DebugMessage Struct Reference

Aggregates optional debug data produced each control-loop tick. More...

#include <Types.h>

Public Attributes
std::optional< double >	t
	ROS timestamp of this message in seconds. More...
std::optional< geometry_msgs::msg::PoseArray >	traj_viz
	Sampled trajectory poses for RViz visualisation. More...
std::optional< Vector6d >	controller_force
	6DOF body-frame force output by the controller (N / Nm) More...
std::optional< Vector6d >	allocator_force
	6DOF body force actually achieved after thrust allocation More...
std::optional< bb_controls_msgs::msg::ThrusterForces >	thruster_forces
	Per-thruster force magnitudes in Newtons. More...

Detailed Description

Aggregates optional debug data produced each control-loop tick.

Fields are optional so the debug publisher can skip absent data without special-casing each field.

Member Data Documentation

allocator_force

std::optional<Vector6d> DebugMessage::allocator_force

6DOF body force actually achieved after thrust allocation

controller_force

std::optional<Vector6d> DebugMessage::controller_force

6DOF body-frame force output by the controller (N / Nm)

t

std::optional<double> DebugMessage::t

ROS timestamp of this message in seconds.

thruster_forces

std::optional<bb_controls_msgs::msg::ThrusterForces> DebugMessage::thruster_forces

Per-thruster force magnitudes in Newtons.

traj_viz

std::optional<geometry_msgs::msg::PoseArray> DebugMessage::traj_viz

Sampled trajectory poses for RViz visualisation.

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The documentation for this struct was generated from the following file:

• include/utils/Types.h