Hi, I am Masaya Kataoka and I am a software developer of OUXT Polaris.
I am developing fully autonomous sufrface/underwater vehicle for maritime and virtual RobotX Challenge.
Our software is fully open-source and anyone can use it.
In order to make a lot of useful ROS packages for UUV navigation, I want to make common message structure for USV navigation.
In my opinion, message structure for UUV navigation should be a little different from grounded robots.
I think there is no accurate navigation when the UUV sail on the sea.
But, when we try docking task autonomously, we have to navigate them very precisely.
In order to realize this feature, I want to add pose tolerance field to the waypoint message field.
From this point of view, I designed uav_navigation_msgs like below.
Header header uint32 waypoint_id geometry_msgs/PoseStamped pose geometry_msgs/Vector3 position_torelance geometry_msgs/Vector3 orientation_torelance
uav_navigation_msgs/Waypoint describes single target pose of the USV.
Header header uav_navigation_msgs/Waypoint waypoints
uav_navigation_msgs/Path is a array of waypoints.
It describes single series of waypoints.