr/roll", "std_msgs/msg/Float64"], ["/sam0/dr/yaw", "std_msgs/msg/Float64"]], "Service Servers": [["/sam0/rpy_node/describe_parameters", "rcl_interfaces/srv/DescribeParameters"], ["/sam0/rpy_node/get_parameter_types", "rcl_interfaces/srv/GetParameterTypes"], ["/sam0/rpy_node/get_parameters", "rcl_interfaces/srv/GetParameters"], ["/sam0/rpy_node/list_parameters", "rcl_interfaces/srv/ListParameters"], ["/sam0/rpy_node/set_parameters", "rcl_interfaces/srv/SetParameters"], ["/sam0/rpy_node/set_parameters_atomically", "rcl_interfaces/srv/SetParametersAtomically"]], "Service Clients": [], "Action Servers": [], "Action Clients": []}}}}}, "sam_description": {"path": "vehicles/descriptions/sam_description", "launchfiles": {"vehicles/descriptions/sam_description/launch/sam_description.launch": {"nodes": {"/test_robot/joint_state_publisher": {"Subscribers": [["/test_robot/command_states", "sensor_msgs/msg/JointState"], ["/test_robot/robot_description", "std_msgs/msg/String"]], "Publishers": [["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/rosout", "rcl_interfaces/msg/Log"], ["/test_robot/joint_states", "sensor_msgs/msg/JointState"]], "Service Servers": [["/test_robot/joint_state_publisher/describe_parameters", "rcl_interfaces/srv/DescribeParameters"], ["/test_robot/joint_state_publisher/get_parameter_types", "rcl_interfaces/srv/GetParameterTypes"], ["/test_robot/joint_state_publisher/get_parameters", "rcl_interfaces/srv/GetParameters"], ["/test_robot/joint_state_publisher/list_parameters", "rcl_interfaces/srv/ListParameters"], ["/test_robot/joint_state_publisher/set_parameters", "rcl_interfaces/srv/SetParameters"], ["/test_robot/joint_state_publisher/set_parameters_atomically", "rcl_interfaces/srv/SetParametersAtomically"]], "Service Clients": [], "Action Servers": [], "Action Clients": []}, "/test_robot/robot_state_publisher": {"Subscribers": [["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/test_robot/joint_states", "sensor_msgs/msg/JointState"]], "Publishers": [["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/rosout", "rcl_interfaces/msg/Log"], ["/test_robot/robot_description", "std_msgs/msg/String"], ["/tf", "tf2_msgs/msg/TFMessage"], ["/tf_static", "tf2_msgs/msg/TFMessage"]], "Service Servers": [["/test_robot/robot_state_publisher/describe_parameters", "rcl_interfaces/srv/DescribeParameters"], ["/test_robot/robot_state_publisher/get_parameter_types", "rcl_interfaces/srv/GetParameterTypes"], ["/test_robot/robot_state_publisher/get_parameters", "rcl_interfaces/srv/GetParameters"], ["/test_robot/robot_state_publisher/list_parameters", "rcl_interfaces/srv/ListParameters"], ["/test_robot/robot_state_publisher/set_parameters", "rcl_interfaces/srv/SetParameters"], ["/test_robot/robot_state_publisher/set_parameters_atomically", "rcl_interfaces/srv/SetParametersAtomically"]], "Service Clients": [], "Action Servers": [], "Action Clients": []}}}}}, "sam_graph_slam_2_msgs": {"path": "messages/sam_graph_slam_2_msgs", "launchfiles": {}}, "sam_msgs": {"path": "messages/sam_msgs", "launchfiles": {}}, "smarc_bringups": {"path": "scripts/smarc_bringups", "launchfiles": {"scripts/smarc_bringups/launch/dummies.launch": {"nodes": {"/DUMMY_vehicle_ready": {"Subscribers": [], "Publishers": [["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/rosout", "rcl_interfaces/msg/Log"], ["/test_robot/core/vehicle_ready", "std_msgs/msg/Bool"]], "Service Servers": [], "Service Clients": [], "Action Servers": [], "Action Clients": []}, "/test_robot/DUMMY_action_server": {"Subscribers": [], "Publishers": [["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/rosout", "rcl_interfaces/msg/Log"], ["/test_robot/core/thruster1_cmd", "smarc_msgs/msg/ThrusterRPM"], ["/test_robot/core/thruster2_cmd", "smarc_msgs/msg/ThrusterRPM"]], "Service Servers": [["/test_robot/DUMMY_action_server/describe_parameters", "rcl_interfaces/srv/DescribeParameters"], ["/test_robot/DUMMY_action_server/get_parameter_types", "rcl_interfaces/srv/GetParameterTypes"], ["/test_robot/DUMMY_action_server/get_parameters", "rcl_interfaces/srv/GetParameters"], ["/test_robot/DUMMY_action_server/list_parameters", "rcl_interfaces/srv/ListParameters"], ["/test_robot/DUMMY_action_server/set_parameters", "rcl_interfaces/srv/SetParameters"], ["/test_robot/DUMMY_action_server/set_parameters_atomically", "rcl_interfaces/srv/SetParametersAtomically"]], "Service Clients": [], "Action Servers": [["/test_robot/mission/goto_wp_action", "smarc_mission_msgs/action/GotoWaypoint"]], "Action Clients": []}}}, "scripts/smarc_bringups/launch/mission.launch": {"nodes": {"/test_robot/smarc_bt": {"Subscribers": [["/test_robot/core/abort", "std_msgs/msg/Empty"], ["/test_robot/core/battery", "sensor_msgs/msg/BatteryState"], ["/test_robot/core/depth20_pressure", "sensor_msgs/msg/FluidPressure"], ["/test_robot/core/dvl", "smarc_msgs/msg/DVL"], ["/test_robot/core/gps", "sensor_msgs/msg/NavSatFix"], ["/test_robot/core/heading", "smarc_msgs/msg/FloatStamped"], ["/test_robot/core/lcg_fb", "sam_msgs/msg/PercentStamped"], ["/test_robot/core/leak", "sam_msgs/msg/Leak"], ["/test_robot/core/thruster1_fb", "smarc_msgs/msg/ThrusterFeedback"], ["/test_robot/core/thruster2_fb", "smarc_msgs/msg/ThrusterFeedback"], ["/test_robot/core/vbs_fb", "sam_msgs/msg/PercentStamped"], ["/test_robot/core/vehicle_ready", "std_msgs/msg/Bool"], ["/test_robot/mission/bt_command", "smarc_mission_msgs/msg/BTCommand"], ["/test_robot/mission/mission_control", "smarc_mission_msgs/msg/MissionControl"], ["/tf", "tf2_msgs/msg/TFMessage"], ["/tf_static", "tf2_msgs/msg/TFMessage"]], "Publishers": [["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/rosout", "rcl_interfaces/msg/Log"], ["/test_robot/core/abort", "std_msgs/msg/Empty"], ["/test_robot/core/heartbeat", "std_msgs/msg/Empty"], ["/test_robot/mission/bt_tip", "py_trees_ros_interfaces/msg/Behaviour"]], "Service Servers": [["/test_robot/smarc_bt/describe_parameters", "rcl_interfaces/srv/DescribeParameters"], ["/test_robot/smarc_bt/get_parameter_types", "rcl_interfaces/srv/GetParameterTypes"], ["/test_robot/smarc_bt/get_parameters", "rcl_interfaces/srv/GetParameters"], ["/test_robot/smarc_bt/list_parameters", "rcl_interfaces/srv/ListParameters"], ["/test_robot/smarc_bt/set_parameters", "rcl_interfaces/srv/SetParameters"], ["/test_robot/smarc_bt/set_parameters_atomically", "rcl_interfaces/srv/SetParametersAtomically"]], "Service Clients": [], "Action Servers": [], "Action Clients": [["/test_robot/mission/goto_wp_action", "smarc_mission_msgs/action/GotoWaypoint"]]}}}, "scripts/smarc_bringups/launch/utilities.launch": {"nodes": {"/test_robot/dubins_service": {"Subscribers": [], "Publishers": [["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/rosout", "rcl_interfaces/msg/Log"]], "Service Servers": [["/test_robot/dubins_service/describe_parameters", "rcl_interfaces/srv/DescribeParameters"], ["/test_robot/dubins_service/get_parameter_types", "rcl_interfaces/srv/GetParameterTypes"], ["/test_robot/dubins_service/get_parameters", "rcl_interfaces/srv/GetParameters"], ["/test_robot/dubins_service/list_parameters", "rcl_interfaces/srv/ListParameters"], ["/test_robot/dubins_service/set_parameters", "rcl_interfaces/srv/SetParameters"], ["/test_robot/dubins_service/set_parameters_atomically", "rcl_interfaces/srv/SetParametersAtomically"], ["/test_robot/mission/dubins_service", "smarc_mission_msgs/srv/DubinsPlan"]], "Service Clients": [], "Action Servers": [], "Action Clients": []}, "/test_robot/utm_latlon_service": {"Subscribers": [], "Publishers": [["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/rosout", "rcl_interfaces/msg/Log"]], "Service Servers": [["/test_robot/mission/utm_latlon_conversion_service", "smarc_mission_msgs/srv/UTMLatLon"], ["/test_robot/utm_latlon_service/describe_parameters", "rcl_interfaces/srv/DescribeParameters"], ["/test_robot/utm_latlon_service/get_parameter_types", "rcl_interfaces/srv/GetParameterTypes"], ["/test_robot/utm_latlon_service/get_parameters", "rcl_interfaces/srv/GetParameters"], ["/test_robot/utm_latlon_service/list_parameters", "rcl_interfaces/srv/ListParameters"], ["/test_robot/utm_latlon_service/set_parameters", "rcl_interfaces/srv/SetParameters"], ["/test_robot/utm_latlon_service/set_parameters_atomically", "rcl_interfaces/srv/SetParametersAtomically"]], "Service Clients": [], "Action Servers": [], "Action Clients": []}}}}}, "smarc_bt": {"path": "behaviours/smarc_bt", "launchfiles": {"behaviours/smarc_bt/launch/test_sam_bt.launch": {"nodes": {"/test_robot/action_server_node": {"Subscribers": [], "Publishers": [["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/rosout", "rcl_interfaces/msg/Log"], ["/test_robot/core/thruster1_cmd", "smarc_msgs/msg/ThrusterRPM"], ["/test_robot/core/thruster2_cmd", "smarc_msgs/msg/ThrusterRPM"]], "Service Servers": [["/test_robot/action_server_node/describe_parameters", "rcl_interfaces/srv/DescribeParameters"], ["/test_robot/action_server_node/get_parameter_types", "rcl_interfaces/srv/GetParameterTypes"], ["/test_robot/action_server_node/get_parameters", "rcl_interfaces/srv/GetParameters"], ["/test_robot/action_server_node/list_parameters", "rcl_interfaces/srv/ListParameters"], ["/test_robot/action_server_node/set_parameters", "rcl_interfaces/srv/SetParameters"], ["/test_robot/action_server_node/set_parameters_atomically", "rcl_interfaces/srv/SetParametersAtomically"]], "Service Clients": [], "Action Servers": [["/test_robot/mission/goto_wp_action", "smarc_mission_msgs/action/GotoWaypoint"]], "Action Clients": []}, "/test_robot/dubins_service": {"Subscribers": [], "Publishers": [["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/rosout", "rcl_interfaces/msg/Log"]], "Service Servers": [["/test_robot/dubins_service/describe_parameters", "rcl_interfaces/srv/DescribeParameters"], ["/test_robot/dubins_service/get_parameter_types", "rcl_interfaces/srv/GetParameterTypes"], ["/test_robot/dubins_service/get_parameters", "rcl_interfaces/srv/GetParameters"], ["/test_robot/dubins_service/list_parameters", "rcl_interfaces/srv/ListParameters"], ["/test_robot/dubins_service/set_parameters", "rcl_interfaces/srv/SetParameters"], ["/test_robot/dubins_service/set_parameters_atomically", "rcl_interfaces/srv/SetParametersAtomically"], ["/test_robot/mission/dubins_service", "smarc_mission_msgs/srv/DubinsPlan"]], "Service Clients": [], "Action Servers": [], "Action Clients": []}, "/test_robot/smarc_bt": {"Subscribers": [["/test_robot/core/abort", "std_msgs/msg/Empty"], ["/test_robot/core/battery", "sensor_msgs/msg/BatteryState"], ["/test_robot/core/depth20_pressure", "sensor_msgs/msg/FluidPressure"], ["/test_robot/core/dvl", "smarc_msgs/msg/DVL"], ["/test_robot/core/gps", "sensor_msgs/msg/NavSatFix"], ["/test_robot/core/heading", "smarc_msgs/msg/FloatStamped"], ["/test_robot/core/lcg_fb", "sam_msgs/msg/PercentStamped"], ["/test_robot/core/leak", "sam_msgs/msg/Leak"], ["/test_robot/core/thruster1_fb", "smarc_msgs/msg/ThrusterFeedback"], ["/test_robot/core/thruster2_fb", "smarc_msgs/msg/ThrusterFeedback"], ["/test_robot/core/vbs_fb", "sam_msgs/msg/PercentStamped"], ["/test_robot/core/vehicle_ready", "std_msgs/msg/Bool"], ["/test_robot/mission/bt_command", "smarc_mission_msgs/msg/BTCommand"], ["/test_robot/mission/mission_control", "smarc_mission_msgs/msg/MissionControl"], ["/tf", "tf2_msgs/msg/TFMessage"], ["/tf_static", "tf2_msgs/msg/TFMessage"]], "Publishers": [["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/rosout", "rcl_interfaces/msg/Log"], ["/test_robot/core/abort", "std_msgs/msg/Empty"], ["/test_robot/core/heartbeat", "std_msgs/msg/Empty"], ["/test_robot/mission/bt_tip", "py_trees_ros_interfaces/msg/Behaviour"]], "Service Servers": [["/test_robot/smarc_bt/describe_parameters", "rcl_interfaces/srv/DescribeParameters"], ["/test_robot/smarc_bt/get_parameter_types", "rcl_interfaces/srv/GetParameterTypes"], ["/test_robot/smarc_bt/get_parameters", "rcl_interfaces/srv/GetParameters"], ["/test_robot/smarc_bt/list_parameters", "rcl_interfaces/srv/ListParameters"], ["/test_robot/smarc_bt/set_parameters", "rcl_interfaces/srv/SetParameters"], ["/test_robot/smarc_bt/set_parameters_atomically", "rcl_interfaces/srv/SetParametersAtomically"]], "Service Clients": [], "Action Servers": [], "Action Clients": [["/test_robot/mission/goto_wp_action", "smarc_mission_msgs/action/GotoWaypoint"]]}, "/test_robot/utm_latlon_service": {"Subscribers": [], "Publishers": [["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/rosout", "rcl_interfaces/msg/Log"]], "Service Servers": [["/test_robot/mission/utm_latlon_conversion_service", "smarc_mission_msgs/srv/UTMLatLon"], ["/test_robot/utm_latlon_service/describe_parameters", "rcl_interfaces/srv/DescribeParameters"], ["/test_robot/utm_latlon_service/get_parameter_types", "rcl_interfaces/srv/GetParameterTypes"], ["/test_robot/utm_latlon_service/get_parameters", "rcl_interfaces/srv/GetParameters"], ["/test_robot/utm_latlon_service/list_parameters", "rcl_interfaces/srv/ListParameters"], ["/test_robot/utm_latlon_service/set_parameters", "rcl_interfaces/srv/SetParameters"], ["/test_robot/utm_latlon_service/set_parameters_atomically", "rcl_interfaces/srv/SetParametersAtomically"]], "Service Clients": [], "Action Servers": [], "Action Clients": []}}}}}, "smarc_mission_msgs": {"path": "messages/smarc_mission_msgs", "launchfiles": {}}, "smarc_msgs": {"path": "messages/smarc_msgs", "launchfiles": {}}, "smarc_nodered": {"path": "gui/smarc_nodered", "launchfiles": {"gui/smarc_nodered/launch/smarc_nodered.launch": {"nodes": {"/test_robot/mqtt_bridge_cloud": {"Subscribers": [["/test_robot/core/abort", "std_msgs/msg/Empty"], ["/test_robot/core/battery", "sensor_msgs/msg/BatteryState"], ["/test_robot/core/gps", "sensor_msgs/msg/NavSatFix"], ["/test_robot/core/heartbeat", "std_msgs/msg/Empty"], ["/test_robot/core/lcg_fb", "sam_msgs/msg/PercentStamped"], ["/test_robot/core/leak", "sam_msgs/msg/Leak"], ["/test_robot/core/thruster1_fb", "smarc_msgs/msg/ThrusterFeedback"], ["/test_robot/core/thruster2_fb", "smarc_msgs/msg/ThrusterFeedback"], ["/test_robot/core/vbs_fb", "sam_msgs/msg/PercentStamped"], ["/test_robot/dr/altitude", "std_msgs/msg/Float64"], ["/test_robot/dr/depth", "std_msgs/msg/Float64"], ["/test_robot/dr/lat_lon", "geographic_msgs/msg/GeoPoint"], ["/test_robot/dr/pitch", "std_msgs/msg/Float64"], ["/test_robot/dr/roll", "std_msgs/msg/Float64"], ["/test_robot/dr/yaw", "std_msgs/msg/Float64"], ["/test_robot/mission/bt_command", "smarc_mission_msgs/msg/BTCommand"], ["/test_robot/mission/bt_tip", "py_trees_ros_interfaces/msg/Behaviour"], ["/test_robot/mission/mission_control", "smarc_mission_msgs/msg/MissionControl"]], "Publishers": [["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/rosout", "rcl_interfaces/msg/Log"], ["/test_robot/mission/mission_control", "smarc_mission_msgs/msg/MissionControl"]], "Service Servers": [["/test_robot/mqtt_bridge_cloud/describe_parameters", "rcl_interfaces/srv/DescribeParameters"], ["/test_robot/mqtt_bridge_cloud/get_parameter_types", "rcl_interfaces/srv/GetParameterTypes"], ["/test_robot/mqtt_bridge_cloud/get_parameters", "rcl_interfaces/srv/GetParameters"], ["/test_robot/mqtt_bridge_cloud/list_parameters", "rcl_interfaces/srv/ListParameters"], ["/test_robot/mqtt_bridge_cloud/set_parameters", "rcl_interfaces/srv/SetParameters"], ["/test_robot/mqtt_bridge_cloud/set_parameters_atomically", "rcl_interfaces/srv/SetParametersAtomically"]], "Service Clients": [], "Action Servers": [], "Action Clients": []}}}}}, "utm_latlon_converter": {"path": "utilities/utm_latlon_converter", "launchfiles": {}}, "workshopfun": {"path": "examples/workshopfun", "launchfiles": {"examples/workshopfun/launch/do_science.launch": {"nodes": {"/test_robot/science_node": {"Subscribers": [], "Publishers": [["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/rosout", "rcl_interfaces/msg/Log"], ["/test_robot/core/thruster1_cmd", "smarc_msgs/msg/ThrusterRPM"], ["/test_robot/core/thruster2_cmd", "smarc_msgs/msg/ThrusterRPM"]], "Service Servers": [["/test_robot/log_rpm_info", "example_interfaces/srv/SetBool"], ["/test_robot/science_node/describe_parameters", "rcl_interfaces/srv/DescribeParameters"], ["/test_robot/science_node/get_parameter_types", "rcl_interfaces/srv/GetParameterTypes"], ["/test_robot/science_node/get_parameters", "rcl_interfaces/srv/GetParameters"], ["/test_robot/science_node/list_parameters", "rcl_interfaces/srv/ListParameters"], ["/test_robot/science_node/set_parameters", "rcl_interfaces/srv/SetParameters"], ["/test_robot/science_node/set_parameters_atomically", "rcl_interfaces/srv/SetParametersAtomically"]], "Service Clients": [], "Action Servers": [], "Action Clients": []}}}, "examples/workshopfun/launch/actionserver.launch": {"nodes": {"/test_robot/action_client_node": {"Subscribers": [], "Publishers": [["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/rosout", "rcl_interfaces/msg/Log"]], "Service Servers": [["/test_robot/action_client_node/describe_parameters", "rcl_interfaces/srv/DescribeParameters"], ["/test_robot/action_client_node/get_parameter_types", "rcl_interfaces/srv/GetParameterTypes"], ["/test_robot/action_client_node/get_parameters", "rcl_interfaces/srv/GetParameters"], ["/test_robot/action_client_node/list_parameters", "rcl_interfaces/srv/ListParameters"], ["/test_robot/action_client_node/set_parameters", "rcl_interfaces/srv/SetParameters"], ["/test_robot/action_client_node/set_parameters_atomically", "rcl_interfaces/srv/SetParametersAtomically"]], "Service Clients": [], "Action Servers": [], "Action Clients": [["/test_robot/mission/goto_wp_action", "smarc_mission_msgs/action/GotoWaypoint"]]}, "/test_robot/action_server_node": {"Subscribers": [], "Publishers": [["/parameter_events", "rcl_interfaces/msg/ParameterEvent"], ["/rosout", "rcl_interfaces/msg/Log"], ["/test_robot/core/thruster1_cmd", "smarc_msgs/msg/ThrusterRPM"], ["/test_robot/core/thruster2_cmd", "smarc_msgs/msg/ThrusterRPM"]], "Service Servers": [["/test_robot/action_server_node/describe_parameters", "rcl_interfaces/srv/DescribeParameters"], ["/test_robot/action_server_node/get_parameter_types", "rcl_interfaces/srv/GetParameterTypes"], ["/test_robot/action_server_node/get_parameters", "rcl_interfaces/srv/GetParameters"], ["/test_robot/action_server_node/list_parameters", "rcl_interfaces/srv/ListParameters"], ["/test_robot/action_server_node/set_parameters", "rcl_interfaces/srv/SetParameters"], ["/test_robot/action_server_node/set_parameters_atomically", "rcl_interfaces/srv/SetParametersAtomically"]], "Service Clients": [], "Action Servers": [["/test_robot/mission/goto_wp_action", "smarc_mission_msgs/action/GotoWaypoint"]], "Action Clients": []}}}}}}}