This package contains the ROS2 interfaces definitions of the Drone Racing stack. Building this package generates all the required ROS2 custom messages.
| Message Name | Category | Description |
|---|---|---|
| DroneState | State | Pose and Twist of the drone |
| DroneStateImage | State/Image | Synchronized DroneState and camera Image |
| EulerAngles | Visualization | roll, pitch and yaw for rViz plots |
| GatePoses | Visualization | Pose and inner size of all the gates |
| Maneuver | Command | Motion primitive request or completion feedback |
| RcChannels | Actuators | roll, pitch, thrust, yaw, aux1, aux2, aux3, aux4 for BetaFlight |
| SensorImu | Sensors | IMU accelerometer and gyroscope data |
| SensorMag | Sensors | Magnetometer data |
| SensorRpm | Sensors | RPM value for each motor from ESC telemetry |
| SensorBattery | Sensors | Battery voltage |
| SetpointCtbr | Setpoint | CTBR roll, pitch, yaw, and norm_thrust of the setpoint |
| SetpointLinVel | Setpoint | Linear velocities and yaw_rate of the setpoint |
| SetpointReference | Setpoint | Reference position and heading. For control purposes. Including derivatives |
| SetpointMotorsThrust | Setpoint | Single rotor thrust command or feedback |
| Trajectory | Setpoint | Array of SetpointReference |