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Add DVL specific messages #317
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/* | ||
* Copyright (C) 2022 Open Source Robotics Foundation | ||
* | ||
* Licensed under the Apache License, Version 2.0 (the "License"); | ||
* you may not use this file except in compliance with the License. | ||
* You may obtain a copy of the License at | ||
* | ||
* http://www.apache.org/licenses/LICENSE-2.0 | ||
* | ||
* Unless required by applicable law or agreed to in writing, software | ||
* distributed under the License is distributed on an "AS IS" BASIS, | ||
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
* See the License for the specific language governing permissions and | ||
* limitations under the License. | ||
* | ||
*/ | ||
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syntax = "proto3"; | ||
package gz.msgs; | ||
option java_package = "com.gz.msgs"; | ||
option java_outer_classname = "DVLBeamStateProtos"; | ||
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/// \ingroup gz.msgs | ||
/// \interface DVLBeamState | ||
/// \brief State of some acoustic beam in a Doppler Velocity Log sensor. Each beam, when locked, | ||
/// estimates the distance to the reflecting target as well as its velocity in some reference | ||
/// frame. Some additional attributes may also be available. | ||
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import "gz/msgs/dvl_kinematic_estimate.proto"; | ||
import "gz/msgs/dvl_range_estimate.proto"; | ||
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message DVLBeamState | ||
{ | ||
/// \brief Beam ID. | ||
int32 id = 1; | ||
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/// \brief Beam velocity estimate, measured along | ||
/// its axis, in meters per second. | ||
DVLKinematicEstimate velocity = 2; | ||
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/// \brief Beam range estimate, in meters. | ||
DVLRangeEstimate range = 3; | ||
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/// \brief Beam signal strength indicator. | ||
double rssi = 4; | ||
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/// \brief Measured background noise spectral density, | ||
/// in watts per hertz. | ||
double nsd = 5; | ||
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/// \brief Whether beam is locked to its target or not. | ||
/// A beam is said to be locked when it can reliably | ||
/// measure signal reflections. | ||
bool locked = 6; | ||
} |
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/* | ||
* Copyright (C) 2022 Open Source Robotics Foundation | ||
* | ||
* Licensed under the Apache License, Version 2.0 (the "License"); | ||
* you may not use this file except in compliance with the License. | ||
* You may obtain a copy of the License at | ||
* | ||
* http://www.apache.org/licenses/LICENSE-2.0 | ||
* | ||
* Unless required by applicable law or agreed to in writing, software | ||
* distributed under the License is distributed on an "AS IS" BASIS, | ||
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
* See the License for the specific language governing permissions and | ||
* limitations under the License. | ||
* | ||
*/ | ||
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syntax = "proto3"; | ||
package gz.msgs; | ||
option java_package = "com.gz.msgs"; | ||
option java_outer_classname = "DVLKinematicEstimateProtos"; | ||
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/// \ingroup gz.msgs | ||
/// \interface DVLKinematicEstimate | ||
/// \brief Kinematic quantity (e.g. position, velocity, etc.) estimate in some reference | ||
/// frame, as reported by a Doppler Velocity Log sensor. This estimate is characterized by | ||
/// mean and covariance of some implicit multivariate distribution (typically a multivariate | ||
/// normal distribution). | ||
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import "gz/msgs/vector3d.proto"; | ||
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message DVLKinematicEstimate | ||
{ | ||
/// \brief Frames of reference (incl. conventions) | ||
enum ReferenceType | ||
{ | ||
/// \brief Unspecific frame of reference. | ||
DVL_REFERENCE_UNSPECIFIED = 0; | ||
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. Could you document each element of the enum? There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. Done in d27b90f. |
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/// \brief Earth bound frame of reference (typically ENU). | ||
DVL_REFERENCE_EARTH = 1; | ||
/// \brief Ship bound frame of reference (typically FSK). | ||
DVL_REFERENCE_SHIP = 2; | ||
}; | ||
/// \brief Estimate frame of reference (incl. conventions). | ||
ReferenceType reference = 1; | ||
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/// \brief Estimate mean. | ||
Vector3d mean = 2; | ||
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/// \brief Estimate covariance matrix. | ||
/// A 3 x 3 row-major matrix using a flat contiguous layout. | ||
repeated double covariance = 3; | ||
} |
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/* | ||
* Copyright (C) 2022 Open Source Robotics Foundation | ||
* | ||
* Licensed under the Apache License, Version 2.0 (the "License"); | ||
* you may not use this file except in compliance with the License. | ||
* You may obtain a copy of the License at | ||
* | ||
* http://www.apache.org/licenses/LICENSE-2.0 | ||
* | ||
* Unless required by applicable law or agreed to in writing, software | ||
* distributed under the License is distributed on an "AS IS" BASIS, | ||
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
* See the License for the specific language governing permissions and | ||
* limitations under the License. | ||
* | ||
*/ | ||
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syntax = "proto3"; | ||
package gz.msgs; | ||
option java_package = "com.gz.msgs"; | ||
option java_outer_classname = "DVLRangeEstimateProtos"; | ||
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/// \ingroup gz.msgs | ||
/// \interface DVLRangeEstimate | ||
/// \brief Range estimate as reported by a Doppler Velocity Log sensor. This estimate is | ||
/// characterized by mean and variance of some implicit scalar distribution (typically a | ||
/// normal distribution). | ||
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message DVLRangeEstimate | ||
{ | ||
/// \brief Estimate mean. | ||
double mean = 1; | ||
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/// \brief Estimate variance. | ||
double variance = 2; | ||
} |
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/* | ||
* Copyright (C) 2022 Open Source Robotics Foundation | ||
* | ||
* Licensed under the Apache License, Version 2.0 (the "License"); | ||
* you may not use this file except in compliance with the License. | ||
* You may obtain a copy of the License at | ||
* | ||
* http://www.apache.org/licenses/LICENSE-2.0 | ||
* | ||
* Unless required by applicable law or agreed to in writing, software | ||
* distributed under the License is distributed on an "AS IS" BASIS, | ||
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
* See the License for the specific language governing permissions and | ||
* limitations under the License. | ||
* | ||
*/ | ||
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syntax = "proto3"; | ||
package gz.msgs; | ||
option java_package = "com.gz.msgs"; | ||
option java_outer_classname = "DVLTrackingTargetProtos"; | ||
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/// \ingroup gz.msgs | ||
/// \interface DVLTrackingTarget | ||
/// \brief Target used for tracking by a Doppler Velocity Log sensor. Either a bottom ground | ||
/// or a water mass target. Estimates of target range and position in some reference frame | ||
/// may be provided. | ||
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import "gz/msgs/dvl_kinematic_estimate.proto"; | ||
import "gz/msgs/dvl_range_estimate.proto"; | ||
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message DVLTrackingTarget | ||
{ | ||
/// \brief Target types | ||
enum TargetType | ||
{ | ||
/// \brief Unspecific target type. | ||
DVL_TARGET_UNSPECIFIED = 0; | ||
/// \brief Bottom ground (ie. solid) target. | ||
DVL_TARGET_BOTTOM = 1; | ||
/// \brief Water mass layer (ie. fluid) target. | ||
DVL_TARGET_WATER_MASS = 2; | ||
}; | ||
/// \brief Type of target used for tracking. | ||
TargetType type = 1; | ||
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/// \brief Target range (or distance), in meters | ||
DVLRangeEstimate range = 2; | ||
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/// \brief Target position estimate, in meters. | ||
DVLKinematicEstimate position = 3; | ||
} |
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/* | ||
* Copyright (C) 2022 Open Source Robotics Foundation | ||
* | ||
* Licensed under the Apache License, Version 2.0 (the "License"); | ||
* you may not use this file except in compliance with the License. | ||
* You may obtain a copy of the License at | ||
* | ||
* http://www.apache.org/licenses/LICENSE-2.0 | ||
* | ||
* Unless required by applicable law or agreed to in writing, software | ||
* distributed under the License is distributed on an "AS IS" BASIS, | ||
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
* See the License for the specific language governing permissions and | ||
* limitations under the License. | ||
* | ||
*/ | ||
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syntax = "proto3"; | ||
package gz.msgs; | ||
option java_package = "com.gz.msgs"; | ||
option java_outer_classname = "DVLVelocityTrackingProtos"; | ||
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/// \ingroup gz.msgs | ||
/// \interface DVLVelocityTracking | ||
/// \brief Velocity tracking estimates from a Doppler Velocity Log sensor. | ||
/// Doppler velocity logs are used by the maritime community to track the velocity | ||
/// of a vessel with respect to some (reflecting) target. | ||
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import "gz/msgs/header.proto"; | ||
import "gz/msgs/dvl_beam_state.proto"; | ||
import "gz/msgs/dvl_tracking_target.proto"; | ||
import "gz/msgs/dvl_kinematic_estimate.proto"; | ||
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message DVLVelocityTracking | ||
{ | ||
/// \brief Message header. | ||
Header header = 1; | ||
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/// \brief DVL types. | ||
enum DVLType | ||
{ | ||
/// \brief Unspecific DVL type. | ||
DVL_TYPE_UNSPECIFIED = 0; | ||
/// \brief Piston DVLs. | ||
DVL_TYPE_PISTON = 1; | ||
/// \brief Phased array DVLs. | ||
DVL_TYPE_PHASED_ARRAY = 2; | ||
}; | ||
/// \brief Type of DVL. | ||
DVLType type = 2; | ||
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/// \brief Locked on target. | ||
DVLTrackingTarget target = 3; | ||
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/// \brief Estimated velocity of either target or sensor | ||
/// w.r.t. the specified frame, in meters per second. | ||
DVLKinematicEstimate velocity = 4; | ||
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. What is the difference between this There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. Added clarification in d27b90f. |
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/// \brief Tracking beams' state. | ||
repeated DVLBeamState beams = 5; | ||
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/// \brief Vendor-specific status (e.g. bitmask, error code). | ||
int32 status = 6; | ||
} |
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Not familiar with this term, does it have units?
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Added units in d27b90f. Noise power spectral density characterize how much noise power is there per unit bandwidth.