---
###### tags: `ROS`
---
# Message
## /AckCompletedStatus.msg

|Type|Variable|Value|
|-|-|-|
| uint8|NOT|0 |
| uint8|OK|1 |
| uint8|BAD_SYNTAX|2 |
| uint8|EXEC_FAILED|3 |
| uint8|CANCELED|4 |

## /AckStatus.msg

|Type|Variable|Value|
|-|-|-|
| uint8|QUEUED|0 |
| uint8|EXECUTING|1 |
| uint8|REQUEUED|2 |
| uint8|COMPLETED|3 |

## /ArmGripperState.msg

|Type|Variable|Value|
|-|-|-|
| uint8|UNKNOWN|0 |
| uint8|UNCALIBRATED|1 |
| uint8|CALIBRATING|2 |
| uint8|CLOSED|3 |
| uint8|OPEN|4 |

## /ArmJointState.msg

|Type|Variable|Value|
|-|-|-|
| uint8|UNKNOWN|0 |
| uint8|STOWED|1 |
| uint8|DEPLOYING|2 |
| uint8|STOPPED|3 |
| uint8|MOVING|4 |
| uint8|STOWING|5 |

## /ArmState.msg

|Type|Variable|Value|
|-|-|-|
| int8|INITIALIZING|0 |
| int8|UNKNOWN|1 |
| int8|STOWED|2 |
| int8|DEPLOYED|3 |
| int8|SETTING|4 |
| int8|PANNING|5 |
| int8|TILTING|6 |
| int8|STOWING_SETTING|7 |
| int8|STOWING_PANNING|8 |
| int8|STOWING_TILTING|9 |
| int8|DEPLOYING_PANNING|10 |
| int8|DEPLOYING_TILTING|11 |
| int8|CALIBRATING|12 |

## /AvailableRobots.msg

|Type|Variable|Value|
|-|-|-|
| uint8|BUMBLE|1 |
| uint8|HONEY|2 |
| uint8|QUEEN|4 |

## /CommandArg.msg

|Type|Variable|Value|
|-|-|-|
| uint8|DATA_TYPE_BOOL|0 |
| uint8|DATA_TYPE_DOUBLE|1 |
| uint8|DATA_TYPE_FLOAT|2 |
| uint8|DATA_TYPE_INT|3 |
| uint8|DATA_TYPE_LONGLONG|4 |
| uint8|DATA_TYPE_STRING|5 |
| uint8|DATA_TYPE_VEC3d|6 |
| uint8|DATA_TYPE_MAT33f|7 |

## /CommandConstants.msg

|Type|Variable|Value|
|-|-|-|
| string|PARAM_NAME_LOCALIZATION_MODE_NONE|None |
| string|PARAM_NAME_LOCALIZATION_MODE_MAPPED_LANDMARKS|MappedLandmarks |
| string|PARAM_NAME_LOCALIZATION_MODE_ARTAGS|ARTags |
| string|PARAM_NAME_LOCALIZATION_MODE_HANDRAIL|Handrail |
| string|PARAM_NAME_LOCALIZATION_MODE_PERCH|Perch |
| string|PARAM_NAME_LOCALIZATION_MODE_TRUTH|Truth |
| string|PARAM_NAME_ACTION_TYPE_PAN|Pan |
| string|PARAM_NAME_ACTION_TYPE_TILT|Tilt |
| string|PARAM_NAME_ACTION_TYPE_BOTH|Both |
| string|PARAM_NAME_DOWNLOAD_METHOD_IMMEDIATE|Immediate |
| string|PARAM_NAME_DOWNLOAD_METHOD_DELAYED|Delayed |
| string|PARAM_NAME_POWERED_COMPONENT_LASER_POINTER|Laser |
| string|PARAM_NAME_POWERED_COMPONENT_PAYLOAD_TOP_AFT|Payload |
| string|PARAM_NAME_POWERED_COMPONENT_PAYLOAD_BOTTOM_AFT|Payload |
| string|PARAM_NAME_POWERED_COMPONENT_PAYLOAD_BOTTOM_FRONT|Payload |
| string|PARAM_NAME_POWERED_COMPONENT_PMCS_AND_SIGNAL_LIGHTS|PMC |
| string|PARAM_NAME_CAMERA_MODE_BOTH|Both |
| string|PARAM_NAME_CAMERA_MODE_RECORDING|Recording |
| string|PARAM_NAME_CAMERA_MODE_STREAMING|Streaming |
| string|PARAM_NAME_CAMERA_NAME_SCI|Science |
| string|PARAM_NAME_CAMERA_NAME_NAV|Navigation |
| string|PARAM_NAME_CAMERA_NAME_HAZ|Hazard |
| string|PARAM_NAME_CAMERA_NAME_DOCK|Dock |
| string|PARAM_NAME_CAMERA_NAME_PERCH|Perch |
| string|PARAM_NAME_CAMERA_RESOLUTION_224X172|224x172 |
| string|PARAM_NAME_CAMERA_RESOLUTION_320X240|320x240 |
| string|PARAM_NAME_CAMERA_RESOLUTION_480X270|480x270 |
| string|PARAM_NAME_CAMERA_RESOLUTION_640X480|640x480 |
| string|PARAM_NAME_CAMERA_RESOLUTION_960X540|960x540 |
| string|PARAM_NAME_CAMERA_RESOLUTION_1024X768|1024x768 |
| string|PARAM_NAME_CAMERA_RESOLUTION_1280X720|1280x720 |
| string|PARAM_NAME_CAMERA_RESOLUTION_1280X960|1280x960 |
| string|PARAM_NAME_CAMERA_RESOLUTION_1920X1080|1920x1080 |
| string|PARAM_NAME_FLASHLIGHT_LOCATION_BACK|Back |
| string|PARAM_NAME_FLASHLIGHT_LOCATION_FRONT|Front |
| string|PARAM_NAME_FLIGHT_MODE_NOMINAL|Nominal |
| string|PARAM_NAME_FLIGHT_MODE_DIFFICULT|Difficult |
| string|PARAM_NAME_FLIGHT_MODE_QUIET|Quiet |
| string|PARAM_NAME_FLIGHT_MODE_DOCKING|Docking |
| string|PARAM_NAME_FLIGHT_MODE_PERCHING|Perching |
| string|PARAM_NAME_PLANNER_TYPE_TRAPEZOIDAL|trapezoidal |
| string|PARAM_NAME_PLANNER_TYPE_QUADRATIC_PROGRAM|qp |
| string|PARAM_NAME_TELEMETRY_TYPE_COMM_STATUS|CommStatus |
| string|PARAM_NAME_TELEMETRY_TYPE_CPU_STATE|CpuState |
| string|PARAM_NAME_TELEMETRY_TYPE_DISK_STATE|DiskState |
| string|PARAM_NAME_TELEMETRY_TYPE_EKF_STATE|EkfState |
| string|PARAM_NAME_TELEMETRY_TYPE_GNC_STATE|GncState |
| string|PARAM_NAME_TELEMETRY_TYPE_PMC_CMD_STATE|PmcCmdState |
| string|PARAM_NAME_TELEMETRY_TYPE_POSITION|Position |
| string|CMD_NAME_GRAB_CONTROL|grabControl |
| string|CMD_NAME_REQUEST_CONTROL|requestControl |
| string|CMD_NAME_FAULT|fault |
| string|CMD_NAME_INITIALIZE_BIAS|initializeBias |
| string|CMD_NAME_LOAD_NODELET|loadNodelet |
| string|CMD_NAME_NO_OP|noOp |
| string|CMD_NAME_REACQUIRE_POSITION|reacquirePosition |
| string|CMD_NAME_RESET_EKF|resetEkf |
| string|CMD_NAME_SHUTDOWN|shutdown |
| string|CMD_NAME_SWITCH_LOCALIZATION|switchLocalization |
| string|CMD_NAME_UNLOAD_NODELET|unloadNodelet |
| string|CMD_NAME_UNTERMINATE|unterminate |
| string|CMD_NAME_WAKE|wake |
| string|CMD_NAME_WAKE_SAFE|wakeSafe |
| string|CMD_NAME_WIPE_HLP|wipeHlp |
| string|CMD_NAME_ARM_PAN_AND_TILT|armPanAndTilt |
| string|CMD_NAME_GRIPPER_CONTROL|gripperControl |
| string|CMD_NAME_STOP_ARM|stopArm |
| string|CMD_NAME_STOW_ARM|stowArm |
| string|CMD_NAME_CLEAR_DATA|clearData |
| string|CMD_NAME_DOWNLOAD_DATA|downloadData |
| string|CMD_NAME_SET_DATA_TO_DISK|setDataToDisk |
| string|CMD_NAME_START_RECORDING|startRecording |
| string|CMD_NAME_STOP_DOWNLOAD|stopDownload |
| string|CMD_NAME_STOP_RECORDING|stopRecording |
| string|CMD_NAME_CUSTOM_GUEST_SCIENCE|customGuestScience |
| string|CMD_NAME_START_GUEST_SCIENCE|startGuestScience |
| string|CMD_NAME_STOP_GUEST_SCIENCE|stopGuestScience |
| string|CMD_NAME_AUTO_RETURN|autoReturn |
| string|CMD_NAME_DOCK|dock |
| string|CMD_NAME_IDLE_PROPULSION|idlePropulsion |
| string|CMD_NAME_PERCH|perch |
| string|CMD_NAME_PREPARE|prepare |
| string|CMD_NAME_SIMPLE_MOVE6DOF|simpleMove6DOF |
| string|CMD_NAME_STOP_ALL_MOTION|stopAllMotion |
| string|CMD_NAME_UNDOCK|undock |
| string|CMD_NAME_UNPERCH|unperch |
| string|CMD_NAME_PAUSE_PLAN|pausePlan |
| string|CMD_NAME_RUN_PLAN|runPlan |
| string|CMD_NAME_SET_PLAN|setPlan |
| string|CMD_NAME_SKIP_PLAN_STEP|skipPlanStep |
| string|CMD_NAME_WAIT|wait |
| string|CMD_NAME_POWER_OFF_ITEM|powerOffItem |
| string|CMD_NAME_POWER_ON_ITEM|powerOnItem |
| string|CMD_NAME_GENERIC_COMMAND|genericCommand |
| string|CMD_NAME_SET_CAMERA|setCamera |
| string|CMD_NAME_SET_CAMERA_RECORDING|setCameraRecording |
| string|CMD_NAME_SET_CAMERA_STREAMING|setCameraStreaming |
| string|CMD_NAME_SET_CHECK_OBSTACLES|setCheckObstacles |
| string|CMD_NAME_SET_CHECK_ZONES|setCheckZones |
| string|CMD_NAME_SET_ENABLE_AUTO_RETURN|setEnableAutoReturn |
| string|CMD_NAME_SET_ENABLE_IMMEDIATE|setEnableImmediate |
| string|CMD_NAME_SET_FLASHLIGHT_BRIGHTNESS|setFlashlightBrightness |
| string|CMD_NAME_SET_HOLONOMIC_MODE|setHolonomicMode |
| string|CMD_NAME_SET_INERTIA|setInertia |
| string|CMD_NAME_SET_OPERATING_LIMITS|setOperatingLimits |
| string|CMD_NAME_SET_PLANNER|setPlanner |
| string|CMD_NAME_SET_TELEMETRY_RATE|setTelemetryRate |
| string|CMD_NAME_SET_TIME_SYNC|setTimeSync |
| string|CMD_NAME_SET_ZONES|setZones |
| string|CMD_SUBSYS_ACCESS_CONTROL|AccessControl |
| string|CMD_SUBSYS_ADMIN|Admin |
| string|CMD_SUBSYS_ARM|Arm |
| string|CMD_SUBSYS_DATA|Data |
| string|CMD_SUBSYS_GUEST_SCIENCE|GuestScience |
| string|CMD_SUBSYS_MOBILITY|Mobility |
| string|CMD_SUBSYS_PLAN|Plan |
| string|CMD_SUBSYS_POWER|Power |
| string|CMD_SUBSYS_SETTINGS|Settings |

## /CompressedFile.msg

|Type|Variable|Value|
|-|-|-|
| uint8|TYPE_NONE|0 |
| uint8|TYPE_DEFLATE|1 |
| uint8|TYPE_BZ2|2 |
| uint8|TYPE_GZ|3 |
| uint8|TYPE_ZIP|4 |

## /ControlCommand.msg

|Type|Variable|Value|
|-|-|-|
| uint8|MODE_IDLE|0 |
| uint8|MODE_STOP|1 |
| uint8|MODE_NOMINAL|2 |

## /CpuStateStamped.msg

|Type|Variable|Value|
|-|-|-|
| string|NICEnice |
| string|USERuser |
| string|SYSsys |
| string|VIRTvirt |
| string|TOTALtotal |

## /DockState.msg

|Type|Variable|Value|
|-|-|-|
| int8|RECOVERY_SWITCHING_TO_ML_LOC|15 |
| int8|RECOVERY_MOVING_TO_APPROACH_POSE|14 |
| int8|RECOVERY_WAITING_FOR_SPIN_DOWN|13 |
| int8|RECOVERY_SWITCHING_TO_NO_LOC|12 |
| int8|INITIALIZING|11 |
| int8|UNKNOWN|10 |
| int8|DOCKING_MAX_STATE|7 |
| int8|DOCKING_SWITCHING_TO_ML_LOC|7 |
| int8|DOCKING_MOVING_TO_APPROACH_POSE|6 |
| int8|DOCKING_SWITCHING_TO_AR_LOC|5 |
| int8|DOCKING_MOVING_TO_COMPLETE_POSE|4 |
| int8|DOCKING_CHECKING_ATTACHED|3 |
| int8|DOCKING_WAITING_FOR_SPIN_DOWN|2 |
| int8|DOCKING_SWITCHING_TO_NO_LOC|1 |
| int8|DOCKED|0 |
| int8|UNDOCKING_SWITCHING_TO_ML_LOC|-1 |
| int8|UNDOCKING_WAITING_FOR_SPIN_UP|-2 |
| int8|UNDOCKING_MOVING_TO_APPROACH_POSE|-3 |
| int8|UNDOCKED|-4 |
| int8|UNDOCKING_MAX_STATE|-4 |

## /EkfState.msg

|Type|Variable|Value|
|-|-|-|
| uint8|CONFIDENCE_GOOD|0 |
| uint8|CONFIDENCE_POOR|1 |
| uint8|CONFIDENCE_LOST|2 |
| uint8|STATUS_INVALID|255 |

## /ExecState.msg

|Type|Variable|Value|
|-|-|-|
| uint8|IDLE|0 |
| uint8|EXECUTING|1 |
| uint8|PAUSED|2 |
| uint8|ERROR|3 |

## /FaultData.msg

|Type|Variable|Value|
|-|-|-|
| uint8|DATA_TYPE_FLOAT|0 |
| uint8|DATA_TYPE_INT|1 |
| uint8|DATA_TYPE_STRING|2 |

## /FaultState.msg

|Type|Variable|Value|
|-|-|-|
| uint8|FUNCTIONAL|0 |
| uint8|FAULT|1 |
| uint8|BLOCKED|2 |

## /FlightMode.msg

|Type|Variable|Value|
|-|-|-|
| uint8|SPEED_MIN|0 |
| uint8|SPEED_OFF|0 |
| uint8|SPEED_QUIET|1 |
| uint8|SPEED_NOMINAL|2 |
| uint8|SPEED_AGGRESSIVE|3 |
| uint8|SPEED_MAX|3 |

## /GuestScienceData.msg

|Type|Variable|Value|
|-|-|-|
| uint8|STRING|0 |
| uint8|JSON|1 |
| uint8|BINARY|2 |

## /Hazard.msg

|Type|Variable|Value|
|-|-|-|
| uint8|TYPE_UNKNOWN|0 |
| uint8|TYPE_KEEP_IN|1 |
| uint8|TYPE_KEEP_OUT|2 |
| uint8|TYPE_OBSTACLE|3 |

## /JointSample.msg

|Type|Variable|Value|
|-|-|-|
| uint8|JOINT_ENABLED|0 |
| uint8|JOINT_DISABLED|1 |

## /LocalizationState.msg

|Type|Variable|Value|
|-|-|-|
| int32|INITIALIZING|0 |
| int32|DISABLED|1 |
| int32|LOCALIZING|2 |
| int32|SWITCH_WAITING_FOR_PIPELINE|3 |
| int32|SWITCH_WAITING_FOR_FILTER|4 |
| int32|BIAS_WAITING_FOR_FILTER|5 |
| int32|RESET_WAITING_FOR_FILTER|6 |
| int32|UNSTABLE|7 |

## /MobilityState.msg

|Type|Variable|Value|
|-|-|-|
| uint8|DRIFTING|0 |
| uint8|STOPPING|1 |
| uint8|FLYING|2 |
| uint8|DOCKING|3 |
| uint8|PERCHING|4 |

## /MotionState.msg

|Type|Variable|Value|
|-|-|-|
| int8|INITIALIZING|0 |
| int8|IDLE|1 |
| int8|STOPPED|2 |
| int8|IDLING|3 |
| int8|STOPPING|4 |
| int8|PREPPING|5 |
| int8|BOOTSTRAPPING|6 |
| int8|PLANNING|7 |
| int8|PREPARING|8 |
| int8|CONTROLLING|9 |
| int8|REPLANNING|10 |

## /OpState.msg

|Type|Variable|Value|
|-|-|-|
| uint8|READY|0 |
| uint8|PLAN_EXECUTION|1 |
| uint8|TELEOPERATION|2 |
| uint8|AUTO_RETURN|3 |
| uint8|FAULT|4 |

## /PerchState.msg

|Type|Variable|Value|
|-|-|-|
| int8|PERCHING_UPDATING_HR_POSE|24 |
| int8|PERCHING_ENSURING_APPROACH_POSE|23 |
| int8|PERCHING_CALIBRATING_GRIPPER|22 |
| int8|UNPERCHING_ENABLING_SERVOS|21 |
| int8|PERCHING_ENABLING_SERVOS|20 |
| int8|PERCHING_STOPPING|19 |
| int8|UNPERCHING_SWITCHING_TO_ML_LOC|18 |
| int8|UNPERCHING_MOVING_TO_PREP_POSE|17 |
| int8|RECOVERY_MOVING_TO_RECOVERY_POSE|16 |
| int8|RECOVERY_SWITCHING_TO_ML_LOC|15 |
| int8|RECOVERY_STOWING_ARM|14 |
| int8|RECOVERY_MOVING_TO_APPROACH_POSE|13 |
| int8|RECOVERY_OPENING_GRIPPER|12 |
| int8|INITIALIZING|11 |
| int8|UNKNOWN|10 |
| int8|PERCHING_MAX_STATE|9 |
| int8|PERCHING_SWITCHING_TO_HR_LOC|9 |
| int8|PERCHING_MOVING_TO_APPROACH_POSE|8 |
| int8|PERCHING_DEPLOYING_ARM|7 |
| int8|PERCHING_OPENING_GRIPPER|6 |
| int8|PERCHING_MOVING_TO_COMPLETE_POSE|5 |
| int8|PERCHING_CLOSING_GRIPPER|4 |
| int8|PERCHING_CHECKING_ATTACHED|3 |
| int8|PERCHING_WAITING_FOR_SPIN_DOWN|2 |
| int8|PERCHING_SWITCHING_TO_PL_LOC|1 |
| int8|PERCHED|0 |
| int8|UNPERCHING_SWITCHING_TO_HR_LOC|-1 |
| int8|UNPERCHING_WAITING_FOR_SPIN_UP|-2 |
| int8|UNPERCHING_OPENING_GRIPPER|-3 |
| int8|UNPERCHING_MOVING_TO_APPROACH_POSE|-4 |
| int8|UNPERCHING_STOWING_ARM|-5 |
| int8|UNPERCHED|-6 |
| int8|UNPERCHING_MAX_STATE|-6 |

## /SaveSettings.msg

|Type|Variable|Value|
|-|-|-|
| uint8|IMMEDIATE|0 |
| uint8|DELAYED|1 |

## /SignalState.msg

|Type|Variable|Value|
|-|-|-|
| uint8|VIDEO_ON|0 |
| uint8|VIDEO_OFF|1 |
| uint8|SUCCESS|3 |
| uint8|ENTER_HATCHWAY|4 |
| uint8|UNDOCK|5 |
| uint8|UNPERCH|6 |
| uint8|MOTION_IMPAIRED|7 |
| uint8|THRUST_FORWARD|8 |
| uint8|THRUST_AFT|9 |
| uint8|TURN_RIGHT|10 |
| uint8|TURN_LEFT|11 |
| uint8|TURN_UP|12 |
| uint8|TURN_DOWN|13 |
| uint8|CLEAR|14 |
| uint8|SLEEP|15 |
| uint8|WAKE|16 |
| uint8|STOP_ALL_LIGHTS|17 |
| uint8|CHARGING|18 |

## /Zone.msg

|Type|Variable|Value|
|-|-|-|
| uint8|KEEPOUT|0 |
| uint8|KEEPIN|1 |
| uint8|CLUTTER|2 |