00001 /* 00002 * Copyright 2015 Fadri Furrer, ASL, ETH Zurich, Switzerland 00003 * Copyright 2015 Michael Burri, ASL, ETH Zurich, Switzerland 00004 * Copyright 2015 Markus Achtelik, ASL, ETH Zurich, Switzerland 00005 * Copyright 2015 Helen Oleynikova, ASL, ETH Zurich, Switzerland 00006 * Copyright 2015 Mina Kamel, ASL, ETH Zurich, Switzerland 00007 * 00008 * Licensed under the Apache License, Version 2.0 (the "License"); 00009 * you may not use this file except in compliance with the License. 00010 * You may obtain a copy of the License at 00011 * 00012 * http://www.apache.org/licenses/LICENSE-2.0 00013 00014 * Unless required by applicable law or agreed to in writing, software 00015 * distributed under the License is distributed on an "AS IS" BASIS, 00016 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00017 * See the License for the specific language governing permissions and 00018 * limitations under the License. 00019 */ 00020 00021 #ifndef DEFAULT_TOPICS_H_ 00022 #define DEFAULT_TOPICS_H_ 00023 00024 namespace mav_msgs { 00025 namespace default_topics { 00026 00027 static constexpr char IMU[] = "imu"; 00028 static constexpr char MOTOR_MEASUREMENT[] = "motor_speed"; 00029 static constexpr char MAGNETIC_FIELD[] = "magnetic_field"; 00030 static constexpr char GPS[] = "gps"; 00031 static constexpr char RC[] = "rc"; 00032 static constexpr char STATUS[] = "status"; 00033 static constexpr char FILTERED_SENSOR_DATA[] = "filtered_sensor_data"; 00034 static constexpr char AIR_SPEED[] = "air_speed"; 00035 static constexpr char GROUND_SPEED[] = "ground_speed"; 00036 00037 static constexpr char COMMAND_ACTUATORS[] = "command/motor_speed"; 00038 static constexpr char COMMAND_RATE_THRUST[] = "command/rate_thrust"; 00039 static constexpr char COMMAND_ROLL_PITCH_YAWRATE_THRUST[] = 00040 "command/roll_pitch_yawrate_thrust"; 00041 static constexpr char COMMAND_ATTITUDE_THRUST[] = "command/attitude_thrust"; 00042 static constexpr char COMMAND_TRAJECTORY[] = "command/trajectory"; 00043 static constexpr char COMMAND_POSE[] = "command/pose"; 00044 static constexpr char COMMAND_GPS_WAYPOINT[] = "command/gps_waypoint"; 00045 00046 static constexpr char POSE[] = "pose"; 00047 static constexpr char POSE_WITH_COVARIANCE[] = "pose_with_covariance"; 00048 static constexpr char TRANSFORM[] = "transform"; 00049 static constexpr char ODOMETRY[] = "odometry"; 00050 static constexpr char POSITION[] = "position"; 00051 00052 // Simulation-specific topic names. 00053 static constexpr char WRENCH[] = "wrench"; 00054 static constexpr char WIND_SPEED[] = "wind_speed"; 00055 static constexpr char EXTERNAL_FORCE[] = "external_force"; 00056 00057 static constexpr char GROUND_TRUTH_POSE[] = "ground_truth/pose"; 00058 static constexpr char GROUND_TRUTH_TWIST[] = "ground_truth/twist"; 00059 00060 } // end namespace default_topics 00061 } // end namespace mav_msgs 00062 00063 #endif /* DEFAULT_TOPICS_H_ */