RaptorInput (UORB message)

Raptor Input.

TOPICS: raptor_input

Fields

Name	Type	Unit [Frame]	Range/Enum	Description
timestamp	uint64	us		Time since system start
timestamp_sample	uint64	us		Sampling timestamp of the data this control response is based on
active	bool			Signals if the policy is active (aka publishing actuator_motors)
position	float32[3]	m [FLU]		Position of the vehicle_local_position frame
orientation	float32[4]			Orientation in the vehicle_attitude frame but using the FLU convention as a unit quaternion (w, x, y, z)
linear_velocity	float32[3]	m/s [FLU]		Linear velocity in the vehicle_local_position frame
angular_velocity	float32[3]	rad/s [FLU]		Angular velocity in the body frame
previous_action	float32[4]		[-1 : 1]	Previous action. Motor commands normalized to [-1, 1]

Constants

Name	Type	Value	Description
MESSAGE_VERSION	uint32	0
ACTION_DIM	uint8	4	Policy output dimensionality (for quadrotors)

Source Message

Source file (GitHub)

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# Raptor Input

# The exact inputs to the Raptor foundation policy.
# Having access to the exact inputs helps with debugging and post-hoc analysis.

uint32 MESSAGE_VERSION = 0

uint64 timestamp # [us] Time since system start
uint64 timestamp_sample # [us] Sampling timestamp of the data this control response is based on
bool active # Signals if the policy is active (aka publishing actuator_motors)
float32[3] position # [m] [@frame FLU] Position of the vehicle_local_position frame
float32[4] orientation # [-] Orientation in the vehicle_attitude frame but using the FLU convention as a unit quaternion (w, x, y, z)
float32[3] linear_velocity # [m/s] [@frame FLU] Linear velocity in the vehicle_local_position frame
float32[3] angular_velocity # [rad/s]  [@frame FLU] Angular velocity in the body frame
uint8 ACTION_DIM = 4 # Policy output dimensionality (for quadrotors)
float32[4] previous_action # [@range -1, 1] Previous action. Motor commands normalized to [-1, 1]

# TOPICS raptor_input