Autonomy API Endpoints
All nodes, topics, and services are namespace prefixed with the robot serial number.
If your serial number is cpr-a300-00001, then your namespace
will be a300_00001. This can be overwritten in the robot.yaml file.
Publishers
| Topic | Message type | Description | QoS |
|---|---|---|---|
| autonomy/config | clearpath_navigation_msgs/msg/AutonomyConfig | Autonomy configuration | System Default |
| autonomy/initial_path | nav_msgs/msg/Path | Initial Path computed by autonomy | System Default |
| autonomy/status | clearpath_navigation_msgs/msg/AutonomyStatus | Status of the autonomy | System Default |
| control_selection/current_mode | clearpath_control_msgs/msg/ControlMode | Current control mode (NEUTRAL, MANUAL, AUTONOMY). | System Default |
| control_selection/control_state | clearpath_control_msgs/msg/ControlSelectionState | Complete state of control selection node. | System Default |
| docking/docking_server/path | nav_msgs/msg/Path | Docking path | |
| docking/undocking_server/path | nav_msgs/msg/Path | Undocking path | |
| goto/preview | clearpath_navigation_msgs/msg/GoToPreview | Preview points for a GoTo execution | System Default |
| mission/preview | clearpath_navigation_msgs/msg/MissionPreview | Preview points for a mission execution | System Default |
| speed_limit | clearpath_navigation_msgs/msg/GoToPreview | Current navigation speed limit | System Default |
| ui/heartbeat | geometry_msgs/msg/TwistStamped | Heartbeat of the UI | System Default |
| ui_teleop/cmd_vel | geometry_msgs/msg/TwistStamped | Velocity commands fron the UI joystick | System Default |
Services
| Service | Service type | Description |
|---|---|---|
| docking/dock_manager/clear_data | std_srvs/srv/Trigger | Clear all dock data |
| docking/dock_manager/delete_dock | clearpath_dock_msgs/srv/RemoveDock | Delete a dock |
| docking/dock_manager/export | clearpath_dock_msgs/srv/ExportData | Export dock data |
| docking/dock_manager/get_database | clearpath_dock_msgs/srv/GetDockDatabase | Returns the entire dock database |
| docking/dock_manager/import | clearpath_dock_msgs/srv/ImportData | Import a dock |
| docking/dock_manager/update_dock | clearpath_dock_msgs/srv/UpdateDock | Update a docks information |
| docking/dock_localizer/add_dock_current_pose | clearpath_dock_msgs/srv/AddDockCurrentPose | Add a dock with the current pose |
| docking/dock_localizer/get_dock_poses | clearpath_dock_msgs/srv/GetDockPoses | Return the dock and predock poses of a specific dock |
| localization/lat_lon_to_xy | clearpath_localization_msgs/srv/ConvertLatLonToCartesian | Convert lat/lon condinate to map XY coordinate | | localization/lat_lon_to_xy_array | clearpath_localization_msgs/srv/ConvertLatLonToCartesianArray | Convert a set of lat/lon coordinates to map XY coordinates | | localization/xy_to_lat_lon | clearpath_localization_msgs/srv/ConvertCartesianToLatLon | Convert map XY coordinate to lat/lon coordinate | | localization/xy_to_lat_lon_array | clearpath_localization_msgs/srv/ConvertCartesianToLatLonArray | Convert a set of map XY coordinates to lat/lon coordinates | | log_manager/delete_log | clearpath_logger_msgs/srv/DeleteLog | Delete a secific log |