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Teleop Consumers Lookup

Consumers handle communication to ROS2 topics and services, as well as frontend websockets

With the 25’ school year, we have switched from one main consumers.py file to multiple consumers to increase the bandwidth and reduce latency to the frontend.

Each consumer corresponds to a core function of the rover, such as the robotic arm, autonomous navigation, etc.

Websocket Usage per Mission

Section titled “Websocket Usage per Mission”

Check which websockets a certain mission uses

Auton

Section titled “Auton”
  • auton
  • drive
  • nav
  • science
  • waypoints

DM/ES

Section titled “DM/ES”
  • arm
  • drive
  • mast
  • nav
  • waypoints

ISH

Section titled “ISH”
  • science

SA

Section titled “SA”
  • arm
  • mast
  • nav
  • science
  • waypoints

Topic and Service consumer lookup

Section titled “Topic and Service consumer lookup”

Check below to see which consumer handles a topic or service

ArmConsumer

Section titled “ArmConsumer”

websocket: arm

Publishing

Section titled “Publishing”
  • arm_throttle_cmd
  • ee_pos_cmd
  • ee_vel_cmd
  • controller_cmd_vel
  • sa_throttle_cmd

Forwarding

Section titled “Forwarding”
  • arm_controller_state
  • arm_joint_data

Receiving

Section titled “Receiving”
  • ra_controller
  • ra_mode
  • sa_controller
  • sa_mode

AutonConsumer

Section titled “AutonConsumer”

websocket: auton

Services

Section titled “Services”
  • enable_teleop
  • enable_auton

Receiving

Section titled “Receiving”
  • teleop_enable
  • auton_enable

DriveConsumer

Section titled “DriveConsumer”

websocket: drive

Publishing

Section titled “Publishing”
  • joystick_cmd_vel

Forwarding

Section titled “Forwarding”
  • drive_left_controller_data
  • drive_right_controller_data
  • drive_controller_data

Receiving

Section titled “Receiving”
  • joystick

MastConsumer

Section titled “MastConsumer”

websocket: mast

Publishing

Section titled “Publishing”
  • mast_gimbal_throttle_cmd

Receiving

Section titled “Receiving”
  • mast_keyboard
Section titled “NavConsumer”

websocket: nav

Forwarding

Section titled “Forwarding”
  • nav_state
  • gps/fix
  • basestation/position
  • drone_odometry

ScienceConsumer

Section titled “ScienceConsumer”

websocket: science

Forwarding

Section titled “Forwarding”
  • led
  • science_thermistors
  • science_heater_state
  • science_oxygen_data
  • science_methane_data
  • science_uv_data
  • science_temperature_data
  • science_humidity_data
  • sa_controller_state
  • sa_gear_diff_position

Services

Section titled “Services”
  • science_change_heater_auto_shutoff_state
  • sa_enable_limit_switch_sensor_actuator
  • sa_gear_diff_set_position
  • science_enable_heater_<name> (one per name in heater_names)
  • science_enable_white_led_a
  • science_enable_white_led_b

Receiving

Section titled “Receiving”
  • heater_enable
  • set_gear_diff_pos
  • auto_shutoff
  • white_leds
  • ls_toggle

WaypointsConsumer

Section titled “WaypointsConsumer”

websocket: waypoints

Receiving

Section titled “Receiving”
  • save_auton_waypoint_list
  • save_basic_waypoint_list
  • save_current_auton_course
  • save_current_basic_course
  • delete_auton_waypoint_from_course
  • get_basic_waypoint_list
  • get_auton_waypoint_list
  • get_current_basic_course
  • get_current_auton_course