All Other Endpoints

Topics

autonomy/initial_path

The initial Path computed by autonomy

• Topic Name: autonomy/initial_path

• Topic Type: nav_msgs/msg/Path

• Topic QoS: System Default

Python

python/endpoints/navigation/autonomy_initial_path.py

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See full example on GitHub

C++

cpp/endpoints/navigation/autonomy_initial_path.cpp

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autonomy/status

The status of the autonomy

• Topic Name: autonomy/status

• Topic Type: clearpath_navigation_msgs/msg/AutonomyStatus

• Topic QoS: System Default

Python

python/endpoints/autonomy/autonomy_status.py

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See full example on GitHub

C++

cpp/endpoints/autonomy/autonomy_status.cpp

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control_selection/current_mode

Current control mode (NEUTRAL, MANUAL, AUTONOMY).

• Topic Name: control_selection/current_mode

• Topic Type: clearpath_control_msgs/msg/ControlMode

• Topic QoS: System Default

Python

python/endpoints/control_selection/current_mode.py

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See full example on GitHub

C++

cpp/endpoints/control_selection/current_mode.cpp

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control_selection/control_state

The complete state of control selection node.

• Topic Name: control_selection/control_state

• Topic Type: clearpath_control_msgs/msg/ControlSelectionState

• Topic QoS: System Default

Python

python/endpoints/control_selection/control_state.py

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C++

cpp/endpoints/control_selection/control_state.cpp

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docking/docking_server/path

The docking path.

• Topic Name: docking/docking_server/path

• Topic Type: nav_msgs/msg/Path

• Topic QoS: System Default

Python

python/endpoints/docking/docking_path.py

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See full example on GitHub

C++

cpp/endpoints/docking/docking_path.cpp

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docking/undocking_server/path

The undocking path.

• Topic Name: docking/undocking_server/path

• Topic Type: nav_msgs/msg/Path

• Topic QoS: System Default

Python

python/endpoints/docking/undocking_path.py

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See full example on GitHub

C++

cpp/endpoints/docking/undocking_path.cpp

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goto/preview

The preview points for a GoTo execution.

• Topic Name: autonomy_previewer/goto/preview

• Topic Type: clearpath_navigation_msgs/msg/GoToPreview

• Topic QoS: System Default

Python

python/endpoints/autonomy/goto_preview.py

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See full example on GitHub

C++

cpp/endpoints/autonomy/goto_preview.cpp

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localization/datum

The lat/lon coordinate of the datum. This value is sotred in persistent memory and loaded at runtime.

• Topic Name: localization/datum

• Topic Type: sensor_msgs/msg/NavSatFix

• Topic QoS:

Python

python/endpoints/localization/get_datum.py

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See full example on GitHub

C++

cpp/endpoints/localization/get_datum.cpp

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mission/preview

The preview points for a Mission execution.

• Topic Name: autonomy_previewer/mission/preview

• Topic Type: clearpath_navigation_msgs/msg/MissionPreview

• Topic QoS: System Default

Python

python/endpoints/autonomy/mission_preview.py

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See full example on GitHub

C++

cpp/endpoints/autonomy/mission_preview.cpp

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navigation/speed_limit

The current navigation speed limit.

• Topic Name: speed_limit

• Topic Type: nav2_msgs/msg/SpeedLimit

• Topic QoS: System Default

Python

python/endpoints/navigation/speed_limit.py

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C++

cpp/endpoints/navigation/speed_limit.cpp

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outdoornav/autonomy/config

The autonomy configuration

• Topic Name: outdoornav/autonomy/config

• Topic Type: clearpath_navigation_msgs/msg/AutonomyConfig

• Topic QoS: System Default

Python

python/endpoints/configuration/autonomy_config.py

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See full example on GitHub

C++

cpp/endpoints/configuration/autonomy_config.cpp

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ui/heartbeat

The heartbeat of the UI.

• Topic Name: ui/heartbeat

• Topic Type: std_msgs/msg/Header

• Topic QoS: System Default

Python

python/endpoints/ui/heartbeat.py

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C++

cpp/endpoints/ui/heartbeat.cpp

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ui_teleop/cmd_vel

The velocity commands from the UI joystick.

• Topic Name: ui_teleop/cmd_vel

• Topic Type: geometry_msgs/msg/TwistStamped

• Topic QoS: System Default

Python

python/endpoints/ui/teleop_cmd_vel.py

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See full example on GitHub

C++

cpp/endpoints/ui/teleop_cmd_vel.cpp

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Services

control_selection/set_mode

Switch the control mode of the platform. Options are: ('AUTONOMY', 'MANUAL', 'NEUTRAL')

• Service Name: control_selection/set_mode

• Service Type: clearpath_control_msgs/srv/SetControlMode

Python

python/endpoints/control_selection/set_mode.py

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C++

cpp/endpoints/control_selection/set_mode.cpp

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docking/dock_manager/clear_data

Clears all dock data.

• Service Name: docking/dock_manager/clear_data

• Service Type: std_srvs/srv/Trigger

Python

python/endpoints/docking/clear_data.py

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C++

cpp/endpoints/docking/clear_data.cpp

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docking/dock_manager/delete_dock

Delete a dock by its ID.

• Service Name: docking/dock_manager/delete_dock

• Service Type: clearpath_dock_msgs/srv/RemoveDock

Python

python/endpoints/docking/delete_dock.py

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C++

cpp/endpoints/docking/delete_dock.cpp

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docking/dock_manager/export

Export dock data.

• Service Name: docking/dock_manager/export

• Service Type: clearpath_dock_msgs/srv/ExportData

Python

python/endpoints/docking/export_docks.py

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C++

cpp/endpoints/docking/export_docks.cpp

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docking/dock_manager/get_database

Returns the entire dock database.

• Service Name: docking/dock_manager/get_database

• Service Type: clearpath_dock_msgs/srv/GetDockDatabase

Python

python/endpoints/docking/get_database.py

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See full example on GitHub

C++

cpp/endpoints/docking/get_database.cpp

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docking/dock_manager/import

Import a dock.

• Service Name: docking/dock_manager/import

• Service Type: clearpath_dock_msgs/srv/ImportData

Python

python/endpoints/docking/import_docks.py

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C++

cpp/endpoints/docking/import_docks.cpp

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docking/dock_manager/update_dock

Update a dock.

• Service Name: docking/dock_manager/update_dock

• Service Type: clearpath_dock_msgs/srv/UpdateDock

Python

python/endpoints/docking/update_dock.py

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C++

cpp/endpoints/docking/update_dock.cpp

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docking/dock_localizer/add_dock_current_pose

Add a dock with the current pose.

• Service Name: docking/dock_localizer/add_dock_current_pose

• Service Type: clearpath_dock_msgs/srv/AddDockCurrentPose

Python

python/endpoints/docking/add_dock_current_pose.py

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C++

cpp/endpoints/docking/add_dock_current_pose.cpp

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docking/dock_localizer/get_dock_poses

Return the dock and predock poses of a specific dock.

• Service Name: docking/dock_localizer/get_dock_poses

• Service Type: clearpath_dock_msgs/srv/GetDockPoses

Python

python/endpoints/docking/get_dock_poses.py

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C++

cpp/endpoints/docking/get_dock_poses.cpp

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localization/lat_lon_to_xy

Convert lat/lon coordinate to map XY coordinate.

• Service Name: localization/lat_lon_to_xy

• Service Type: clearpath_localization_msgs/srv/ConvertLatLonToCartesian

Python

python/endpoints/localization/convert_ll_to_xy.py

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C++

cpp/endpoints/localization/convert_ll_to_xy.cpp

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localization/lat_lon_to_xy_array

Convert a set of lat/lon coordinates to map XY coordinates.

• Service Name: localization/lat_lon_to_xy_array

• Service Type: clearpath_localization_msgs/srv/ConvertLatLonToCartesianArray

Python

python/endpoints/localization/convert_ll_to_xy_array.py

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C++

cpp/endpoints/localization/convert_ll_to_xy_array.cpp

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localization/xy_to_lat_lon

Convert map xy coordinate to lat/lon coordinates.

• Service Name: localization/xy_to_lat_lon

• Service Type: clearpath_localization_msgs/srv/ConvertCartesianToLatLon

Python

python/endpoints/localization/convert_xy_to_lat_lon.py

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C++

cpp/endpoints/localization/convert_xy_to_lat_lon.cpp

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localization/xy_to_lat_lon_array

Convert map xy coordinate to lat/lon coordinates.

• Service Name: localization/xy_to_lat_lon_array

• Service Type: clearpath_localization_msgs/srv/ConvertCartesianToLatLonArray

Python

python/endpoints/localization/convert_xy_to_lat_lon_array.py

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See full example on GitHub

C++

cpp/endpoints/localization/convert_xy_to_lat_lon_array.cpp

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See full example on GitHub