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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. | ||
DVLKinematicEstimate velocity = 2; | ||
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/// \brief Beam range estimate. | ||
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. | ||
double nsd = 5; | ||
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/// \brief Whether beam is locked or not. | ||
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. Maybe this is obvious if you're familiar with DVLs but I don't have a good intuition about what does it mean "locked" in this context. It's OK to also include a link to some reference. 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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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 | ||
{ | ||
enum ReferenceType | ||
{ | ||
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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DVL_REFERENCE_EARTH = 1; | ||
DVL_REFERENCE_SHIP = 2; | ||
DVL_REFERENCE_BEAM = 3; | ||
}; | ||
/// \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 | ||
{ | ||
enum TargetType | ||
{ | ||
DVL_TARGET_UNSPECIFIED = 0; | ||
DVL_TARGET_BOTTOM = 1; | ||
DVL_TARGET_WATER_MASS = 2; | ||
}; | ||
/// \brief Type of target used for tracking. | ||
TargetType type = 1; | ||
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/// \brief Target range (or distance). | ||
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. I'd recommend to mention the units here and in the position fields 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. Are there units other than SI units? :) Done in d27b90f. |
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DVLRangeEstimate range = 3; | ||
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/// \brief Target position estimate. | ||
DVLKinematicEstimate position = 2; | ||
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. Any reason for placing the 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. No reason. Fixed in d27b90f. |
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} |
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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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enum DVLType | ||
{ | ||
DVL_TYPE_UNSPECIFIED = 0; | ||
DVL_TYPE_PISTON = 1; | ||
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. | ||
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.