Prometheus_msgs

prometheus_msgs/DroneState

cpp

$ rosmsg show prometheus_msgs/DroneState 
std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
string mode     // 模式选择，来自"/mavros/state"话题，类型是mavros_msgs::State
bool connected  // 是否连接，来自"/mavros/state"话题，类型是mavros_msgs::State
bool armed      // 是否解锁，来自"/mavros/state"话题，类型是mavros_msgs::State
bool landed     // 是否降落，来自"/mavros/extended_state"，类型是mavros_msgs::ExtendedState

float32 time_from_start
float32[3] position // 位置，来自"/mavros/local_position/pose"，类型是geometry_msgs::PoseStamped
float32 rel_alt
float32[3] velocity // 速度，来自"/mavros/local_position/velocity_local"，类型是geometry_msgs::TwistStamped
float32[3] attitude // 姿态欧拉角，来自"/mavros/Imu/data"，由四元数转换而来
geometry_msgs/Quaternion attitude_q //姿态四元数，来自"/mavros/Imu/data"，类型是sensor_msgs::Imu里面的orientation
  float64 x
  float64 y
  float64 z
  float64 w
float32[3] attitude_rate    // 角速度，来自"/mavros/Imu/data"，类型是sensor_msgs::Imu里面的angular_velocity

prometheus_msgs/Message

cpp

$ rosmsg show prometheus_msgs/Message 
std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
uint8 message_type          // 节点回传地面站的消息
uint8 NORMAL=0              // enum message_type
uint8 WARN=1
uint8 ERROR=2
string source_node
string content
$ rosmsg show nav_msgs/Odometry 
std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
string child_frame_id
geometry_msgs/PoseWithCovariance pose
  geometry_msgs/Pose pose
    geometry_msgs/Point position
      float64 x
      float64 y
      float64 z
    geometry_msgs/Quaternion orientation
      float64 x
      float64 y
      float64 z
      float64 w
  float64[36] covariance
geometry_msgs/TwistWithCovariance twist
  geometry_msgs/Twist twist
    geometry_msgs/Vector3 linear
      float64 x
      float64 y
      float64 z
    geometry_msgs/Vector3 angular
      float64 x
      float64 y
      float64 z
  float64[36] covariance

prometheus_msgs/ControlCommand

cpp

$ rosmsg show prometheus_msgs/ControlCommand 
uint8 Idle=0
uint8 Takeoff=1
uint8 Hold=2
uint8 Land=3
uint8 Move=4
uint8 Disarm=5
uint8 User_Mode1=6
uint8 User_Mode2=7
std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
uint32 Command_ID
string source
uint8 Mode
prometheus_msgs/PositionReference Reference_State
  uint8 XYZ_POS=0
  uint8 XY_POS_Z_VEL=1
  uint8 XY_VEL_Z_POS=2
  uint8 XYZ_VEL=3
  uint8 XYZ_ACC=4
  uint8 TRAJECTORY=5
  uint8 ENU_FRAME=0
  uint8 BODY_FRAME=1
  uint8 MIX_FRAME=2
  std_msgs/Header header
    uint32 seq
    time stamp
    string frame_id
  uint8 Move_mode
  uint8 Move_frame
  float32 time_from_start
  float32[3] position_ref
  float32[3] velocity_ref
  float32[3] acceleration_ref
  bool Yaw_Rate_Mode
  float32 yaw_ref
  float32 yaw_rate_ref

prometheus_msgs/PositionReference

cpp

$ rosmsg show prometheus_msgs/PositionReference
uint8 XYZ_POS=0
uint8 XY_POS_Z_VEL=1
uint8 XY_VEL_Z_POS=2
uint8 XYZ_VEL=3
uint8 XYZ_ACC=4
uint8 TRAJECTORY=5
uint8 ENU_FRAME=0
uint8 BODY_FRAME=1
uint8 MIX_FRAME=2
std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
uint8 Move_mode
uint8 Move_frame
float32 time_from_start
float32[3] position_ref
float32[3] velocity_ref
float32[3] acceleration_ref
bool Yaw_Rate_Mode
float32 yaw_ref
float32 yaw_rate_ref