ROS2 node that wraps the Vehicle control stack and exposes its interface to the rest of the system. More...

#include <ControlsROS2Wrapper.h>

Inheritance diagram for ControlsROS2Wrapper:

Classes
struct	Params
	Internal representation of all ROS-declared controller and dynamics parameters. More...

Public Types
using	Locomotion = bb_controls_msgs::action::Locomotion

using	GoalHandleLocomotion = rclcpp_action::ServerGoalHandle< Locomotion >

Public Member Functions
	ControlsROS2Wrapper (const std::string &name, std::unique_ptr< Vehicle > robot, std::string body_frame_tf_name="base_link", std::string world_frame_tf_name="map")
	Constructs the node, initialises all ROS interfaces, and loads parameters. More...

	~ControlsROS2Wrapper () override

	ControlsROS2Wrapper (const ControlsROS2Wrapper &)=delete

ControlsROS2Wrapper &	operator= (const ControlsROS2Wrapper &)=delete

	ControlsROS2Wrapper (ControlsROS2Wrapper &&)=delete

ControlsROS2Wrapper &	operator= (ControlsROS2Wrapper &&)=delete

Static Public Attributes
static const std::unordered_map< std::string_view, double Params::* >	DOUBLE_PARAM_MAP
	Maps ROS parameter names to their corresponding Params member pointers. More...

static const std::unordered_map< std::string_view, bool Params::* >	BOOL_PARAM_MAP

Protected Member Functions
void	control_loop ()
	Executes one iteration of the 20 Hz control loop. More...

void	publish_controller_status (const Vehicle::ControllerStatus &status)
	Publishes a ControllerStatus message from the given status snapshot. More...

void	debug_publish_loop ()
	Drains the debug queue and publishes all pending messages. More...

rcl_interfaces::msg::SetParametersResult	parameters_callback (const std::vector< rclcpp::Parameter > &parameters)
	Callback invoked by the ROS parameter system when any parameter changes. More...

void	declare_controller_params ()
	Registers all entries in DOUBLE_PARAM_MAP / BOOL_PARAM_MAP with the ROS parameter server. More...

void	load_params_from_server ()
	Reads all declared ROS parameters into config_. More...

void	apply_config_to_vehicle ()
	Applies config_ to the Vehicle's dynamics model, controller gains, and limits. More...

void	sub_callback_world_position (const nav_msgs::msg::Odometry::ConstSharedPtr &m)
	Odometry subscriber callback — updates vehicle state and starts the control loop. More...

void	sub_callback_battery_voltage (const bb_sensor_msgs::msg::BatteriesWithId::ConstSharedPtr &msg)
	Battery subscriber callback — forwards the minimum cell voltage to the Vehicle. More...

void	sub_callback_teleop_force (const geometry_msgs::msg::Twist::ConstSharedPtr &msg)
	Teleop subscriber callback — allocates the raw force directly if the controller is disabled. More...

void	srv_callback_controller (const std::shared_ptr< bb_controls_msgs::srv::Controller::Request > req, std::shared_ptr< bb_controls_msgs::srv::Controller::Response > res)
	Service callback to enable (stationkeep) or disable the controller. More...

void	srv_callback_trajectory_xyz (const std::shared_ptr< bb_controls_msgs::srv::SplineTraj::Request > req, std::shared_ptr< bb_controls_msgs::srv::SplineTraj::Response > res)
	Service callback to request a straight XYZ or multi-waypoint spline trajectory. More...

void	srv_callback_encircle_traj (const std::shared_ptr< bb_controls_msgs::srv::EncircleTraj::Request > req, std::shared_ptr< bb_controls_msgs::srv::EncircleTraj::Response > res)
	Service callback to request a circular arc (encircle) trajectory. More...

rclcpp_action::GoalResponse	poly_handle_goal (const rclcpp_action::GoalUUID &uuid, std::shared_ptr< const Locomotion::Goal > goal)
	Action server goal handler — rejects goals when the controller is disabled. More...

rclcpp_action::CancelResponse	poly_handle_cancel (const std::shared_ptr< GoalHandleLocomotion > goal_handle)
	Action server cancel handler — always accepts cancel requests. More...

void	poly_handle_accepted (const std::shared_ptr< GoalHandleLocomotion > goal_handle)
	Action server accepted handler — preempts any active goal and starts a new execute thread. More...

void	poly_execute_action (const std::shared_ptr< GoalHandleLocomotion > goal_handle)
	Executes a Locomotion action: plans trajectory, waits for completion, checks tolerances. More...

Protected Attributes
std::once_flag	control_loop_started_
	Flag for starting control loop. More...

const std::string	vehicle_frame_id_
	TF child_frame_id of the vehicle body frame. More...

const std::string	world_frame_id_
	TF frame_id of the world frame. More...

std::unique_ptr< Vehicle >	auv_
	Encapsulated vehicle control stack. More...

rclcpp::Subscription< nav_msgs::msg::Odometry >::SharedPtr	world_sub_

rclcpp::Subscription< bb_sensor_msgs::msg::BatteriesWithId >::SharedPtr	battery_sub_

rclcpp::Subscription< geometry_msgs::msg::Twist >::SharedPtr	teleop_force_sub_

rclcpp::Publisher< geometry_msgs::msg::WrenchStamped >::SharedPtr	pub_controller_force_

rclcpp::Publisher< bb_controls_msgs::msg::ControllerStatus >::SharedPtr	pub_status_

rclcpp::Publisher< geometry_msgs::msg::PoseArray >::SharedPtr	pub_traj_viz_

rclcpp::Publisher< bb_controls_msgs::msg::Thrusters >::SharedPtr	pub_thruster_commands_

rclcpp::Publisher< geometry_msgs::msg::WrenchStamped >::SharedPtr	pub_allocator_force_

rclcpp::Publisher< bb_controls_msgs::msg::ThrusterForces >::SharedPtr	pub_thruster_forces_

rclcpp::TimerBase::SharedPtr	control_loop_timer_

rclcpp::TimerBase::SharedPtr	debug_publish_timer_

moodycamel::ConcurrentQueue< DebugMessage >	debug_queue_
	Lock-free queue through which the control loop passes debug messages to the publish timer. More...

rclcpp::Service< bb_controls_msgs::srv::Controller >::SharedPtr	controller_srv_

rclcpp::Service< bb_controls_msgs::srv::SplineTraj >::SharedPtr	spline_traj_srv_

rclcpp::Service< bb_controls_msgs::srv::EncircleTraj >::SharedPtr	encircle_traj_srv_

rclcpp_action::Server< Locomotion >::SharedPtr	poly_action_server_

std::mutex	action_goal_mutex_

std::shared_ptr< GoalHandleLocomotion >	current_action_goal_

std::atomic< bool >	shutdown_requested_ {false}
	Signals the action execution thread to exit its loop. More...

std::thread	action_execute_thread_
	Thread running action execute method; joined before destruction. More...

OnSetParametersCallbackHandle::SharedPtr	callback_handle_

Params	config_
	Local snapshot of ROS parameters, pushed to Vehicle subsystems on change. More...

double	prev_time_ = 0.0
	ROS timestamp of the previous control loop iteration. More...

rclcpp::CallbackGroup::SharedPtr	odom_cb_group_

rclcpp::CallbackGroup::SharedPtr	control_loop_cb_group_

rclcpp::CallbackGroup::SharedPtr	services_cb_group_

rclcpp::CallbackGroup::SharedPtr	actions_cb_group_

rclcpp::CallbackGroup::SharedPtr	aux_cb_group_

Static Protected Attributes
static constexpr int	CONTROL_LOOP_RATE = 20
	Control loop frequency in Hz. More...

static constexpr double	MIN_DEPTH_CLAMP = 0.00
	Minimum depth value clamp to avoid near-zero depth noise (m) More...

static constexpr double	POSITION_JUMP_THRESHOLD = 0.5
	Position jump threshold for outlier rejection (m) More...

Detailed Description

ROS2 node that wraps the Vehicle control stack and exposes its interface to the rest of the system.

Manages all ROS publishers, subscribers, services, and actions. Runs the 20 Hz control loop (started on receipt of the first odometry message), drains a lock-free debug queue at 20 Hz on a separate timer, and forwards parameter updates to the Vehicle and SystemDynamicsBase objects at runtime.

Services:

in/controller — Enable (stationkeep) or disable the controller
in/xyzTraj — Request a waypoint/spline trajectory
in/encircleTraj — Request a circular arc trajectory

Actions:

in/locomotion/poly — Execute a waypoint trajectory with tolerance-based success checking

Subscriptions:

in/odom_ned — Vehicle odometry (nav_msgs/Odometry)
in/batteries — Battery voltages
in/teleop — Direct force commands (disables the controller if running, then allocates directly)

Publications:

out/force — Controller body force (WrenchStamped)
out/force/allocated — Achieved body force after allocation (WrenchStamped)
out/trajectory/status — Trajectory and controller status
out/trajectory/viz — Sampled trajectory poses for RViz
out/thrusters/input — Per-thruster PWM commands
out/thrusters/forces — Per-thruster forces in Newtons

Member Typedef Documentation

◆ GoalHandleLocomotion

using ControlsROS2Wrapper::GoalHandleLocomotion = rclcpp_action::ServerGoalHandle<Locomotion>

◆ Locomotion

using ControlsROS2Wrapper::Locomotion = bb_controls_msgs::action::Locomotion

Constructor & Destructor Documentation

◆ ControlsROS2Wrapper() [1/3]

ControlsROS2Wrapper::ControlsROS2Wrapper	(	const std::string &	name,
		std::unique_ptr< Vehicle >	robot,
		std::string	body_frame_tf_name = `"base_link"`,
		std::string	world_frame_tf_name = `"map"`
	)

explicit

Constructs the node, initialises all ROS interfaces, and loads parameters.

Parameters

name	[in] ROS node name
robot	[in] Fully constructed Vehicle instance
body_frame_tf_name	[in] TF frame ID of the vehicle body frame
world_frame_tf_name	[in] TF frame ID of the world frame

◆ ~ControlsROS2Wrapper()

ControlsROS2Wrapper::~ControlsROS2Wrapper ( )

override

◆ ControlsROS2Wrapper() [2/3]

ControlsROS2Wrapper::ControlsROS2Wrapper ( const ControlsROS2Wrapper & )

delete

◆ ControlsROS2Wrapper() [3/3]

ControlsROS2Wrapper::ControlsROS2Wrapper ( ControlsROS2Wrapper && )

delete

Member Function Documentation

◆ apply_config_to_vehicle()

void ControlsROS2Wrapper::apply_config_to_vehicle ( )

protected

Applies config_ to the Vehicle's dynamics model, controller gains, and limits.

◆ control_loop()

void ControlsROS2Wrapper::control_loop ( )

protected

Executes one iteration of the 20 Hz control loop.

Calls process_pending, get_force, allocate_force, and publishes thruster commands. Enqueues debug data for the background publish timer.

◆ debug_publish_loop()

void ControlsROS2Wrapper::debug_publish_loop ( )

protected

Drains the debug queue and publishes all pending messages.

Also publishes the current controller status. Called at 20 Hz by a separate timer on the aux callback group.

◆ declare_controller_params()

void ControlsROS2Wrapper::declare_controller_params ( )

protected

Registers all entries in DOUBLE_PARAM_MAP / BOOL_PARAM_MAP with the ROS parameter server.

◆ load_params_from_server()

void ControlsROS2Wrapper::load_params_from_server ( )

protected

Reads all declared ROS parameters into config_.

Only valid when values have already been committed to the server (i.e. at startup, after declare_controller_params). Must NOT be called from inside a set-parameter callback, where the new values are not yet committed.

◆ operator=() [1/2]

ControlsROS2Wrapper& ControlsROS2Wrapper::operator= ( const ControlsROS2Wrapper & )

delete

◆ operator=() [2/2]

ControlsROS2Wrapper& ControlsROS2Wrapper::operator= ( ControlsROS2Wrapper && )

delete

◆ parameters_callback()

rcl_interfaces::msg::SetParametersResult ControlsROS2Wrapper::parameters_callback ( const std::vector< rclcpp::Parameter > & parameters )

protected

Callback invoked by the ROS parameter system when any parameter changes.

Parameters

parameters [in] List of parameters that were set

Returns: Result indicating success or failure

◆ poly_execute_action()

void ControlsROS2Wrapper::poly_execute_action ( const std::shared_ptr< GoalHandleLocomotion > goal_handle )

protected

Executes a Locomotion action: plans trajectory, waits for completion, checks tolerances.

Runs in action_execute_thread_. Publishes periodic feedback and resolves the action result to SUCCESS when pose errors fall within the goal tolerances, or to ABORTED/FAILURE on preemption or planning errors.

Parameters

goal_handle [in] Handle used to publish feedback and set the final result

◆ poly_handle_accepted()

void ControlsROS2Wrapper::poly_handle_accepted ( const std::shared_ptr< GoalHandleLocomotion > goal_handle )

protected

Action server accepted handler — preempts any active goal and starts a new execute thread.

Parameters

goal_handle [in] Handle to the newly accepted goal

◆ poly_handle_cancel()

rclcpp_action::CancelResponse ControlsROS2Wrapper::poly_handle_cancel ( const std::shared_ptr< GoalHandleLocomotion > goal_handle )

protected

Action server cancel handler — always accepts cancel requests.

Parameters

goal_handle [in] Handle to the goal being cancelled

Returns: CancelResponse::ACCEPT

◆ poly_handle_goal()

rclcpp_action::GoalResponse ControlsROS2Wrapper::poly_handle_goal	(	const rclcpp_action::GoalUUID &	uuid,
		std::shared_ptr< const Locomotion::Goal >	goal
	)

protected

Action server goal handler — rejects goals when the controller is disabled.

Parameters

uuid	[in] Goal UUID assigned by the action client
goal	[in] Locomotion goal

Returns: ACCEPT_AND_EXECUTE if the controller is enabled; REJECT otherwise

◆ publish_controller_status()

void ControlsROS2Wrapper::publish_controller_status ( const Vehicle::ControllerStatus & status )

protected

Publishes a ControllerStatus message from the given status snapshot.

Parameters

status [in] Controller status snapshot to publish

◆ srv_callback_controller()

void ControlsROS2Wrapper::srv_callback_controller	(	const std::shared_ptr< bb_controls_msgs::srv::Controller::Request >	req,
		std::shared_ptr< bb_controls_msgs::srv::Controller::Response >	res
	)

protected

Service callback to enable (stationkeep) or disable the controller.

Parameters

req	[in] Request with an enable flag
res	[out] Response with a status flag (always true)

◆ srv_callback_encircle_traj()

void ControlsROS2Wrapper::srv_callback_encircle_traj	(	const std::shared_ptr< bb_controls_msgs::srv::EncircleTraj::Request >	req,
		std::shared_ptr< bb_controls_msgs::srv::EncircleTraj::Response >	res
	)

protected

Service callback to request a circular arc (encircle) trajectory.

Parameters

req	[in] EncircleTraj request containing radius, turn angle, and spiral parameters
res	[out] Response populated with the assigned trajectory UUID, or empty on failure

◆ srv_callback_trajectory_xyz()

void ControlsROS2Wrapper::srv_callback_trajectory_xyz	(	const std::shared_ptr< bb_controls_msgs::srv::SplineTraj::Request >	req,
		std::shared_ptr< bb_controls_msgs::srv::SplineTraj::Response >	res
	)

protected

Service callback to request a straight XYZ or multi-waypoint spline trajectory.

Parameters

req	[in] SplineTraj request containing waypoints and relative-coordinate flags
res	[out] Response populated with the assigned trajectory UUID, or empty on failure

◆ sub_callback_battery_voltage()

void ControlsROS2Wrapper::sub_callback_battery_voltage ( const bb_sensor_msgs::msg::BatteriesWithId::ConstSharedPtr & msg )

protected

Battery subscriber callback — forwards the minimum cell voltage to the Vehicle.

Parameters

msg	[in] Incoming battery message containing per-cell voltages

◆ sub_callback_teleop_force()

void ControlsROS2Wrapper::sub_callback_teleop_force ( const geometry_msgs::msg::Twist::ConstSharedPtr & msg )

protected

Teleop subscriber callback — allocates the raw force directly if the controller is disabled.

If the controller is not disabled, issues a disable request and ignores the message.

Parameters

msg	[in] Twist message interpreted as a 6DOF body force [Fx, Fy, Fz, Tx, Ty, Tz]

◆ sub_callback_world_position()

void ControlsROS2Wrapper::sub_callback_world_position ( const nav_msgs::msg::Odometry::ConstSharedPtr & m )

protected

Odometry subscriber callback — updates vehicle state and starts the control loop.

Parameters

m	[in] Incoming odometry message

Member Data Documentation

◆ action_execute_thread_

std::thread ControlsROS2Wrapper::action_execute_thread_

protected

Thread running action execute method; joined before destruction.

◆ action_goal_mutex_

std::mutex ControlsROS2Wrapper::action_goal_mutex_

protected

◆ actions_cb_group_

rclcpp::CallbackGroup::SharedPtr ControlsROS2Wrapper::actions_cb_group_

protected

◆ auv_

std::unique_ptr<Vehicle> ControlsROS2Wrapper::auv_

protected

Encapsulated vehicle control stack.

◆ aux_cb_group_

rclcpp::CallbackGroup::SharedPtr ControlsROS2Wrapper::aux_cb_group_

protected

◆ battery_sub_

rclcpp::Subscription<bb_sensor_msgs::msg::BatteriesWithId>::SharedPtr ControlsROS2Wrapper::battery_sub_

protected

◆ BOOL_PARAM_MAP

const std::unordered_map<std::string_view, bool Params::*> ControlsROS2Wrapper::BOOL_PARAM_MAP

inlinestatic

Initial value:

= {
        {"surface_gain_scheduling", &Params::surface_gain_scheduling},
        {"buoyancy_adaptive", &Params::buoyancy_adaptive},
    }

◆ callback_handle_

OnSetParametersCallbackHandle::SharedPtr ControlsROS2Wrapper::callback_handle_

protected

◆ config_

Params ControlsROS2Wrapper::config_

protected

Local snapshot of ROS parameters, pushed to Vehicle subsystems on change.

◆ control_loop_cb_group_

rclcpp::CallbackGroup::SharedPtr ControlsROS2Wrapper::control_loop_cb_group_

protected

◆ CONTROL_LOOP_RATE

constexpr int ControlsROS2Wrapper::CONTROL_LOOP_RATE = 20

staticconstexprprotected

Control loop frequency in Hz.

◆ control_loop_started_

std::once_flag ControlsROS2Wrapper::control_loop_started_

protected

Flag for starting control loop.

◆ control_loop_timer_

rclcpp::TimerBase::SharedPtr ControlsROS2Wrapper::control_loop_timer_

protected

◆ controller_srv_

rclcpp::Service<bb_controls_msgs::srv::Controller>::SharedPtr ControlsROS2Wrapper::controller_srv_

protected

◆ current_action_goal_

std::shared_ptr<GoalHandleLocomotion> ControlsROS2Wrapper::current_action_goal_

protected

◆ debug_publish_timer_

rclcpp::TimerBase::SharedPtr ControlsROS2Wrapper::debug_publish_timer_

protected

◆ debug_queue_

moodycamel::ConcurrentQueue<DebugMessage> ControlsROS2Wrapper::debug_queue_

protected

Lock-free queue through which the control loop passes debug messages to the publish timer.

◆ DOUBLE_PARAM_MAP

const std::unordered_map<std::string_view, double Params::*> ControlsROS2Wrapper::DOUBLE_PARAM_MAP

inlinestatic

Maps ROS parameter names to their corresponding Params member pointers.

◆ encircle_traj_srv_

rclcpp::Service<bb_controls_msgs::srv::EncircleTraj>::SharedPtr ControlsROS2Wrapper::encircle_traj_srv_

protected

◆ MIN_DEPTH_CLAMP

constexpr double ControlsROS2Wrapper::MIN_DEPTH_CLAMP = 0.00

staticconstexprprotected

Minimum depth value clamp to avoid near-zero depth noise (m)

◆ odom_cb_group_

rclcpp::CallbackGroup::SharedPtr ControlsROS2Wrapper::odom_cb_group_

protected

◆ poly_action_server_

rclcpp_action::Server<Locomotion>::SharedPtr ControlsROS2Wrapper::poly_action_server_

protected

◆ POSITION_JUMP_THRESHOLD

constexpr double ControlsROS2Wrapper::POSITION_JUMP_THRESHOLD = 0.5

staticconstexprprotected

Position jump threshold for outlier rejection (m)

◆ prev_time_

double ControlsROS2Wrapper::prev_time_ = 0.0

protected

ROS timestamp of the previous control loop iteration.

◆ pub_allocator_force_

rclcpp::Publisher<geometry_msgs::msg::WrenchStamped>::SharedPtr ControlsROS2Wrapper::pub_allocator_force_

protected

◆ pub_controller_force_

rclcpp::Publisher<geometry_msgs::msg::WrenchStamped>::SharedPtr ControlsROS2Wrapper::pub_controller_force_

protected

◆ pub_status_

rclcpp::Publisher<bb_controls_msgs::msg::ControllerStatus>::SharedPtr ControlsROS2Wrapper::pub_status_

protected

◆ pub_thruster_commands_

rclcpp::Publisher<bb_controls_msgs::msg::Thrusters>::SharedPtr ControlsROS2Wrapper::pub_thruster_commands_

protected

◆ pub_thruster_forces_

rclcpp::Publisher<bb_controls_msgs::msg::ThrusterForces>::SharedPtr ControlsROS2Wrapper::pub_thruster_forces_

protected

◆ pub_traj_viz_

rclcpp::Publisher<geometry_msgs::msg::PoseArray>::SharedPtr ControlsROS2Wrapper::pub_traj_viz_

protected

◆ services_cb_group_

rclcpp::CallbackGroup::SharedPtr ControlsROS2Wrapper::services_cb_group_

protected

◆ shutdown_requested_

std::atomic<bool> ControlsROS2Wrapper::shutdown_requested_ {false}

protected

Signals the action execution thread to exit its loop.

◆ spline_traj_srv_

rclcpp::Service<bb_controls_msgs::srv::SplineTraj>::SharedPtr ControlsROS2Wrapper::spline_traj_srv_

protected

◆ teleop_force_sub_

rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr ControlsROS2Wrapper::teleop_force_sub_

protected

◆ vehicle_frame_id_

const std::string ControlsROS2Wrapper::vehicle_frame_id_

protected

TF child_frame_id of the vehicle body frame.

◆ world_frame_id_

const std::string ControlsROS2Wrapper::world_frame_id_

protected

TF frame_id of the world frame.

◆ world_sub_

rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr ControlsROS2Wrapper::world_sub_

protected

The documentation for this class was generated from the following files:

include/nodes/ControlsROS2Wrapper.h
src/nodes/ControlsROS2Wrapper.cpp

Classes

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Typedef Documentation

◆ GoalHandleLocomotion

◆ Locomotion

Constructor & Destructor Documentation

◆ ControlsROS2Wrapper() [1/3]

◆ ~ControlsROS2Wrapper()

◆ ControlsROS2Wrapper() [2/3]

◆ ControlsROS2Wrapper() [3/3]

Member Function Documentation

◆ apply_config_to_vehicle()

◆ control_loop()

◆ debug_publish_loop()

◆ declare_controller_params()

◆ load_params_from_server()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ parameters_callback()

◆ poly_execute_action()

◆ poly_handle_accepted()

◆ poly_handle_cancel()

◆ poly_handle_goal()

◆ publish_controller_status()

◆ srv_callback_controller()

◆ srv_callback_encircle_traj()

◆ srv_callback_trajectory_xyz()

◆ sub_callback_battery_voltage()

◆ sub_callback_teleop_force()

◆ sub_callback_world_position()

Member Data Documentation

◆ action_execute_thread_

◆ action_goal_mutex_

◆ actions_cb_group_

◆ auv_

◆ aux_cb_group_

◆ battery_sub_

◆ BOOL_PARAM_MAP

◆ callback_handle_

◆ config_

◆ control_loop_cb_group_

◆ CONTROL_LOOP_RATE

◆ control_loop_started_

◆ control_loop_timer_

◆ controller_srv_

◆ current_action_goal_

◆ debug_publish_timer_

◆ debug_queue_

◆ DOUBLE_PARAM_MAP

◆ encircle_traj_srv_

◆ MIN_DEPTH_CLAMP

◆ odom_cb_group_

◆ poly_action_server_

◆ POSITION_JUMP_THRESHOLD

◆ prev_time_

◆ pub_allocator_force_

◆ pub_controller_force_

◆ pub_status_

◆ pub_thruster_commands_

◆ pub_thruster_forces_

◆ pub_traj_viz_

◆ services_cb_group_

◆ shutdown_requested_

◆ spline_traj_srv_

◆ teleop_force_sub_

◆ vehicle_frame_id_

◆ world_frame_id_

◆ world_sub_