Perseus V2 documentation
Perseus-Lite Operation
Initializing search
Perseus V2
Perseus V2 documentation
Perseus V2
Home
Getting Started
Nix Basics
Perseus-
Lite Operation
Perseus-
Lite Operation
Quick Start
Basic Operation
Perseus-
Lite Operation
Perseus-
Lite Operation
Table of contents
Quick Start
Basic Operation
Perseus Operation
Perseus Operation
Arm Teleoperation
Autonomy
Excavation
Powering on Perseus
Perseus Teleoperation
Web-
UI
Systems
Systems
Hardware Systems
Hardware Systems
Perseus Assembly
I2C IMU
Network
Software
Software
CMake Build Infrastructure
Core
Network Configuration
Nix outputs
Scripts
Web-
UI
CAN Bus
CI/CD
Documentation
Nix
ST3215 Servo Protocol Documentation
Standards
Standards
Electronics Design Guidelines
Git
Hub Standards
Hardware Design Guidelines
Software Standards
Software Standards
C++ Standards
Python Standards
JS/TS Standards
Framework Specific Standards
General Software Standards
Development
Development
Documentation
Environment
Environment
Git
Hub
Nix
Hardware
Hardware
Chassis
Software
Software
Ar
Uco Detector Node
(aruco_
detector)
Local Localisation
Robot Description
Templates
Web UI
Maintenance
Maintenance
Documentation
Git
Hub Repository Maintenance
Nix Build System
Software
Hardware
Hardware
Board Name Abbreviations
Board Name Abbreviations
CAN Bus Daisy Chain PCB
Rover Control Board
Smol Brain Board
VESCs
Challenge Breakdowns
Challenge Breakdowns
Autonomy and Mapping Operations Manual
Excavation & Construction
Post-
Landing
Space Resources Task Points Summary
Tutorials
Tutorials
Hi-
CAN Tutorials
Hi-
CAN Tutorials
Setup
Setup
Basic Hi-
CAN Usage
Using the Packet
Manager
RPLidar C1 Connection Testing
Running the Gazebo Simulation
Visualise Perseus-
Lite in RViz
Widget Tutorial
Generated Documentation
Generated Documentation
Full API
Full API
Namespaces
Namespaces
Namespace @142147210374006135100366166122220100363051267113
Namespace boost::
asio
Namespace bsp
Namespace hardware_
interface
Namespace hi_
can
Namespace hi_
can::
addressing
Namespace hi_
can::
addressing::
compute
Namespace hi_
can::
addressing::
compute::
primary
Namespace hi_
can::
addressing::
drive
Namespace hi_
can::
addressing::
drive::
vesc
Namespace hi_
can::
addressing::
excavation
Namespace hi_
can::
addressing::
excavation::
bucket
Namespace hi_
can::
addressing::
excavation::
bucket::
controller
Namespace hi_
can::
addressing::
legacy
Namespace hi_
can::
addressing::
legacy::
drive
Namespace hi_
can::
addressing::
legacy::
drive::
motors
Namespace hi_
can::
addressing::
legacy::
drive::
motors::
esc
Namespace hi_
can::
addressing::
legacy::
drive::
motors::
mcb
Namespace hi_
can::
addressing::
legacy::
excavation
Namespace hi_
can::
addressing::
legacy::
excavation::
bucket
Namespace hi_
can::
addressing::
legacy::
excavation::
bucket::
bucket
Namespace hi_
can::
addressing::
legacy::
excavation::
bucket::
bucket::
manipulation
Namespace hi_
can::
addressing::
legacy::
excavation::
bucket::
bucket::
motors
Namespace hi_
can::
addressing::
legacy::
power
Namespace hi_
can::
addressing::
legacy::
power::
control
Namespace hi_
can::
addressing::
legacy::
power::
control::
contactor
Namespace hi_
can::
addressing::
legacy::
power::
control::
power_
bus
Namespace hi_
can::
addressing::
legacy::
power::
control::
rcb
Namespace hi_
can::
addressing::
post_
landing
Namespace hi_
can::
addressing::
power
Namespace hi_
can::
addressing::
power::
battery
Namespace hi_
can::
addressing::
power::
distribution
Namespace hi_
can::
addressing::
shared
Namespace hi_
can::
addressing::
shared::
elevator
Namespace hi_
can::
addressing::
shared::
elevator::
elevator
Namespace hi_
can::
addressing::
shared::
elevator::
elevator::
motor
Namespace hi_
can::
addressing::
space_
resources
Namespace hi_
can::
addressing::
status
Namespace hi_
can::
parameters
Namespace hi_
can::
parameters::
drive
Namespace hi_
can::
parameters::
drive::
vesc
Namespace hi_
can::
parameters::
excavation
Namespace hi_
can::
parameters::
excavation::
bucket
Namespace hi_
can::
parameters::
excavation::
bucket::
controller
Namespace hi_
can::
parameters::
legacy
Namespace hi_
can::
parameters::
legacy::
drive
Namespace hi_
can::
parameters::
legacy::
drive::
motors
Namespace hi_
can::
parameters::
legacy::
excavation
Namespace hi_
can::
parameters::
legacy::
excavation::
bucket
Namespace hi_
can::
parameters::
legacy::
power
Namespace hi_
can::
parameters::
legacy::
power::
control
Namespace hi_
can::
parameters::
legacy::
power::
control::
contactor
Namespace hi_
can::
parameters::
legacy::
power::
control::
power_
bus
Namespace hi_
can::
parameters::
power
Namespace hi_
can::
parameters::
power::
bms
Namespace hi_
can::
parameters::
power::
distribution
Namespace hi_
can::
parameters::
shared
Namespace hi_
can::
parameters::
shared::
elevator
Namespace hi_
can::
parameters::
shared::
elevator::
elevator
Namespace hi_
can::
parameters::
shared::
elevator::
elevator::
motor
Namespace i2c_
imu_
driver
Namespace i2c_
imu_
driver::
@174157226133370074226375240327124360033214005166
Namespace imu_
processors
Namespace networking
Namespace perseus
Namespace perseus::
servo
Namespace perseus::
servo::
communication
Namespace perseus::
servo::
error_
bits
Namespace perseus::
servo::
instruction
Namespace perseus::
servo::
limits
Namespace perseus::
servo::
protocol
Namespace perseus::
servo::
register_
addr
Namespace perseus::
servo::
timing
Namespace perseus::
servo::
ui
Namespace perseus_
lite_
hardware
Namespace perseus_
lite_
hardware::
@142147210374006135100366166122220100363051267113
Namespace perseus_
vision
Namespace perseus_
vision::
@236176170244200344370254035322071212240333323135
Namespace perseus_
vision::
@326035123243263144370256373045115053356163367302
Namespace pointcloud_
to_
laserscan
Namespace rclcpp
Namespace std
Namespace std::
chrono
Namespace std::
chrono_
literals
Classes and Structs
Classes and Structs
Struct address_
t
Struct filter_
t
Struct flagged_
address_
t
Struct address_
t
Struct standard_
address_
t
Struct structured_
address_
t
Struct Packet
Manager::
callback_
config_
t
Struct Packet
Manager::
callback_
data_
t
Struct Packet
Manager::
transmission_
config_
t
Struct Packet
Manager::
transmission_
data_
t
Struct raw_
status_
1_
t
Struct raw_
status_
2_
t
Struct raw_
status_
3_
t
Struct raw_
status_
4_
t
Struct raw_
status_
5_
t
Struct raw_
status_
6_
t
Struct set_
brake_
t
Struct set_
current_
brake_
rel_
t
Struct set_
current_
handbrake_
rel_
t
Struct set_
current_
handbrake_
t
Struct set_
current_
rel_
t
Struct set_
current_
t
Struct set_
duty_
t
Struct set_
pos_
t
Struct set_
rpm_
t
Struct status_
1_
t
Struct status_
2_
t
Struct status_
3_
t
Struct status_
4_
t
Struct status_
5_
t
Struct status_
6_
t
Struct _
limits_
t
Struct _
speed_
t
Struct _
status_
t
Struct _
motor_
speed_
t
Struct _
control_
t
Struct _
immediate_
control_
t
Struct _
scheduled_
control_
t
Struct _
status_
t
Struct pack_
status
Struct bus_
status_
t
Template Struct scaled_
int16_
t
Template Struct scaled_
int32_
t
Struct speed_
t
Template Struct wrapped_
value_
t
Struct Imu
Data
Struct Imu
Device
Config
Struct M2M2Lidar::
sensor_
config_
t
Struct address_
t
Struct socket_
config_
handlers_
t
Struct ST3215System
Hardware::
Servo
State
Struct Detection
Class Arm
Driver
Class Bucket
Controller
Class Bucket
Driver
Class Cmd
Vel
To
Odom
Node
Class Fd
Wrapper
Class Generic
Controller
Class Generic
Controller::
Axis
Parser
Class Generic
Controller::
Enable
Parser
Class Can
Interface
Class Filtered
Can
Interface
Class Network
Client
Class Network
Server
Class Packet
Class Packet
Manager
Class Bidirectional
Serializable
Class Deserializable
Class Vesc
Parameter
Group
Class Esc
Parameter
Group
Class Power
Bus
Parameter
Group
Class Parameter
Group
Class Serializable
Template Class Simple
Serializable
Class Raw
Can
Interface
Class Software
Filtered
Can
Interface
Class Twai
Interface
Class I2c
Device
Class I2c
Imu
Node
Class Imu
Device
Registry
Class Bias
Estimator
Class Bias
Remover
Class M2M2Lidar
Class Map
Saver
Class Nav2Waypoints
Bridge
Class Client
Class ST3215System
Hardware
Class Aruco
Detector
Class Cube
Detector
Class Laser
Scan
To
Point
Cloud
Node
Class Point
Cloud
To
Laser
Scan
Node
Template Class Ptr
Wrapper
Class Rcb
Driver
Class Sim
Pointcloud
Filter
Class ST3215Servo
Reader
Class string
Class string::
const_
iterator
Class string::
const_
reverse_
iterator
Class string::
iterator
Class string::
reverse_
iterator
Class Template
Node
Class Topic
Remapper
Template Class vector
Class vector::
const_
iterator
Class vector::
const_
reverse_
iterator
Class vector::
iterator
Class vector::
reverse_
iterator
Enums
Enums
Enum device
Enum command_
id
Enum device
Enum actuator_
parameter
Enum bank_
parameter
Enum group
Enum magnet_
parameter
Enum device
Enum parameter
Enum groups
Enum parameter
Enum parameter
Enum device
Enum parameter
Enum device
Enum parameter
Enum groups
Enum device
Enum device
Enum parameter
Enum parameter
Enum motor_
direction
Enum power_
status
Enum socket_
protocol
Enum Servo
Command
Enum Servo
Eprom
Register
Enum Servo
Error
Flag
Enum Servo
Sram
Register
Functions
Functions
Function checksum
Function compute_
mandelbrot
Function crc16
Function crc16_
ccitt
Function crc16_
modbus
Function crc16_
usb
Function crc16_
xmodem
Function crc32
Function crc32_
bzip2
Function crc32_
C
Function crc32_
mpeg2
Function crc32_
sata
Function crc8
Function crc8_
maxim
Function crc8_
sht75
Function demangle
Function get_
time_
ms
(struct timeval *, struct timeval *)
Function get_
time_
ms
(struct timeval *, struct timeval *)
Function i2c_
imu_
driver::
apply_
calibration
Function imu_
processors::
abslt
Function imu_
processors::
ewma
Function init_
matrix
Function iter_
to_
char
Function iter_
to_
color
Function mandelbrot
Function matrix_
multiply
Function networking::
get_
string_
from_
protocol
Function print_
usage
(const char *)
Function print_
usage
(const char *)
Function render_
line
Function swap
Function yaw_
to_
quat
Variables
Variables
Variable bsp::
A1
Variable bsp::
A10
Variable bsp::
A2
Variable bsp::
A3
Variable bsp::
A4
Variable bsp::
A5
Variable bsp::
A6
Variable bsp::
A7
Variable bsp::
A8
Variable bsp::
A9
Variable bsp::
CAN_
RX_
PIN
Variable bsp::
CAN_
TX_
PIN
Variable bsp::
I2C_
SCL
Variable bsp::
I2C_
SDA
Variable CHARS
Variable hi_
can::
addressing::
ADDRESS_
LENGTH
Variable hi_
can::
addressing::
compute::
primary::
SUBSYSTEM_
ID
Variable hi_
can::
addressing::
compute::
SYSTEM_
ID
Variable hi_
can::
addressing::
DEVICE_
ADDRESS_
BITS
Variable hi_
can::
addressing::
DEVICE_
ADDRESS_
POS
Variable hi_
can::
addressing::
DEVICE_
MASK
Variable hi_
can::
addressing::
drive::
SYSTEM_
ID
Variable hi_
can::
addressing::
drive::
vesc::
SUBSYSTEM_
ID
Variable hi_
can::
addressing::
excavation::
bucket::
controller::
DEVICE_
ID
Variable hi_
can::
addressing::
excavation::
bucket::
SUBSYSTEM_
ID
Variable hi_
can::
addressing::
excavation::
SYSTEM_
ID
Variable hi_
can::
addressing::
GROUP_
ADDRESS_
BITS
Variable hi_
can::
addressing::
GROUP_
ADDRESS_
POS
Variable hi_
can::
addressing::
GROUP_
MASK
Variable hi_
can::
addressing::
legacy::
drive::
motors::
esc::
esc
Variable hi_
can::
addressing::
legacy::
drive::
motors::
SUBSYSTEM_
ID
Variable hi_
can::
addressing::
legacy::
drive::
SYSTEM_
ID
Variable hi_
can::
addressing::
legacy::
excavation::
bucket::
bucket::
manipulation::
GROUP_
ID
Variable hi_
can::
addressing::
legacy::
excavation::
bucket::
bucket::
motors::
GROUP_
ID
Variable hi_
can::
addressing::
legacy::
excavation::
bucket::
SUBSYSTEM_
ID
Variable hi_
can::
addressing::
legacy::
excavation::
SYSTEM_
ID
Variable hi_
can::
addressing::
legacy::
power::
control::
SUBSYSTEM_
ID
Variable hi_
can::
addressing::
legacy::
power::
SYSTEM_
ID
Variable hi_
can::
addressing::
MASK_
ALL
Variable hi_
can::
addressing::
MASK_
NONE
Variable hi_
can::
addressing::
MAX_
ADDRESS
Variable hi_
can::
addressing::
MAX_
PACKET_
LEN
Variable hi_
can::
addressing::
MAX_
SHORT_
ADDRESS
Variable hi_
can::
addressing::
PARAM_
ADDRESS_
BITS
Variable hi_
can::
addressing::
PARAM_
ADDRESS_
POS
Variable hi_
can::
addressing::
PARAM_
MASK
Variable hi_
can::
addressing::
post_
landing::
SYSTEM_
ID
Variable hi_
can::
addressing::
power::
battery::
SUBSYSTEM_
ID
Variable hi_
can::
addressing::
power::
distribution::
SUBSYSTEM_
ID
Variable hi_
can::
addressing::
power::
SYSTEM_
ID
Variable hi_
can::
addressing::
shared::
elevator::
elevator::
DEVICE_
ADDRESS
Variable hi_
can::
addressing::
shared::
elevator::
elevator::
DEVICE_
ID
Variable hi_
can::
addressing::
shared::
elevator::
elevator::
motor::
GROUP_
ID
Variable hi_
can::
addressing::
shared::
elevator::
SUBSYSTEM_
ID
Variable hi_
can::
addressing::
shared::
SYSTEM_
ID
Variable hi_
can::
addressing::
space_
resources::
SYSTEM_
ID
Variable hi_
can::
addressing::
status::
GROUP_
ID
Variable hi_
can::
addressing::
SUBSYSTEM_
ADDRESS_
BITS
Variable hi_
can::
addressing::
SUBSYSTEM_
ADDRESS_
POS
Variable hi_
can::
addressing::
SUBSYSTEM_
MASK
Variable hi_
can::
addressing::
SYSTEM_
ADDRESS_
BITS
Variable hi_
can::
addressing::
SYSTEM_
ADDRESS_
POS
Variable hi_
can::
addressing::
SYSTEM_
MASK
Variable i2c_
imu_
driver::
LSM6DS3_
ACCEL_
SCALE_
FACTOR
Variable i2c_
imu_
driver::
LSM6DS3_
GYRO_
SCALE_
FACTOR
Variable i2c_
imu_
driver::
LSM6DS3_
TEMP_
OFFSET
Variable i2c_
imu_
driver::
LSM6DS3_
TEMP_
SCALE_
FACTOR
Variable i2c_
imu_
driver::
LSM6DSOX_
ACCEL_
SCALE_
FACTOR
Variable i2c_
imu_
driver::
LSM6DSOX_
GYRO_
SCALE_
FACTOR
Variable i2c_
imu_
driver::
LSM6DSOX_
TEMP_
OFFSET
Variable i2c_
imu_
driver::
LSM6DSOX_
TEMP_
SCALE_
FACTOR
Variable i2c_
imu_
driver::
MPU_
ACCEL_
SCALE_
FACTOR
Variable i2c_
imu_
driver::
MPU_
GYRO_
SCALE_
FACTOR
Variable i2c_
imu_
driver::
MPU_
TEMP_
OFFSET
Variable i2c_
imu_
driver::
MPU_
TEMP_
SCALE_
FACTOR
Variable perseus::
servo::
communication::
DEFAULT_
ACCELERATION
Variable perseus::
servo::
communication::
DEFAULT_
BAUD_
RATE
Variable perseus::
servo::
communication::
MAX_
RETRIES
Variable perseus::
servo::
error_
bits::
ANGLE_
LIMIT
Variable perseus::
servo::
error_
bits::
CHECKSUM
Variable perseus::
servo::
error_
bits::
INPUT_
VOLTAGE
Variable perseus::
servo::
error_
bits::
INSTRUCTION
Variable perseus::
servo::
error_
bits::
OVERHEATING
Variable perseus::
servo::
error_
bits::
OVERLOAD
Variable perseus::
servo::
error_
bits::
RANGE
Variable perseus::
servo::
instruction::
ACTION
Variable perseus::
servo::
instruction::
PING
Variable perseus::
servo::
instruction::
READ
Variable perseus::
servo::
instruction::
REG_
WRITE
Variable perseus::
servo::
instruction::
SYNC_
WRITE
Variable perseus::
servo::
instruction::
WRITE
Variable perseus::
servo::
limits::
MAX_
POSITION
Variable perseus::
servo::
limits::
MAX_
TORQUE
Variable perseus::
servo::
limits::
MIN_
POSITION
Variable perseus::
servo::
limits::
MIN_
TORQUE
Variable perseus::
servo::
limits::
TORQUE_
SAFETY_
THRESHOLD
Variable perseus::
servo::
protocol::
BROADCAST_
ID
Variable perseus::
servo::
protocol::
HEADER1
Variable perseus::
servo::
protocol::
HEADER2
Variable perseus::
servo::
register_
addr::
ACCELERATION
Variable perseus::
servo::
register_
addr::
BAUD_
RATE
Variable perseus::
servo::
register_
addr::
CCW_
DEAD_
BAND
Variable perseus::
servo::
register_
addr::
CW_
DEAD_
BAND
Variable perseus::
servo::
register_
addr::
FIRMWARE_
MAIN_
VERSION
Variable perseus::
servo::
register_
addr::
FIRMWARE_
SUB_
VERSION
Variable perseus::
servo::
register_
addr::
GOAL_
POSITION
Variable perseus::
servo::
register_
addr::
GOAL_
SPEED
Variable perseus::
servo::
register_
addr::
ID
Variable perseus::
servo::
register_
addr::
LOCK
Variable perseus::
servo::
register_
addr::
MAX_
INPUT_
VOLTAGE
Variable perseus::
servo::
register_
addr::
MAX_
POSITION_
LIMIT
Variable perseus::
servo::
register_
addr::
MAX_
TEMPERATURE_
LIMIT
Variable perseus::
servo::
register_
addr::
MAX_
TORQUE_
LIMIT
Variable perseus::
servo::
register_
addr::
MIN_
INPUT_
VOLTAGE
Variable perseus::
servo::
register_
addr::
MIN_
POSITION_
LIMIT
Variable perseus::
servo::
register_
addr::
MOVING_
STATUS
Variable perseus::
servo::
register_
addr::
OPERATING_
MODE
Variable perseus::
servo::
register_
addr::
POSITION_
OFFSET
Variable perseus::
servo::
register_
addr::
PRESENT_
CURRENT
Variable perseus::
servo::
register_
addr::
PRESENT_
LOAD
Variable perseus::
servo::
register_
addr::
PRESENT_
POSITION
Variable perseus::
servo::
register_
addr::
PRESENT_
SPEED
Variable perseus::
servo::
register_
addr::
PRESENT_
TEMPERATURE
Variable perseus::
servo::
register_
addr::
PRESENT_
VOLTAGE
Variable perseus::
servo::
register_
addr::
RETURN_
DELAY_
TIME
Variable perseus::
servo::
register_
addr::
RUNNING_
TIME
Variable perseus::
servo::
register_
addr::
SERVO_
MAIN_
VERSION
Variable perseus::
servo::
register_
addr::
SERVO_
SUB_
VERSION
Variable perseus::
servo::
register_
addr::
STATUS_
RETURN_
LEVEL
Variable perseus::
servo::
register_
addr::
TORQUE_
ENABLE
Variable perseus::
servo::
register_
addr::
TORQUE_
LIMIT
Variable perseus::
servo::
timing::
COMMAND_
INTERVAL
Variable perseus::
servo::
timing::
DEFAULT_
TIMEOUT
Variable perseus::
servo::
timing::
MIN_
RESPONSE_
TIME
Variable perseus::
servo::
timing::
PORT_
SETTLE_
TIME
Variable perseus::
servo::
timing::
RETRY_
DELAY
Variable perseus::
servo::
ui::
MAX_
DISPLAY_
TORQUE
Variable perseus::
servo::
ui::
POSITION_
BAR_
LENGTH
Variable perseus::
servo::
ui::
SERVO_
REFRESH_
DELAY_
MS
Variable perseus::
servo::
ui::
TORQUE_
BAR_
WIDTH
Variable perseus_
vision::
CLASS_
COLOURS
Variable perseus_
vision::
CLASS_
NAMES
Defines
Defines
Define DEFAULT_
HEIGHT
Define DEFAULT_
MAX_
ITER
Define DEFAULT_
SIZE
Define DEFAULT_
WIDTH
Define HI_
CAN_
PARAM_
DECLARE_
SCALED_
INT16_
T
Define HI_
CAN_
PARAM_
DECLARE_
SCALED_
INT32_
T
Define MISSED_
PACKET_
TIMEOUT_
COUNT
Define POINTCLOUD_
TO_
LASERSCAN_
EXPORT
Define POINTCLOUD_
TO_
LASERSCAN_
IMPORT
Define POINTCLOUD_
TO_
LASERSCAN_
LOCAL
Define POINTCLOUD_
TO_
LASERSCAN_
PUBLIC
Define POINTCLOUD_
TO_
LASERSCAN_
PUBLIC_
TYPE
Define X_
MAX
Define X_
MIN
Define Y_
MAX
Define Y_
MIN
Typedefs
Typedefs
Typedef bsp::
pin_
pair_
t
Typedef Goal
Handle
Nav
Typedef hi_
can::
addressing::
mask_
t
Typedef hi_
can::
addressing::
raw_
address_
t
Typedef hi_
can::
packet_
callback_
t
Typedef hi_
can::
parameters::
excavation::
bucket::
controller::
current_
t
Typedef hi_
can::
parameters::
excavation::
bucket::
controller::
magnet_
t
Typedef hi_
can::
parameters::
excavation::
bucket::
controller::
speed_
t
Typedef hi_
can::
parameters::
legacy::
drive::
motors::
limits_
t
Typedef hi_
can::
parameters::
legacy::
drive::
motors::
speed_
t
Typedef hi_
can::
parameters::
legacy::
drive::
motors::
status_
t
Typedef hi_
can::
parameters::
legacy::
excavation::
bucket::
motor_
speed_
t
Typedef hi_
can::
parameters::
legacy::
power::
control::
contactor::
control_
t
Typedef hi_
can::
parameters::
legacy::
power::
control::
power_
bus::
immediate_
control_
t
Typedef hi_
can::
parameters::
legacy::
power::
control::
power_
bus::
scheduled_
control_
t
Typedef hi_
can::
parameters::
legacy::
power::
control::
power_
bus::
status_
t
Typedef Navigate
Through
Poses
Typedef pointcloud_
to_
laserscan::
Message
Filter
Typedef WINDOW
Perseus-Lite Operation
ΒΆ
Back to top