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The MRDT RoveComm Communication Manifest to be Embeded in RoveComm Repositories

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RoveComm Base

This is the repository that contains manifest.json, which is used by all RoveComm implementations as a schema for sending and parsing RoveComm packets. These are the current implementations of RoveComm so far:

RoveComm Manifest

Core Board

IP: 192.168.2.110

Commands

name dataId type count description
DriveLeftRight 3000 FLOAT_T 2 [LeftSpeed, RightSpeed] (-1, 1)-> (-100%, 100%)
DriveIndividual 3001 FLOAT_T 6 [LF, LM, LR, RF, RM, RR] (-1, 1)-> (-100%, 100%)
WatchdogOverride 3002 UINT8_T 1 [0-override off, 1-override on]
LeftDriveGimbalIncrement 3003 INT16_T 1 [Tilt](degrees -180-180)
RightDriveGimbalIncrement 3004 INT16_T 1 [Tilt](degrees -180-180)
LeftMainGimbalIncrement 3005 INT16_T 2 [Pan, Tilt](degrees -180-180)
RightMainGimbalIncrement 3006 INT16_T 2 [Pan, Tilt](degrees -180-180)
BackDriveGimbalIncrement 3007 INT16_T 1 [Tilt](degrees -180-180)
LEDRGB 3008 UINT8_T 3 [R, G, B] (0, 255)
LEDPatterns 3009 UINT8_T 1 [Pattern] (Enum)
StateDisplay 3010 UINT8_T 1 [Teleop, Autonomy, Reached Goal] (enum)
Brightness 3011 UINT8_T 1 Set Brightness (0-255)
SetWatchdogMode 3012 UINT8_T 1 0: Teleop, 1: Autonomy
LEDText 3013 CHAR 256 Set the message to display on the lighting panel; null terminator ends string early

Telemetry

name dataId type count description
MotorSpeeds 3100 FLOAT_T 6 [FL, ML, BL, FR, MR, BR] (-1, 1)-> (-100%, 100%)
MotorCurrents 3101 FLOAT_T 6 [FL, ML, BL, FR, MR, BR] Motor current draw
VESCCurrents 3102 FLOAT_T 6 [FL, ML, BL, FR, MR, BR] VESC (battery side) current draw
IMUData 3103 FLOAT_T 3 [Roll, Pitch, Yaw] degrees
AccelerometerData 3104 FLOAT_T 3 [xAxis, yAxis, zAxis] Accel in m/s^2

Errors

name dataId type count description
VESCFault 3200 UINT8_T 2 [MotorID, FaultCode]

Enums

Motors

0: FRONT_LEFT
1: MIDDLE_LEFT
2: BACK_LEFT
3: FRONT_RIGHT
4: MIDDLE_RIGHT
5: BACK_RIGHT

DisplayState

0: TELEOP
1: AUTONOMY
2: REACHED_GOAL

Patterns

0: MRDT
1: BELGIUM
2: MERICA
3: DIRT
4: DOTA
5: MCD
6: WINDOWS

VESCFaultCode

0: NONE
1: OVER_VOLTAGE
2: UNDER_VOLTAGE
3: DRV
4: ABS_OVER_CURRENT
5: OVER_TEMP_FET
6: OVER_TEMP_MOTOR
7: GATE_DRIVER_OVER_VOLTAGE
8: GATE_DRIVER_UNDER_VOLTAGE
9: MCU_UNDER_VOLTAGE
10: BOOTING_FROM_WATCHDOG_RESET
11: ENCODER_SPI
12: ENCODER_SINCOS_BELOW_MIN_AMPLITUDE
13: ENCODER_SINCOS_ABOVE_MAX_AMPLITUDE
14: FLASH_CORRUPTION
15: HIGH_OFFSET_CURRENT_SENSOR_1
16: HIGH_OFFSET_CURRENT_SENSOR_2
17: HIGH_OFFSET_CURRENT_SENSOR_3
18: UNBALANCED_CURRENTS
19: BRK
20: RESOLVER_LOT
21: RESOLVER_DOS
22: RESOLVER_LOS
23: FLASH_CORRUPTION_APP_CFG
24: FLASH_CORRUPTION_MC_CFG
25: ENCODER_NO_MAGNET
26: ENCODER_MAGNET_TOO_STRONG
27: PHASE_FILTER

PMS Board

IP: 192.168.2.102

Commands

name dataId type count description
EStop 4000 UINT8_T 1 Power off all systems except network (PMS will stay on)
Suicide 4001 UINT8_T 1 Power off all systems including network, cannot recover without physical reboot (PMS will stay on)
Reboot 4002 UINT8_T 1 Cycle all systems including network off and back on (PMS will stay on)
EnableBus 4003 UINT8_T 1 [Motor, Core, Aux] (bitmasked) [1-Enable, 0-No change]
DisableBus 4004 UINT8_T 1 [Motor, Core, Aux] (bitmasked) [1-Disable, 0-No change]
SetBus 4005 UINT8_T 1 [Motor, Core, Aux] (bitmasked) [1-Enable, 0-Disable]

Telemetry

name dataId type count description
PackCurrent 4100 FLOAT_T 1 Total current draw from battery
PackVoltage 4101 FLOAT_T 1 Pack voltage
CellVoltage 4102 FLOAT_T 6 C1, C2, C3, C4, C5, C6
AuxCurrent 4103 FLOAT_T 1 Current draw by aux systems (before 12V buck)
MiscCurrent 4104 FLOAT_T 3 Current draw from other devices (CS1, CS2, CS3)
BusStatus 4105 UINT8_T 1 [Motor, Core, Aux, Network] (bitmasked) [1-Enabled, 0-Disabled]

Errors

name dataId type count description
PackOvercurrent 4200 UINT8_T 1 Higher current draw than the battery can support. Rover will Reboot automatically
CellUndervoltage 4201 UINT8_T 1 (bitmasked) [1-Undervolt, 0-OK]. Rover will EStop automatically
CellCritical 4202 UINT8_T 1 (bitmasked) [1-Critical, 0-OK]. Rover will Suicide automatically
AuxOvercurrent 4203 UINT8_T 1 Aux system current draw too high. Rover will disable Aux bus automatically

Nav Board

IP: 192.168.2.104

Telemetry

name dataId type count description
GPSLatLonAlt 6100 DOUBLE_T 3 [Lat, Long, Alt] [(-90, 90), (-180, 180)(deg), (0, 1000)]
IMUData 6101 FLOAT_T 3 [Pitch, Yaw, Roll] [(-90, 90), (0, 360), (-90, 90)] (deg)
CompassData 6102 FLOAT_T 1 [Heading] [ 0, 360 ]
SatelliteCountData 6103 UINT8_T 1 [Number of satellites]
AccelerometerData 6104 FLOAT_T 3 [xAxis, yAxis, zAxis] Accel in m/s^2
AccuracyData 6105 FLOAT_T 5 [horizontal_accur, vertical_accur, heading_accur, fix_type, is_differentia] [meters, meters, degrees, ublox_navpvt fix type (http://docs.ros.org/en/noetic/api/ublox_msgs/html/msg/NavPVT.html), boolean]

Errors

name dataId type count description
GPSLockError 6200 UINT8_T 1

BaseStationNav Board

IP: 192.168.100.112

SignalStack Board

IP: 192.168.100.101

Commands

name dataId type count description
OpenLoop 7000 INT16_T 1 Motor decipercent [-1000, 1000]
SetAngleTarget 7001 FLOAT_T 1 [Heading] [0, 360)
SetGPSTarget 7002 DOUBLE_T 4 [Rover Lat, Rover Long, Basestation Lat, Basestation Long] [Lat:(-90, 90), Long:(-180, 180)] (deg)
WatchdogOverride 7003 UINT8_T 1 [0-override off, 1-override on]

Telemetry

name dataId type count description
CompassAngle 7100 FLOAT_T 1 [Heading] [0, 360)

Errors

name dataId type count description
WatchdogStatus 7200 UINT8_T 1 (1-Watchdog timeout, 0-OK)

Arm Board

IP: 192.168.2.107

Commands

name dataId type count description
SetIndividualSpeeds 8000 INT16_T 6 [X, J2, J3, J4, P, R] Motor decipercent [-1000, 1000]
SetJointSpeed 8001 INT16_T 2 [JointID, Decipercent] Motor decipercent [-1000, 1000]
SetIndividualTargetAngles 8002 FLOAT_T 6 [X, J2, J3, J4, P, R] (in, deg, deg, deg, deg, deg)
SetJointTargetAngle 8003 FLOAT_T 2 [JointID, Position] (in for id 0, deg otherwise)
IncrementIndividualTargetAngles 8004 FLOAT_T 6 [X, J2, J3, J4, P, R] (in, deg, deg, deg, deg, deg)
IncrementJointTargetAngle 8005 FLOAT_T 2 [JointID, Angle] (in for id 0, deg otherwise)
SetIKPosition 8006 FLOAT_T 6 [X, Y, Z, J4, P, R] (in, in, in, deg, deg, deg)
IncrementIKPosition 8007 FLOAT_T 6 [X, Y, Z, J4, P, R] (in, in, in, deg, deg, deg)
SetLockModePosition 8008 FLOAT_T 3 [J4, P, R] (deg, deg, deg)
IncrementLockModePosition 8009 FLOAT_T 3 [J4, P, R] (deg, deg, deg)
Laser 8010 UINT8_T 1 [0-disable, 1-enable]
Solenoid 8011 UINT8_T 1 [0-retract, 1-extend]
SetGripperSpeed 8012 INT16_T 2 [Motor decipercent (-1000, 1000), Gripper number (0, 1)]
WatchdogOverride 8013 UINT8_T 1 [0-override off, 1-override on] (bitmasked)
LimitSwitchOverride 8014 UINT16_T 1 [X+, X-, J2+, J2-, J3+, J3-, J4+, J4-, P] (0-override off, 1-override on) (bitmasked)
ClosedLoopOverride 8015 UINT8_T 1 [X, J2, J3, J4, P, R] (0-override off, 1-override on) (bitmasked)
CalibrateEncoder 8016 UINT8_T 1 [X, Roll] (1-calibrate, 0-no action) (bitmasked)
SoftLimitOverride 8017 UINT16_T 1 [X+, X-, J2+, J2-, J3+, J3-, J4+, J4-, P+, P-] (0-override off, 1-override on) (bitmasked)
EStop 8018 UINT8_T 1 Shut off all motors (set decipercents to 0 and disable closed loop)

Telemetry

name dataId type count description
Positions 8100 FLOAT_T 7 [X, J2, J3, J4, P, R, AP] (in, deg, deg, deg, deg, deg, deg, deg)
Coordinates 8101 FLOAT_T 6 [X, Y, Z, J4, P, R] (in, in, in, deg, deg, deg)
LimitSwitchTriggered 8102 UINT16_T 1 [X+, X-, J2+, J2-, J3+, J3-, J4+, J4-, P] (0-off, 1-on) (bitmasked)

Errors

name dataId type count description
WatchdogStatus 8200 UINT8_T 1 (1-Watchdog timeout, 0-OK)

Enums

Joints

0: X
1: J2
2: J3
3: J4
4: PITCH
5: ROLL

Auger Board

IP: 192.168.2.108

Commands

name dataId type count description
AugerAxis_OpenLoop 9000 INT16_T 1 Motor decipercent [-1000, 1000]
AugerAxis_SetPosition 9001 FLOAT_T 1 Absolute position (in)
AugerAxis_IncrementPosition 9002 FLOAT_T 1 (in)
LimitSwitchOverride 9003 UINT8_T 1 [AugerAxis+, AugerAxis-] (0-override off, 1-override on) (bitmasked)
CalibrateEncoder 9004 UINT8_T 1 Request calibration of the AugerAxis encoder
Auger 9005 INT16_T 1 Motor decipercent [-1000, 1000]
WatchdogOverride 9006 UINT8_T 1 [0-override off, 1-override on]
RequestTemperature 9007 UINT8_T 1 Request a reading of the temperature at the end of the auger
RequestHumidity 9008 UINT8_T 1 Request a reading of the humidity at the end of the auger
UVLED 9009 UINT8_T 1 Ultraviolet LED on AutoFluorescence (0-off, 1-on)
AugerMultiplexerServo 9010 INT16_T 1 [Position](degrees -180-180)

Telemetry

name dataId type count description
Position 9100 FLOAT_T 1 [AugerAxis] (in)
AugerSpeed 9101 FLOAT_T 1 (in/s)
LimitSwitchTriggered 9102 UINT8_T 1 [AugerAxis+, AugerAxis-] (0-off, 1-on) (bitmasked)
Temperature 9103 FLOAT_T 1 [Temperature] (degrees C)
Humidity 9104 FLOAT_T 1 [Humidity] (relative humidity %)

Errors

name dataId type count description
WatchdogStatus 9200 UINT8_T 1 (1-Watchdog timeout, 0-OK)
AugerStalled 9201 UINT8_T 1 (1-Stalled, 0-OK)

Autonomy Board

IP: 192.168.3.100

Commands

name dataId type count description
StartAutonomy 11000 UINT8_T 1 Start Autonomy_Software
DisableAutonomy 11001 UINT8_T 1 Return Autonomy_Software to Idle state
AddPositionLeg 11002 DOUBLE_T 3 [Lat, Lon, AUTONOMYWAYPOINTTYPES]
AddMarkerLeg 11003 DOUBLE_T 4 [Lat, Lon, AUTONOMYWAYPOINTTYPES, MarkerRadius (meters)]
AddObjectLeg 11004 DOUBLE_T 4 [Lat, Lon, AUTONOMYWAYPOINTTYPES, ObjectRadius (meters)]
ClearWaypoints 11005 UINT8_T 1 Clear queued positions, markers, and objects waypoints.
SetMaxSpeed 11006 FLOAT_T 1 A multiplier from 0.0 to 1.0 that will scale the max power effort of Autonomy.
SetLoggingLevels 11007 UINT8_T 3 [Enum (AUTONOMYLOG), Enum (AUTONOMYLOG), Enum (AUTONOMYLOG)] {Console, File, RoveComm}
AddObstacle 11008 DOUBLE_T 3 [Lat, Lon, ObstacleRadius (meters)]
ClearObstacles 11009 UINT8_T 1 Clear queued permanent obstacles.

Telemetry

name dataId type count description
CurrentState 11100 UINT8_T 1 Enum (AUTONOMYSTATE)
ReachedGoal 11101 UINT8_T 1
CurrentLog 11102 CHAR 255 String version of most current error log
ThreadFPS 11103 UINT32_T 2 [Thread Enum ID, FPS Value]

Enums

AUTONOMYSTATE

0: Idle
1: Navigating
2: SearchPattern
3: ApproachingMarker
4: ApproachingObject
5: VerifyingGPS
6: VerifyingMarker
7: VerifyingObject
8: Avoidance
9: Reversing
10: Stuck

AUTONOMYLOG

0: TraceL3
1: TraceL2
2: TraceL1
3: Debug
4: Info
5: Notice
6: Warning
7: Error
8: Critical

AUTONOMYTHREADS

0: NotSet
1: MainProcess
2: MainCam
3: GroundCam
4: TagDetector
5: ObjectDetector
6: StateMachine
7: RoveCommUDP
8: RoveCommTCP

AUTONOMYWAYPOINTTYPES

-99: ContinuousNavigate
-3: WaterBottle
-2: Mallet
-1: Any
0: Tag0
1: Tag1
2: Tag2
3: Tag3

Camera1 Board

IP: 192.168.4.100

Commands

name dataId type count description
TakePicture 12000 UINT8_T 2 Take a picture with the current camera. [0] is the camera to take a picture with. [1] tells the camera whether to restart the stream afterwards.
ToggleStream 12001 UINT8_T 2 Stop the current camera stream. [0] is the camera to stop streaming. [1] is whether to restart the stream.
SetFFMPEGArguments 12002 CHAR 16384 0x1f delimited, 0x04 terminated list with maximum length of 16384 characters for RPi-Camera/config.toml/ffmpeg_arguments. Accepts the following substitutions: $index: camera index, $input: input device file, $ip: output ip, $port: output port, $brightness, $contrast.
SetPictureArguments 12003 CHAR 16384 0x1f delimited, 0x04 terminated list with maximum length of 16384 characters for RPi-Camera/config.toml/picture_arguments. Accepts the following substitutions: $index: camera index, $input: input device file, $output: output file without extension, $brightness, $contrast.
SetBrightness 12004 FLOAT_T 4 Brightness for each camera (-1.0, 1.0)
SetContrast 12005 FLOAT_T 4 Contrast for each camera (0, 2)

Telemetry

name dataId type count description
AvailableCameras 12100 UINT8_T 1 Number of detected cameras.
StreamingCameras 12101 UINT8_T 1 Number of streaming cameras.
PictureTaken 12102 UINT8_T 1 Picture has been taken.
Utilization 12103 UINT8_T 6 [cpu0, cpu1, cpu2, cpu3, mem, storage], (% usage)

Camera2 Board

IP: 192.168.4.101

Commands

name dataId type count description
TakePicture 13000 UINT8_T 2 Take a picture with the current camera. [0] is the camera to take a picture with. [1] tells the camera whether to restart the stream afterwards.
ToggleStream 13001 UINT8_T 2 Stop the current camera stream. [0] is the camera to stop streaming. [1] is whether to restart the stream.
SetFFMPEGArguments 13002 CHAR 16384 0x1f delimited, 0x04 terminated list with maximum length of 16384 characters for RPi-Camera/config.toml/ffmpeg_arguments. Accepts the following substitutions: $index: camera index, $input: input device file, $ip: output ip, $port: output port, $brightness, $contrast.
SetPictureArguments 13003 CHAR 16384 0x1f delimited, 0x04 terminated list with maximum length of 16384 characters for RPi-Camera/config.toml/picture_arguments. Accepts the following substitutions: $index: camera index, $input: input device file, $output: output file without extension, $brightness, $contrast.
SetBrightness 13004 FLOAT_T 4 Brightness for each camera (-1.0, 1.0)
SetContrast 13005 FLOAT_T 4 Contrast for each camera (0, 2)

Telemetry

name dataId type count description
AvailableCameras 13100 UINT8_T 1 Number of detected cameras.
StreamingCameras 13101 UINT8_T 1 Number of streaming cameras.
PictureTaken 13102 UINT8_T 1 Picture has been taken.
Utilization 13103 UINT8_T 6 [cpu0, cpu1, cpu2, cpu3, mem, storage], (% usage)

CameraServer Board

IP: 192.168.4.102

Commands

name dataId type count description
TakePhoto 14000 UINT8_T 1 Take a picture with the current camera. [0] is the camera to take a picture with.
ToggleStream 14001 UINT8_T 2 Stop the current camera stream. [0] is the camera to stop streaming. [1] is the action (0 = Shutdown, 1 = Startup, 2 = Restart).
AdjustBrightness 14002 UINT8_T 2 Adjust brightness level (0-255). [0] is the camera ID, [1] is the brightness level.
AdjustContrast 14003 UINT8_T 2 Adjust contrast level (0-255). [0] is the camera ID, [1] is the contrast level.
AdjustSaturation 14004 UINT8_T 2 Adjust saturation level (0-255). [0] is the camera ID, [1] is the saturation level.
AdjustHue 14005 UINT8_T 2 Adjust hue level (0-255). [0] is the camera ID, [1] is the hue level.
SetWhiteBalance 14008 UINT8_T 2 Set white balance temperature. [0] is the camera ID, [1] is the white balance level.
AdjustBacklightContrast 14009 UINT8_T 2 Adjust backlight contrast level (0-255). [0] is the camera ID, [1] is the backlight contrast level.
SetExposure 14010 INT32_T 2 Set exposure level. [0] is the camera ID, [1] is the exposure level.

Telemetry

name dataId type count description
AvailableCameras 14100 UINT8_T 1 Bitmask values for which cameras are able to stream. LSB is Camera 0, MSB is Camera 7.
StreamingCameras 14101 UINT8_T 4 Which cameras the system is currently streaming on each port
PictureTaken1 14102 UINT8_T 1 Picture has been taken.

Errors

name dataId type count description
CameraUnavailable 14200 UINT8_T 1 Camera has errored and stopped streaming. [0] is ID of camera as an integer (not bitmask).

IRSpectrometer Board

IP: 192.168.3.104

Raman Board

IP: 192.168.3.105

Commands

name dataId type count description
InstrumentsAxis_OpenLoop 16000 INT16_T 1 Motor decipercent [-1000, 1000]
InstrumentsAxis_SetPosition 16001 FLOAT_T 1 Absolute position (in)
InstrumentsAxis_IncrementPosition 16002 FLOAT_T 1 (in)
LimitSwitchOverride 16003 UINT8_T 1 [InstrumentsAxis+, InstrumentsAxis-] (0-override off, 1-override on) (bitmasked)
CalibrateEncoder 16004 UINT8_T 1 Request calibration of the InstrumentsAxis encoder
WatchdogOverride 16005 UINT8_T 1 [0-override off, 1-override on]
Laser 16006 UINT8_T 1 [0-disable, 1-enable]
RequestRamanReading 16007 UINT32_T 1 Start a Raman reading, with the provided integration time (milliseconds)
RamanGimbalIncrement 16008 INT16_T 2 [Pan, Tilt](degrees -180-180)

Telemetry

name dataId type count description
Position 16100 FLOAT_T 1 [InstrumentsAxis] (in)
LimitSwitchTriggered 16101 UINT8_T 1 [InstrumentsAxis+, InstrumentsAxis-] (0-off, 1-on) (bitmasked)
RamanReading_Part1 16102 UINT16_T 512 Raman CCD elements 1-512
RamanReading_Part2 16103 UINT16_T 512 Raman CCD elements 513-1024
RamanReading_Part3 16104 UINT16_T 512 Raman CCD elements 1025-1536
RamanReading_Part4 16105 UINT16_T 512 Raman CCD elements 1537-2048

Errors

name dataId type count description
WatchdogStatus 16200 UINT8_T 1 (1-Watchdog timeout, 0-OK)

RoveSoSimulator Board

IP: 127.0.0.1

Telemetry

name dataId type count description
Ultrasonic1 99100 FLOAT_T 2 Ultrasonic sensor distance reading in centimeters (cm). Value ranges from 0.00 to 500.00 cm

Network Devices

name ip
BasestationSwitch 192.168.254.2
RoverSwitch 192.168.254.1
Rover900MHzRocket 10.0.0.3
Basestation900MHzRocket 10.0.0.4
Rover5GHzRocket 10.0.0.19
Basestation5GHzRocket 10.0.0.20
Rover2_4GHzRocket 10.0.0.11
Basestation2_4GHzRocket 10.0.0.12

Multicast Devices

name ip port device
DriveCamLeft 239.0.0.1 50000 0
DriveCamRight 239.0.0.2 50000 1
GimbalCamLeft 239.0.0.3 50000 2
GimbalCamRight 239.0.0.4 50000 3
BackCam 239.0.0.5 50000 4
AuxCam1 239.0.0.6 50000 5
AuxCam2 239.0.0.7 50000 6
AuxCam3 239.0.0.8 50000 7
AuxCam4 239.0.0.9 50000 8
Microscope 239.0.0.10 50000 9

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The MRDT RoveComm Communication Manifest to be Embeded in RoveComm Repositories

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2024 Competition Release Latest
Jul 22, 2024
+ 1 release

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