Updated readme & Added new .msg for CAN transceiver / Simulation Interface

CMakeLists.txt

@@ -23,6 +23,7 @@ set(common_msg
   "msg/GPS.msg"
   "msg/LPathData.msg"
   "msg/Path.msg"
+  "msg/SailCmd.msg"
   "msg/WindSensor.msg"
   "msg/WindSensors.msg"
 

README.md

@@ -14,20 +14,27 @@ documented in the `.msg` or `.srv` file associated with that interface.
 ROS messages and services used across many ROS packages in the project.
 
 ### Project-wide External Interfaces
-
+<!---
+Formatting reminder:
+1. Keep 'Type' column organized alphabetically
+2. 'mock' version of topic should be after its common counterpart
+--->
 | Topic                  | Type           | Publisher                | Subscriber(s)                               |
 | ---------------------- | -------------- | ------------------------ | ------------------------------------------- |
-| `ais_ships`            | AISShips       | AIS Receiver             | Local Pathfinding                           |
-| `batteries`            | Batteries      | CAN Transceiver          | Local Transceiver                           |
+| `ais_ships`            | AISShips       | CanTrxRosIntf            | Local Pathfinding, Local Transceiver        |
+| `mock_ais_ships`       | AISShips       | Mock AIS                 | CanSimIntf                                  |
+| `batteries`            | Batteries      | CanTrxRosIntf            | Local Transceiver                           |
 | `desired_heading`      | DesiredHeading | Local Pathfinding        | Controller, Boat Simulator                  |
-| `data_sensors`         | GenericSensors | CAN Transceiver          | Local Transceiver                           |
-| `global_path`          | Path           | Local Transceiver        | Local Pathfinding                           |
-| `gps`                  | GPS            | CAN Transceiver          | Local Transceiver, Local Pathfinding        |
+| `data_sensors`         | GenericSensors | CanTrxRosIntf            | Local Transceiver                           |
+| `gps`                  | GPS            | CanTrxRosIntf            | Local Transceiver, Local Pathfinding        |
+| `mock_gps`             | GPS            | Boat Simulator           | CanSimIntf                                  |
 | `local_path_data`      | LPathData      | Local Pathfinding        | Local Transceiver                           |
-| `mock_gps`             | GPS            | Boat Simulator           | CAN Transceiver                             |
-| `filtered_wind_sensor` | WindSensor     | CAN Transceiver          | Local Transceiver, Local Pathfinding        |
-| `mock_wind_sensors`    | WindSensors    | Boat Simulator           | CAN Transceiver                             |
-| `wind_sensors`         | WindSensors    | CAN Transceiver          | Local Transceiver                           |
+| `global_path`          | Path           | Local Transceiver        | Local Pathfinding                           |
+| `sail_cmd`             | SailCmd        | Controller               | CanTrxRosIntf                               |
+| `sim_sail_cmd`         | SailCmd        | CanSimIntf               | Simulator                                   |
+| `filtered_wind_sensor` | WindSensor     | CanTrxRosIntf            | Local Transceiver, Local Pathfinding        |
+| `wind_sensors`         | WindSensors    | CanTrxRosIntf            | Local Transceiver                           |
+| `mock_wind_sensors`    | WindSensors    | Boat Simulator           | CanSimIntf                                  |
 
 ### Project-wide Internal Interfaces
 

msg/SailCmd.msg

@@ -0,0 +1,4 @@
+# Angle to rotate the trim tab relative to the mailsail
+# Unit: degrees, 0° is the neutral position, Increases CW
+# Range: -40° <= angle <= 40°
+float32 trim_tab_angle_degrees