cubs2_msgs

ROS2 message definitions for Cubs2 aircraft control and telemetry.

Messages

AircraftControl.msg

Normalized control inputs for fixed-wing aircraft.

Fields:

  • header (std_msgs/Header) - Timestamp and frame information

  • aileron (float32) - Roll control, range [-1, 1]

  • elevator (float32) - Pitch control, range [-1, 1]

  • rudder (float32) - Yaw control, range [-1, 1]

  • throttle (float32) - Thrust control, range [0, 1]

Convention:

  • Positive aileron = right wing down (right roll)

  • Positive elevator = nose up (pitch up)

  • Positive rudder = nose right (yaw right)

Usage

from cubs2_msgs.msg import AircraftControl

msg = AircraftControl()
msg.header.stamp = node.get_clock().now().to_msg()
msg.aileron = 0.0
msg.elevator = 0.1
msg.rudder = 0.0
msg.throttle = 0.5

Dependencies

  • std_msgs

  • geometry_msgs