TriOrb-ROS2-Types v1.2.0 (2025-07-17)
triorb_cv_interface
triorb_cv_interface/msg
triorb_cv_interface/msg/BoundingBox.msg
# ==バウンディングボックス座標==
float32[] xtl_ytl_xbr_ybr # [Left-top-x, Left-top-y, Right-bottom-x, Right-bottom-y] [pix]
triorb_cv_interface/msg/Detection.msg
# ==物体検出結果==
std_msgs/Header header # Timestamp
uint32 det_num # Number of detections
BoundingBox[] boxes # BoundingBoxs
float64[] scores # Detection scores
string[] labels # Object types
triorb_cv_interface/srv
triorb_cv_interface/srv/GetImage.srv
# ==画像取得サービス==
string fname
---
sensor_msgs/Image image
triorb_sensor_interface
triorb_sensor_interface/msg
triorb_sensor_interface/msg/CameraDevice.msg
#==カメラデバイス==
std_msgs/Header header # Timestamp
string device # Path of camera device
string topic # Topic name of camera image
string id # Frame ID of the camera image topic
string state # Camera device status (sleep | wakeup | awake)
int16 rotation # Rotation of the camera image
int16 exposure # Camera Exposure
float32 gamma # Gamma correction value
float32 timer # Data collection cycle [s]
triorb_sensor_interface/msg/ImuSensor.msg
#==IMUセンサ==
std_msgs/Header header # Timestamp
float32 yaw
float32 pitch
float32 roll
triorb_sensor_interface/msg/Obstacles.msg
#==障害物==
std_msgs/Header header # Timestamp
float32 forward # Distance to obstacle in forward [m]
float32 left # Distance to obstacle in left [m]
float32 right # Distance to obstacle in right [m]
float32 back # Distance to obstacle in back [m]
triorb_sensor_interface/msg/DistanceSensor.msg
#==距離センサ==
std_msgs/Header header # Timestamp
float32 distance # Distance to obstacle [m]
uint8 confidence # Signal reliability (0-100)
float32 hfov # Horizontal detectable angle [deg]
float32 vfov # Vertical detectable angle [deg]
float32 max_dist # Maximum detectable distance [m]
float32 min_dist # Minimum detectable distance [m]
float32[] mount_xyz # Mounting location [m]
float32[] mount_ypr # Mounting orientation [deg]
triorb_sensor_interface/action
triorb_sensor_interface/action/CameraCalibrationInternal.action
# ==[Action] カメラ内部パラメーターキャリブレーションの実行==
# 参考：https://developer.mamezou-tech.com/robotics/vision/calibration-pattern/#asymmetry-circlegrid
# 参考：https://calib.io/pages/camera-calibration-pattern-generator
# > Width 280mm, Height 200mm, Rows 11, Cols 16, Spacing 20mm, Diameter 12mm
# --- Goal ---
uint16 rows # Calibration board definition: Rows
uint16 cols # Calibration board definition: Columns
float32 spacing # Calibration board definition: Circle Spacing [mm]
float32 diameter # Calibration board definition: Diameter [mm]
string src # Calibration target (Topic / device path / directory path / movie file path)
---
# --- Result ---
sensor_msgs/CompressedImage image # Calibration result
float32 fx
float32 fy
float32 cx
float32 cy
float32 k1
float32 k2
float32 k3
float32 k4
---
# --- Feedback ---
string progress
sensor_msgs/CompressedImage image # Image on the way
triorb_sensor_interface/srv
triorb_sensor_interface/srv/CameraCapture.srv
#==[Service] カメラキャプチャ指示==
CameraDevice[] request
---
string[] result
triorb_sensor_interface/srv/GetDistanceSensor.srv
#==[Service] 距離センサ一覧の取得==
std_msgs/Empty request
---
string[] topic # List of topic name
string[] state # List of sensor state ( sleep | wakeup | awake )
triorb_sensor_interface/srv/SetDistanceSensor.srv
#==[Service] 距離センサの設定指示==
string[] topic # List of topic name
string[] state # List of sensor state ( sleep | wakeup | awake )
---
string[] result
triorb_sensor_interface/srv/CameraDevice.srv
#==[Service] カメラキャプチャ一覧の取得==
std_msgs/Empty request
---
CameraDevice[] result
triorb_slam_interface
triorb_slam_interface/msg
triorb_slam_interface/msg/UInt32MultiArrayStamped.msg
#==uint32 array（Header付）==
std_msgs/Header header # header
uint32[] data # data array
triorb_slam_interface/msg/XyArrayStamped.msg
#==（u16）X arrayと（u16）Y arrayの混合（Header付）==
std_msgs/Header header # header
uint16[] x # x array
uint16[] y # y array
triorb_slam_interface/msg/SlamStatus.msg
#==SLAMの実行状況==
string map_name # map name
uint8 state # mapping now, fix map... etc
uint8 error # not working, map load failed... etc
#---slam operation status (bit flag)---
# 0b00000001: mapping mode(0), fix map(1)
# 0b00000010: lost(0), localize(1)
# 0b00000100: processing save map
# 0b00001000: processing load map
#---error state (bit flag)---
# 0b00000001: slam is not working
# 0b00000010: Never detected a known landmark
# 0b00000100: save map failed
# 0b00001000: load map failed (cannot find map)
triorb_slam_interface/msg/PointArrayStamped.msg
#==point array（Header付）==
std_msgs/Header header # header
geometry_msgs/Point[] points # points array
triorb_slam_interface/msg/Keyframe.msg
#==Keyframe ID（header付きのint32データ）==
std_msgs/Header header # header
int32 id # keyframe id
triorb_slam_interface/msg/CamerasLandmarkInfo.msg
#==各カメラの特徴点情報==
std_msgs/Header header # header
PointArrayStamped[] camera # points array per camera
triorb_slam_interface/msg/KeyframeArray.msg
#==Keyframeリスト==
std_msgs/Header header # header
Keyframe[] keyframes # keyframes
triorb_slam_interface/msg/PoseDevStamped.msg
#==姿勢情報（有効フラグ付き）==
std_msgs/Header header # header
geometry_msgs/Pose pose # pose array
bool valid # valid
triorb_slam_interface/msg/CamerasPose.msg
#==各カメラの姿勢情報==
std_msgs/Header header # header
PoseDevStamped[] camera # pose info
triorb_field_interface
triorb_field_interface/msg
triorb_field_interface/msg/Dummy.msg
uint8 dummy
triorb_project_interface
triorb_project_interface/msg
triorb_project_interface/msg/Dummy.msg
uint8 dummy
triorb_drive_interface
triorb_drive_interface/msg
triorb_drive_interface/msg/MotorParams.msg
#==モーター制御パラメーター==
bool lpf # Use LPF for driving command filter (False: moving average)
uint8 filter_t # Command filter time constant (0-200)[ms]
uint8 pos_p_gain # Position loop gain (1-50)[Hz]
uint16 speed_p_gain # speed loop gain (1-500) [Hz]
uint16 speed_i_gain # speed loop integral time constant (1-10000) [0.01ms]
uint16 torque_filter # torque filter (0-4700) [Hz]
uint8 speed_ff # speed feed-forward (0-100) [%]
uint8 stiffness # machine stiffness selection (0-15)
triorb_drive_interface/msg/RobotParams.msg
#==ロボット固有の移動パラメータ情報==
std_msgs/Header header # Header
TriorbVel3 vel_max # 最大速度
TriorbVel3 vel_min # 最小速度
triorb_drive_interface/msg/TriorbRunState.msg
#==自律移動pkgの状態通知トピック==
TriorbPos3 goal_pos # Latest goal position
uint8 state # Navigate state
float32 cap_vxy # Capability of velocity xy [m/s]
float32 cap_vw # Capability of velocity w [rad/s]
#---state values---
# 0: stand by ( No topic subscribed or subscribe /drive/stop )
# 1: navigating now
# 2: pause ( Subscribe /drive/pause )
# 3: success ( Success navigation. )
# 4: failed ( Failed navigation. Mostly lost. )
# 5: leave goal ( Success navigation. But, leave from goal_pos. )
triorb_drive_interface/msg/TriorbSpeed.msg
#==加減速時間・速度の設定==
uint32 acc # Acceleration time [ms]
uint32 dec # Deceleration time [ms]
float32 xy # Translation velocity [m/s]
float32 w # Rotation speed [rad/s]
triorb_drive_interface/msg/MotorStatus.msg
#==モーターステータス==
std_msgs/Header header # Timestamp
uint16 last_error_value # Last motor alert flag
uint8 last_error_motor # Motor ID of the last alert
float32 voltage # Mains voltage observed by the motor driver
uint16 state # Operating state of each motor (bit flag)
float32 power # Power consumption of each motor (W)
#---Operating state of each motor (bit flag)---
# 0x8000: Remote control Y button
# 0x4000: Remote control B button
# 0x2000: Remote control A button
# 0x1000: Remote control X button
# 0x0800: Rotating
# 0x0400: Position control complete
# 0x0200: Excitation in progress
# 0x0100: Motor status acquired successfully
triorb_drive_interface/msg/TriorbRunVel3Stamped.msg
#==速度指示による移動==
std_msgs/Header header # Header
TriorbSpeed speed # Configure of moving
TriorbVel3 velocity # Target velocities
triorb_drive_interface/msg/Route.msg
#==自律移動経路==
uint32 id # ID
string name # Name
TriorbPos3[] waypoint # Waypoints
triorb_drive_interface/msg/TriorbAlignPos3.msg
uint16[] marker_id # 位置合わせ原点とするマーカーのID
float32[] marker_size # マーカーのサイズ
TriorbPos3[] position # 原点に対する相対位置決め位置姿勢
TriorbSpeed speed # 移動速度
TriorbRunSetting setting # 走行設定
triorb_drive_interface/msg/TriorbSetPos3.msg
#==目標位置・姿勢指示による移動==
TriorbRunPos3 pos # Goal position
TriorbRunSetting setting # Configure of navigation
triorb_drive_interface/msg/TriorbPos3.msg
#==平面内の位置・姿勢==
float32 x # [m]
float32 y # [m]
float32 deg # [deg]
triorb_drive_interface/msg/TriorbRunResultStamped.msg
#==自律移動結果==
std_msgs/Header header # Header
bool success # Moving result (true: Compleat, false: Feild)
uint8 info # Moving result info ( substitution NAVIGATE_RESULT )
TriorbPos3 position # Last robot position
triorb_drive_interface/msg/TriorbRunResult.msg
#==自律移動結果==
bool success # Moving result (true: Compleat, false: Feild)
uint8 info # Moving result info ( substitution NAVIGATE_RESULT )
TriorbPos3 position # Last robot position
triorb_drive_interface/msg/PathSetting.msg
#==障害物マップを利用した経路生成(when param=0, default value is used)==
TriorbPos3 start # start position -> 現在位置を取得すればよい？
TriorbPos3 goal # Goal position
float32 robot_w # robot width ( luggage width ) (default=0.5)
float32 robot_h # robot height ( luggage height ) (default=0.5)
uint8 down_sample_rate # image reduction size (default=1)
float32 xy_reso # m/px in obstacle map (default=0.01)
float32 theta_reso # minimum rotation [deg] (default=360/64)
float32 lam # param (default=1.0)
float32 r # param (default=1.0/6.5)
float32 epsilon # param (default=0.05)
triorb_drive_interface/msg/TriorbRunPos3.msg
#==相対位置・姿勢指示による移動==
TriorbSpeed speed # Configure of moving
TriorbPos3 position # Target position
triorb_drive_interface/msg/TriorbRunVel3.msg
#==速度指示による移動==
TriorbSpeed speed # Configure of moving
TriorbVel3 velocity # Target velocities
triorb_drive_interface/msg/TriorbVel3.msg
#==平面内の移動速度設定==
float32 vx # Velocity vector along X axis [m/s]
float32 vy # Velocity vector along Y axis [m/s]
float32 vw # Rotation velocity vector around the Z axis [rad/s]
triorb_drive_interface/msg/TriorbRunSetting.msg
#==自律移動の位置決め設定==
float32 tx # Target error in X-axis direction [±m]
float32 ty # Target error in Y-axis direction [±m].
float32 tr # Target error in rotation [±deg].
uint8 force # Target force level
uint8 gain_no # Number of gain type (not set:0, basic:1)
uint32 timeout_ms # Timeout (in ms) for the operation to complete (set:0, disable)
uint8[] disable_camera_idx # Camera Index to be excluded from robot pose estimation
triorb_drive_interface/msg/TriorbPos3Stamped.msg
#==平面内の位置・姿勢==
std_msgs/Header header # Header
float32 x # [m]
float32 y # [m]
float32 deg # [deg]
triorb_drive_interface/msg/DriveGains.msg
#==自律移動のゲインパラメーター==
float32 xy_p # translation P gain
float32 xy_i # translation I gain (0 recommended)
float32 xy_d # translation D gain
float32 w_p # rotation P gain
float32 w_i # rotation I gain (0 recommended)
float32 w_d # rotation D gain
triorb_drive_interface/msg/TriorbSetPath.msg
TriorbSetPos3[] path
triorb_drive_interface/action
triorb_drive_interface/action/TriorbSetPath.action
#==[Action] Waypointリストを入力、途中経過を通知、完了ステータスを返却===
TriorbSetPos3[] path # List of waypoints and movement control values for each waypoint
---
TriorbRunResult result # Result of completion of movement to final destination
---
uint32 way_idx # Index of waypoint currently moving
TriorbPos3 now # Current robot position
triorb_drive_interface/srv
triorb_drive_interface/srv/GetRoute.srv
#==[Service] 現在の自律移動経路を取得==
std_msgs/Empty request
---
Route[] result
triorb_drive_interface/srv/MotorParams.srv
#==[Service] モーターパラメーターを取得==
std_msgs/Empty request
---
MotorParams result
triorb_drive_interface/srv/TriorbRunPos3.srv
#==[Service] 相対位置・姿勢指示による移動と結果の取得==
TriorbRunPos3 request
---
std_msgs/Header header
uint8 result
triorb_drive_interface/srv/TriorbGetVel3.srv
#==[Service] 速度の取得==
std_msgs/Empty request
---
TriorbVel3 vel
triorb_drive_interface/srv/TriorbRunVel3.srv
#==[Service] 速度指示による移動と結果の取得==
TriorbRunVel3 request
---
std_msgs/Header header
uint8 result
triorb_drive_interface/srv/TriorbSetPos3.srv
#==[Service] 目標位置・姿勢指示による移動と結果の取得==
TriorbSetPos3 pos
---
TriorbRunResult result
triorb_drive_interface/srv/MotorStatus.srv
#==[Service] モーターステータスを取得==
std_msgs/Empty request
---
MotorStatus result
triorb_drive_interface/srv/GetPath.srv
#==[Service] 経由点及び経路生成設定を入力、生成された経由点を取得==
TriorbPos3[] waypoint
uint8 dilation_k_size
uint8 gauss_k_size
float32 sigma
---
TriorbPos3[] result
triorb_static_interface
triorb_static_interface/msg
triorb_static_interface/msg/SettingROS.msg
#==ROS2環境==
bool ros_localhost_only # ROS_LOCALHOST_ONLY
uint16 ros_domain_id # ROS_DOMAIN_ID
string ros_prefix # ROS_PREFIX
triorb_static_interface/msg/SettingSSID.msg
#==無線LAN設定==
string ssid # Wi-Fi SSID name
string passphrase # Wi-Fi passphrase
string security # Wi-Fi security type
uint8 signal # Signal strength (0-100)
triorb_static_interface/msg/RobotStatus.msg
#==ロボットの状態==
std_msgs/Header header # timestamp
float32 voltage # main power supply voltage
uint16 btns # Remote control operation status (bit flag)
uint16 state # Robot operation state (bit flag)
uint16 error # Error status of the robot (bit flag)
float32 battery # Battery level (0.0 - 1.0)
#---Remote control operation status (bit flag)---
# 0x8000: Remote control Y button
# 0x4000: Remote control B button
# 0x2000: Remote control A button
# 0x1000: Remote control X button
#---Robot operation state (bit flag)---
# 0x8000: Motor is being excited
# 0x4000: Accepting move instruction (not implemented)
# 0x2000: Moving
# 0x1000: Self-position recognition in progress
# 0x0800: Generating map (not implemented)
# 0x0400: During anti-collision control (option)
# 0x0200: Position control move completed
# 0x0100: Stopped due to anti-collision control (option)
# 0x0010: Emergency stop is working
# 0x0001: Status obtained successfully
#---Error status of the robot (bit flag)---
# 0x8000: Motor connection error
# 0x4000: IMU and distance sensor connection error
# 0x2000: Camera connection error
# 0x1000: Main power supply voltage abnormal
# 0x0001: Control ECU connection error
triorb_static_interface/msg/NodeInfo.msg
#==ROS2ノードの状態==
string name # Node name
string state # Node state ( sleep | wakeup | awake )
triorb_static_interface/msg/ClockSync.msg
#==時計同期のためのメッセージ==
std_msgs/Header header1 # Header 1
std_msgs/Header header2 # Header 2
triorb_static_interface/msg/StringList.msg
string[] strings
triorb_static_interface/msg/SettingIPv4.msg
#==TCP/IPv4==
string device # device name
string method # device mode: auto | manual | shared | disabled
uint8[] adress # IP adress
uint8 mask # Subnet mask
uint8[] gateway # Default gateway adress
uint8[] mac # Hardware adress
triorb_static_interface/msg/HostStatus.msg
#==ホストコンピューターのモニター==
std_msgs/Header header # Timestamp
float32 memory_percent # Memory usage
float32 cpu_percent # CPU usage
float32 host_temperature # Temperature of the host computer
string wlan_ssid # SSID of the access point
uint8 wlan_signal # Signal strength of the access point
uint32 wlan_freq # Communication speed of the access point
float32 ping # Ping speed to the default gateway
uint8[] gateway # Address of the default gateway
triorb_static_interface/msg/RobotError.msg
std_msgs/Header header # Timestamp
uint8 error # error code
triorb_static_interface/srv
triorb_static_interface/srv/GetImage.srv
#==[Service] 画像の取得==
std_msgs/Empty request
---
sensor_msgs/Image image
triorb_static_interface/srv/SettingSSID.srv
#==[Service] 無線LAN設定の取得==
std_msgs/Empty request
---
SettingSSID[] result
triorb_static_interface/srv/NodeInfo.srv
#==[Service] ROS2ノード情報の取得==
std_msgs/Empty request
---
NodeInfo[] result
triorb_static_interface/srv/GetString.srv
#==[Service] 文字列の取得==
std_msgs/Empty request
---
string result
triorb_static_interface/srv/SettingIPv4.srv
#==[Service] TCP/IPv4設定の取得==
std_msgs/Empty request
---
SettingIPv4[] result
triorb_static_interface/srv/SettingROS.srv
#==[Service] ROS2環境設定の取得==
std_msgs/Empty request
---
SettingROS result
triorb_static_interface/srv/ErrorList.srv
#==[Service] エラー一覧の取得==
std_msgs/Empty request
---
RobotError[] errors
triorb_static_interface/srv/GetStringList.srv
#==[Service] 文字列リストの取得==
std_msgs/Empty request
---
string[] result
triorb_static_interface/srv/SetString.srv
#==[Service] 文字列の入力==
string[] request
---
string result
triorb_static_interface/srv/SetImage.srv
#==[Service] 画像の入力==
sensor_msgs/Image image
---
string result
triorb_collaboration_interface
triorb_collaboration_interface/msg
triorb_collaboration_interface/msg/ParentBind.msg
# ==[協調搬送] 仮想（荷物など）原点に対するロボットの相対姿勢==
std_msgs/Header header # Header
string parent # Parent name
string you # Your name or ip
float32 x # Relative position of the parent from you [m]
float32 y # Relative position of the parent from you [m]
float32 deg # Relative position of the parent from you [deg]
triorb_collaboration_interface/msg/GroupCreate.msg
# ==[協調搬送] グループ構築情報==
std_msgs/Header header # Header
string master # Master
triorb_collaboration_interface/ParentBind[] robots # Robot informations