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Custom ROS2 Messages for MHSeals Boat (boat_interfaces)

This page documents the boat_interfaces repository, which provides custom ROS2 message definitions essential for the MHSeals boat control system and related packages.

Overview

  • Repository: MHSeals/boat_interfaces
  • Main Language: ROS2 message definition (IDL)
  • Framework: ROS 2 Humble
  • Purpose: Defines custom messages for inter-node communication in MHSeals boat software

Features & Usage

  • Provides all custom message types required by the MHSeals boat control system and related packages (e.g., mhsboat_ctrl, buoy_recognition, etc).
  • Enables structured communication between nodes for sensor data, task status, and control commands.
  • Ensures compatibility and modularity across the MHSeals ROS2 ecosystem.

How to Use

1. Clone the Repository

git clone https://github.com/MHSeals/boat_interfaces.git ~/ros_ws/src/boat_interfaces

2. Build the Messages

  • Build your ROS2 workspace to generate message headers: 
    cd ~/ros_ws
colcon build --symlink-install --packages-select boat_interfaces

3. Add as a Dependency

  • Add boat_interfaces to your package's package.xml and setup.py (if using Python).
  • Import and use the custom messages in your ROS2 nodes.

Example Messages

  • (Refer to the repository for the full list and definitions)
  • Typical messages may include:
  • Sensor data (e.g., processed LiDAR, camera detections)
  • Task status and completion
  • Control commands for actuators

Integration

  • Required by the MHSeals boat control system (mhsboat_ctrl) and other related packages.
  • Ensures all nodes can communicate using a shared set of message types.