dua_interfaces

ROS 2 interfaces for the Distributed Unified Architecture, aimed at robotics projects and more.

Contents

Refer to the individual interface files for more information.

Messages

• CommandResultStamped: Result of a command execution, useful to be included in high-level communications like services and actions, with a ROS header.
• EulerAttitudeSetpoint: Setpoint for an Euler attitude controller.
• EulerPoseStamped: Pose with Euler angles, avoids the need for a quaternion to Euler conversion.
• PointCloud2WithROI: Point cloud with a region of interest.
• PositionSetpoint: Setpoint for a position controller.
• RatesSetpoint: Setpoint for a roll-pitch-yaw rates controller.
• RegionOfInterest: Region of interest, useful for image processing and spatial mapping.
• Target: Target, useful for target detection and tracking using a variety of sensors.
• TargetArray: Array of Target messages, useful when a sensor can detect multiple targets at once.
• TargetID: Target ID, part of the Target message.
• TargetIDArray: Array of TargetID messages.
• VelocitySetpoint: Setpoint for a velocity controller.
• VisualTargets: Array of Target messages paired with a sensor_msgs/Image that shows them.

Actions

• Arm: Arms a component.
• Disarm: Disarm a component.
• Landing: Performs a landing operation on a flying robot.
• Navigate: Navigates a robot to a target position.
• Reach: Reaches a target pose in 3D space with a robot.
• Takeoff: Performs a takeoff operation on a flying robot.
• Turn: Turns a robot to a target yaw angle.

Requirements

Builds on ROS 2 Humble Hawksbill.

See package.xml for more information.

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Copyright and License

Copyright 2024 dotX Automation s.r.l.

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.

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See the License for the specific language governing permissions and limitations under the License.