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mission_format.md

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JSON base format for sending missions to a robot and saving a project to file

This is the format used in September 2023 to send and save missions before the planned switch to a format based on project11_nav_msgs/TaskInformation messages for sending missions to a robot. To send a mission to a robot, a JSON array containing an object for each CAMP MissionItem is constructed. To save a project to a file, a top level Group item as described below is constructed containing all the mission items.

Members for all items include:

  • label
  • speed (if not 0)
  • type
  • children: Array of behaviors (optional, only for items that can be sent to the robot)

Current object types

Current types defined in the CAMP source code:

  • BackgroundRaster (can't be sent to the robot)
  • Behavior
  • Group
  • Orbit
  • SearchPattern
  • SurveyArea
  • SurveyPattern
  • TrackLine
  • Waypoint
  • VectorDataset (can't be sent to the robot)

Following are the object specific members of the above object types.

BackgroundRaster

  • filename

Behavior

  • behaviorType
  • active

Group

  • children: Array of mission item objects

Orbit

  • radius
  • safetyDistance
  • targetFrame

SearchPattern

  • startLocation: Waypoint object
  • endLocation: Waypoint object
  • first_leg_heading
  • first_leg_distance
  • direction: clockwise or counterclockwise
  • children: Array of TrackLine objects

SurveyArea

  • children: Array of mission item objects

SurveyPattern

  • startLocation: Waypoint object
  • endLocation: Waypoint object
  • spacing
  • direction
  • alignment: start, center, or finish
  • children: Array of TrackLine objects

TrackLine

  • waypoints: Array of Waypoint objects

Waypoint

  • latitude
  • longitude

VectorDataset

  • filename