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* Settings for acceleration bias estimator
Used in:
optional double mixing_gain = 1
* @brief Gain to update the bias based on estimated bias at each time step. If the mixing gain is close to 1, the internal bias will follow the estimated thrust gain closely. The mixing gain has to be between 0 and 1
optional uint32 delay_buffer_size = 2
* @brief Number of time steps delay between commanded thrust and sensor data being received. For example, if the sensor is being received 0.2 seconds after thrust command and the controller is running at 50 Hz, then buffer size is 10.
optional double max_bias = 3
* @brief Maximum acceleration bias
Used in:
required ddp_config = 1
* @brief ddp parameters
optional string weights_folder = 2
* @brief Folder to retrieve neural network and gain parameters from Tensorflow
optional bool use_residual_dynamics = 3
* @brief Flag for using fully connected residual dynamics
optional double default_thrust_gain = 5
* @brief Default thrust gain
optional double max_joint_velocity = 6
* @brief Maximum joint velocity
optional uint32 n_layers = 7
* @brief Number of fully connected layers including the final linear layer
optional double goal_position_tolerance = 8
* @brief Goal position tolerance
optional double goal_velocity_tolerance = 9
* @brief Goal velocity tolerance
optional double goal_joint_angle_tolerance = 10
* @brief Goal joint angle tolerance
optional double goal_joint_velocity_tolerance = 11
* @brief Goal joint velocity tolerance
optional bool use_code_generation = 12
* @brief Flag to specify use of code generation
repeated double lower_bound_control = 13
repeated double upper_bound_control = 14
optional double mocap_yaw_offset = 15
* Set amplitude, phase, frequency for each joint
Used in: ,
repeated joint_config = 1
* @brief sine properties for each joint
Used in:
optional double amplitude = 1
* @brief amplitude of sine in natural units
optional double frequency = 2
* @brief frequency of sine in Hz
optional double phase = 3
* @brief Phase of sine in radians
optional double offset = 4
* @brief The joint angle offset
message
arm_system_config.proto:6Used in:
optional pose_controller_config = 1
* @brief configuration for builtin arm pose controller
required string arm_parser_type = 2
* @brief Arm hardware plugin name
optional arm_sine_controller_config = 3
* @brief configuration for moving arm in a sinusoid format
oneof subclass
uav_state_machine_config = 1
visual_servoing_state_machine_config = 2
mpc_state_machine_config = 3
optional poly_reference_config = 4
Used in:
optional int32 state_machine_timer_duration = 4
* @brief Timestep in milliseconds for timer which runs state machine internal transition continously
optional int32 status_timer_duration = 5
* @brief Timestep in milliseconds for timer which runs system status update
Used in:
optional double radial_gain = 1
* @brief Gain to convert radial position error to velocity
optional double tangential_gain = 2
* @brief Gain to convert tangential position error to velocity
optional double yaw_gain = 3
* @brief Gain to convert yaw error to yaw rate
optional double max_velocity = 4
* @brief Maximum velocity to be commanded in m/s
optional double min_velocity = 5
* @brief Minimum velocity to be commanded in m/s
optional double max_yaw_rate = 6
* @brief Maximum yaw rate to be commanded in rad/s
optional position_controller_config = 7
* @brief Config about position tolerance, yaw tolerance
* Configuration for the MPC Controller
Used in: ,
repeated double Q = 1
* @brief State cost
repeated double Qf = 2
* @brief Terminal cost
repeated double R = 3
* @brief Control cost
optional uint32 N = 4
* @brief The number of steps in trajectory
optional bool debug = 5
* @brief To set DDP in debug mode
optional uint32 max_iters = 6
* @brief Maximum number of iterations to run DDP for
optional double min_cost_decrease = 7
* @brief If cost decrease is less than this assumes convergence
optional double h = 8
* @brief time step for MPC optimization
optional double mu = 9
* @brief DDP regularization constant
optional double look_ahead_time = 10
* @brief Look ahead time for the control should be less than tf
optional double max_cost = 11
* @brief If ddp cost is greater than this, the algorithm has been assumed to have failed
message
data_stream_config.proto:3Used in:
required string stream_id = 1
* Unique ID to identify the data stream. The output file will be the same as stream id
optional double log_rate = 2
* rate limit at which data is logged into buffer stream (Hz)
optional bool log_data = 3
* Enable/disable logging
optional string delimiter = 4
* Delimiter to separate data
Used in:
repeated way_points = 1
* @brief List of way points. These are relative waypoints specified in the NWU frame attached to quadrotor. For example (0.1, 0, 0, 0) will move 0.1m in north and sets an absolute yaw of 0.
optional poly_reference_config = 2
optional position_controller_config = 3
message
grip_config.proto:3Used in:
optional uint32 grip_timeout = 1
* @brief How much time to spend trying to grip the object in milliseconds
optional uint32 grip_duration = 2
* @brief Gripping should be true for this duration for gripping to succeed
* Uses values to map joystick values to velocity goals
Used in:
optional double max_channel1 = 1
* @brief max value for channel 1
optional double max_channel2 = 2
* @brief max value for channel 2
optional double max_channel3 = 3
* @brief max value for channel 3
optional double max_channel4 = 4
* @brief max value for channel 4
optional double max_velocity = 5
* @brief max velocity in m/s
optional double max_yaw_rate = 6
* @brief max yaw rate in rad/s
optional rpyt_based_velocity_controller_config = 7
* @brief rpyt velocity controller config
message
log_config.proto:5optional string directory = 1
* Directory where the files will be logged
optional int32 write_duration = 2
* Duration between writes to log file (ms)
repeated data_stream_configs = 3
* Array of data stream configurations.
message
mpc_connector_config.proto:3Used in:
optional double joint_velocity_exp_gain = 1
* @brief Filtering gain on joint velocities
optional double velocity_exp_gain = 2
* @brief Filtering on quad velocity
optional double rpydot_gain = 3
* @brief Filtering on rpydot
optional bool use_perfect_time_diff = 4
* @brief time diff setting for finite diff
optional double perfect_time_diff = 5
* @brief Time diff for finite diff
optional double max_thrust_command = 6
* @brief Maximum thrust command to send
optional double min_thrust_command = 7
* @brief Minimum thrust command to send
optional double dt_yaw_integration = 8
* @brief time step for integrating yaw rate
* @brief MPC state machine proto config
Used in:
optional spiral_reference = 1
* @brief spiral reference trajectory config
optional arm_reference = 2
* @brief arm sinusoidal reference trajectory config
optional waypoint_reference = 3
* @brief waypoint position and yaw in gravity aligned frame attached to quad COM i.e the waypoint in inertial frame = (quad position, yaw) + waypoint_reference
optional double goal_joint_angle_1 = 4
* @brief Waypoint goal for first joint angle
optional double goal_joint_angle_2 = 5
* @brief Waypoint goal for second joint angle
message
mpc_visualizer_config.proto:6* Configuration for MPC Visualization
Used in:
optional string parent_frame = 1
* @brief parent frame for trajectory
optional uint32 skip_segments = 2
* @brief How many segments to skip for visualization
optional bool visualize_velocities = 3
* @brief Visualize velocities
optional uint32 trajectory_id = 4
* @brief The id of line strip for trajectory
optional uint32 desired_trajectory_id = 5
* @brief Id of line strip for desired trajectory
optional trajectory_color = 6
* @brief color for line strip of trajectory
optional desired_trajectory_color = 7
* @brief color for line strip of desired trajectory
message
mpc_visualizer_config.proto:10* @brief Color message
Used in:
optional double r = 1
optional double g = 2
optional double b = 3
optional double a = 4
Used in:
optional ros_sensor_config = 1
optional double velocity_filter_gain = 2
* @brief config for particle reference trajectory
Used in:
optional double kp_x = 1
* @brief kp
optional double kp_y = 2
* @brief kp
optional double kp_z = 3
* @brief kp
optional double kp_yaw = 4
* @brief kp
optional double max_velocity = 5
* @brief maximum velocity
optional double max_yaw_rate = 6
* @brief maximum yawrate
Used in:
repeated arm_goal_transform = 1
* @brief Arm transform in the frame of the tracked object (assuming NWU).
optional following_waypoint_sequence_config = 2
* @brief Config for the FollowingWaypointSequence state
optional grip_config = 3
* @brief Config for pickstate
repeated place_groups = 4
* @brief Config for place groupings
optional double object_pickup_thrust_gain = 5
* @brief Thrust gain when picking up an object
message
place_group.proto:3Used in:
required uint32 destination_id = 1
* @brief Id of destination for placing objects
repeated uint32 object_ids = 2
* @brief IDs of objects that should be placed at the specified destination
* @brief config for polynomial reference trajectory
Used in: , ,
optional double max_velocity = 1
* @brief kp
optional double min_tf = 2
optional double forward_noise_amplitude = 3
optional double forward_noise_frequency = 4
optional double z_noise_amplitude = 5
optional double z_noise_frequency = 6
optional bool add_noise = 7
message
pose_controller_config.proto:5Used in: ,
required goal_position_tolerance = 1
* @brief If robot is within this distance in x,y, and z dimensions, the goal is reached.
optional double goal_rotation_tolerance = 2
* @brief Robot is within this angle (radians), the goal is reached.
Used in: , , ,
required goal_position_tolerance = 1
* @brief If robot is within this distance in x, y, and z dimensions, the goal is reached.
optional double goal_yaw_tolerance = 2
* @brief Robot is within this yaw angle (radians), the goal is reached.
* Configuration for the QrotorBacksteppingController
optional double kp_xy = 1
* @brief P Gain to convert position error to acceleration
optional double kp_z = 2
* @brief P Gain to convert position error to acceleration
optional double kd_xy = 3
* @brief D Gain to convert velocity error to acceleration
optional double kd_z = 4
* @brief D Gain to convert velocity error to acceleration
optional double k1 = 5
* @brief Gain for achieving desired jerk
optional double k2 = 6
* @brief Gain for achieving desired snap
optional double jxx = 7
* @brief Inertial matrix XX
optional double jxy = 8
* @brief Inertial matrix XY
optional double jxz = 9
* @brief Inertial matrix XZ
optional double jyx = 10
* @brief Inertial matrix YX
optional double jyy = 11
* @brief Inertial matrix YY
optional double jyz = 12
* @brief Inertial matrix YZ
optional double jzx = 13
* @brief Inertial matrix ZX
optional double jzy = 14
* @brief Inertial matrix ZY
optional double jzz = 15
* @brief Inertial matrix ZZ
optional double mass = 16
* @brief Mass
optional double acc_gravity = 17
* @brief Acceleration due to gravity (in case we also want to fly on Mars)
optional double thrust_eps = 18
* @brief Minimum thrust command before allowing torque computation If too small, torque command could be massive
optional double qx = 19
* @brief Lyapunov function derivative weight matrix X
optional double qy = 20
* @brief Lyapunov function derivative weight matrix Y
optional double qz = 21
* @brief Lyapunov function derivative weight matrix Z
optional double qvx = 22
* @brief Lyapunov function derivative weight matrix VX
optional double qvy = 23
* @brief Lyapunov function derivative weight matrix VY
optional double qvz = 24
* @brief Lyapunov function derivative weight matrix VZ
optional goal_position_tolerance = 25
* @brief Goal position tolerance
optional goal_velocity_tolerance = 26
* @brief Goal velocity tolerance
Used in:
required ddp_config = 1
* @brief ddp parameters
optional double kp_roll = 2
* @brief roll proportional gain
optional double kp_pitch = 3
* @brief pitch proportional gain
optional double kd_roll = 4
* @brief derivative roll gain
optional double kd_pitch = 5
* @brief derivative pitch gain
optional double kd_yaw = 6
* @brief derivative yaw gain
optional double default_thrust_gain = 7
* @brief Default thrust gain
optional double goal_position_tolerance = 8
* @brief Goal position tolerance
optional double goal_velocity_tolerance = 9
* @brief Goal velocity tolerance
optional bool use_code_generation = 10
* @brief Flag to specify use of code generation
repeated double lower_bound_control = 13
repeated double upper_bound_control = 14
optional double goal_yaw_tolerance = 15
* @brief Goal yaw tolerance
message
ros_sensor_config.proto:3Used in: ,
optional double timeout = 2
* @brief time from last msg after which sensor becomes invalid
optional string topic = 3
* Topic to subscribe for sensor data
optional string name_space = 4
* @brief Namespace for ros nodehandle
* Configuration for position controller that gives rpyt commands
Used in:
optional rpyt_based_velocity_controller_config = 1
* @brief Config for velocity controller
optional velocity_based_position_controller_config = 2
* @brief Config for position controller that gives comands to velocity controller
Used in:
optional velocity_based_relative_pose_controller_config = 1
optional rpyt_based_velocity_controller_config = 2
* Configuration for velocity controller that gives rpyt commands
Used in: , ,
optional double kp_xy = 1
* @brief P Gain to convert velocity error to acceleration
optional double kp_z = 10
* @brief P Gain to convert velocity error to acceleration
optional double ki_xy = 2
* @brief I Gain to convert velocity error to acceleration
optional double ki_z = 11
* @brief I Gain to convert velocity error to acceleration
optional double kt = 3
* @brief Gain to convert acceleration to thrust
optional double tolerance_rp = 4
* @brief roll, pitch tolerance for singularities. If roll is close to 90 by more than this tolerance sets pitch to 0
optional double max_thrust = 6
* @brief maximum allowed thrust
optional double min_thrust = 7
* @brief maximum allowed thrust
optional double max_rp = 8
* @brief maximum allowed roll, pitch
optional velocity_controller_config = 9
* @brief Config about velocity tolerance, yaw tolerance
optional double max_acc_norm = 12
* @brief Max acceleration allowed before compensating for gravity
Used in:
optional double velocity_exp_gain = 1
* @brief Filtering on quad velocity
optional bool use_perfect_time_diff = 2
* @brief time diff setting for finite diff
optional double perfect_time_diff = 3
* @brief Time diff for finite diff
Used in:
repeated arm_goal_transform = 1
* @brief Arm transform in the frame of the tracked object (assuming NWU).
optional uint32 grip_timeout = 2
* @brief How much time to spend trying to place the object in milliseconds
optional double placing_acc_threshold = 3
* @brief Placing and checking thresholds
optional double checking_acc_threshold = 4
* @brief config for spiral reference trajectory
Used in:
optional double frequency = 1
* @brief Frequency along the circle
optional double phase = 2
* @brief Phase of the circle
optional double radius_x = 3
* @brief x radius
optional double radius_y = 4
* @brief y radius
optional double velocity_z = 5
* @brief Velocity along z axis
optional double frequency_z = 6
* @brief Frequency along z axis. The The z velocity is reversed after the 1/frequency_z seconds. So amplitude_z = velocity_z/frequency_z;
optional double frequency_yaw = 7
* @brief The yaw oscillation frequency
optional double amplitude_yaw = 8
* @brief The yaw oscillation amplitude
* Settings for thrust gain estimator
Used in:
optional double kt = 1
* @brief Initial guess of thrust gain
optional double mixing_gain = 2
* @brief Gain to update the internal thrust gain based on estimated thrust gain. If the mixing gain is close to 1, the internal gain will follow the estimated thrust gain closely. The mixing gain has to be between 0 and 1
optional uint32 buffer_size = 3
* @brief Number of time steps delay between commanded thrust and sensor data being received. For example, if the sensor is being received 0.2 seconds after thrust command and the controller is running at 50 Hz, then buffer size is 10.
optional double kt_max = 4
* @brief Maximum thrust gain
optional double kt_min = 5
* @brief Minimum thrust gain
optional double max_roll_pitch_bias = 6
* @brief Maximum roll and pitch bias
optional double rp_mixing_gain = 7
* @brief gain for rp bias estimation
optional double init_roll_bias = 8
* @brief Initial roll bias
optional double init_pitch_bias = 9
* @brief Initial pitch bias
* Settings for estimator estimating the direction of ar marker
Used in:
optional marker_process_stdev = 1
optional marker_meas_stdev = 2
optional marker_dilation_stdev = 3
optional marker_initial_stdev = 4
* @brief Standard deviation vector with default value as 1e-2
Used in:
optional double x = 1
optional double y = 2
optional double z = 3
message
uav_arm_system_config.proto:8Used in:
optional arm_transform = 3
* @brief Arm transform in the frame of the UAV (assuming NWU).
optional position_controller_config = 6
* @brief Config for arm controller
optional arm_system_config = 9
* @brief Configuration for arm system
optional mpc_controller_config = 11
* @brief AIRM MPC Controller config
Used in:
optional int32 arm_controller_timer_duration = 1
* @brief Timestep in milliseconds for timer which runs arm controller continously
message
uav_state_machine_config.proto:3Used in:
(message has no fields)
message
uav_system_config.proto:27Used in:
optional int32 minimum_battery_percent = 1
* @brief Battery percentage required for takeoff
optional double minimum_takeoff_height = 2
* @brief When UAV reaches this height, takeoff completed.
optional double landing_height = 3
* @brief When UAV reaches this landing height, landing is completed.
optional double max_goal_distance = 4
* @brief If the distance from goal to current position in x, y, and z directions is farther than this distance, the goal is rejected. (GeoFence around current position) TODO Use lat, long coordinates may be
optional position_controller_config = 5
* @brief Position controller configuration
optional velocity_controller_config = 6
optional rpyt_based_position_controller_config = 7
optional joystick_velocity_controller_config = 12
oneof subclass
* @brief A crude form of inheritance for proto. Contains a config for subclasses of UAVSystemConfig
uav_vision_system_config = 8
optional double max_goal_velocity = 9
* @brief Sets the max velocity the velocity controller can track along x, y, z axis.
optional string uav_parser_type = 10
* @brief Hardware parser plugin name These are provided by rqt_quadcopter_parsers package
optional int32 uav_controller_timer_duration = 11
* @brief Timestep in milliseconds for timer which runs uav controller continously
optional thrust_gain_estimator_config = 13
* @brief Thrust estimator config
optional string sensor_type = 14
* @brief String to choose sensor type
optional velocity_sensor_config = 15
* @brief Velocity sensor config
optional bool use_mocap_sensor = 16
* @brief If to use mocap ros sensor for pose sensor
optional odom_sensor_config = 17
* @brief Velocity sensor config
optional quad_mpc_controller_config = 18
* @brief MPC Config for quadrotor
optional mpc_connector_config = 19
* @brief MPC connector config
optional visualizer_config = 20
* @brief Visualizing MPC trajectories
optional bool visualize_mpc_trajectories = 21
* @brief Flag to specify whether to visualize MPC trajectories
optional rpyt_reference_connector_config = 22
* @brief RPYT reference connector config
required uav_system_config = 1
* @brief robot system configuration
optional base_config = 4
* @brief Store parent config options
oneof subclass
* @brief A crude form of inheritance for proto. Contains a config for subclasses of UAVSystemHandlerConfig
uav_arm_system_handler_config = 5
optional int32 mpc_visualization_timer_duration = 6
* @brief Timestep in milliseconds for mpc visualization
Used in:
required constant_heading_depth_controller_config = 1
optional rpyt_based_relative_pose_controller_config = 6
* @brief Config for relative pose UAV controller
required double desired_visual_servoing_distance = 2
* @brief Desired distance to tracked position in meters
optional camera_transform = 3
* @brief Camera transform in the frame of the UAV (assuming NWU).
optional tracking_offset_transform = 7
* @brief Transform to apply to tracked object before rotation-compensation (to avoid issues with singularities).
optional string tracker_type = 4
* @brief Type of tracker to use, e.g. Alvar, ROI
oneof subclass
* @brief A crude form of inheritance for proto. Contains a config for subclasses of UAVVisionSystemConfig
uav_arm_system_config = 8
optional tracking_vector_estimator_config = 9
optional particle_reference_config = 10
* @brief visual servoing reference trajectory generation
optional int32 high_level_controller_timer_duration = 11
* @brief Timestep in milliseconds for timer which runs high level continously
optional double gain_visual_servoing_tracking_pose = 12
* @brief Filter on visual servoing tracking position yaw
optional poly_reference_config = 13
* @brief polynomial reference config
optional velocity_based_relative_pose_controller_config = 14
* @brief Config for velocity based relative pose UAV controller
optional acceleration_bias_estimator_config = 15
* @brief Config for acceleration bias estimator
* Uses the position controller config for tolerance in position, yaw
Used in: ,
optional double position_gain = 1
* @brief Gain to convert x,y position error to velocity
optional double z_gain = 10
* @brief Gain to convert z position error to velocity
optional double yaw_gain = 2
* @brief Gain to convert yaw error to yaw rate
optional double max_velocity = 3
* @brief Maximum commanded velocity along each axis in m/s
optional double max_yaw_rate = 4
* @brief Maximum yaw rate to be commanded in rad/s
optional position_controller_config = 5
* @brief Config about position tolerance, yaw tolerance
optional double yaw_i_gain = 6
* @brief Gain on cumulative yaw error
optional double position_i_gain = 7
* @brief Gain on cumulative position error
optional double position_saturation_value = 8
* @brief Gain on saturating cumulative error in back calculation This gain is multiplied by the i gain. When controller saturates, the desired control value will be saturated value + (1/gain)*goal_difference_error; So higher the gain,the control value will be closer to the saturation and will respond to quicker as soon as control moves away from saturation. A smaller gain will not pull the integrator towards the saturating value quickly. If the current value of integrator is small and we use a large saturation gain, the integrator value will quickly converge to the saturation value which implies it will take longer to get back to normal integral values based on integration gains. So for smaller integration gains, you should also use a smaller saturation gain to ensure we do not quickly saturate the integrator when we are at the limits.
optional double yaw_saturation_value = 9
Used in: ,
optional velocity_based_position_controller_config = 3
Used in: ,
required goal_velocity_tolerance = 1
* @brief If UAV is within this distance in x,y, and z velocity, the goal is reached.
optional double goal_yaw_tolerance = 2
* @brief UAV is within this yaw (radians/sec), the goal is reached.
optional double goal_yaw_rate_tolerance = 3
* @brief UAV is within this yaw rate (radians/sec), the goal is reached. One of yaw/yaw rate is used based on the output of the controller
Used in:
repeated relative_pose_goals = 1
* @brief Relative pose goals for relative pose visual servoing
oneof subclass
pick_place_state_machine_config = 2
sensor_place_state_machine_config = 4
optional VisualServoingStateMachineConfig.RelativePoseConnectorType connector_type = 3
enum VisualServoingStateMachineConfig.RelativePoseConnectorType
visual_servoing_state_machine_config.proto:18Used in:
RPYTRef = 0
MPC = 1
RPYTPose = 2
VelPose = 3
HeadingDepth = 4