marti_nav_msgs¶

Message types¶

• marti_nav_msgs/TeleopState
• marti_nav_msgs/PathPlanning
• marti_nav_msgs/LeadVehicle
• marti_nav_msgs/VehicleControl
• marti_nav_msgs/Command

marti_nav_msgs/TeleopState¶

Field:	header (std_msgs/Header) – teleopSignals[] (int32) –

Header header	

int32[] teleopSignals

marti_nav_msgs/PathPlanning¶

Field:

header (std_msgs/Header) – segment_type (int32) – length (float32) – start_speed (float32) – end_speed (float32) – startx (float32) – starty (float32) – endx (float32) – endy (float32) – theta0 (float32) – a1 (float32) – a2 (float32) – k0 (float32) – c1 (float32) – c2 (float32) – behavior (int32) – creep (int32) – acc (int32) – reverse (int32) – vehicle_track (int32) – transmitted (bool) – auxTransmitted (bool) – theta_end (float32) – k_end (float32) – seg_len (int32) – speed_limit (float32) – max_error (float32) – max_smooth (float32) – max_curv (float32) – possible_points (int32) – bExitSegment (bool) –

Header header

int32   segment_type    # Type of path segment
float32 length          # Length of path segment
float32 start_speed     # Desired speed at start of path segment
float32 end_speed       # Desired speed at end of path segment
float32 startx          # Starting x-coordinate of the vehicle
float32 starty          # Starting y-coordinate of the vehicle
float32 endx            # Ending x-coordinate of the vehicle
float32 endy            # Ending y-coordinate of the vehicle
float32 theta0          # theta0 (constant) parameter for initial heading
float32 a1              # a1 (linear) parameter for the x-y track
float32 a2              # a2 (quadratric) parameter for the x-y track
float32 k0              # k0 (constant) parameter for the curvature
float32 c1              # c1 (linear) parameter for the curvature
float32 c2              # c2 (quadratic) parameter for the curvature
int32 behavior          # Type of behavior for the segment
int32 creep             # Whether we should be in creep mode of not (0-No, 1-Yes)
int32 acc               # Whether ACC Override is on (0-Normal ACC, 1-Override ACC)
int32 reverse           # Whether we should be in reverse or not (0-No, 1-Yes)
int32 vehicle_track     # Whether we are tracking a vehicle (0-No, 1-Yes)

# The following items are used in Intelligence, but won't be transmitted with
# the segments to C&C

bool transmitted        # Flag to indicate whether the path segment has been
                        # transmitted

bool auxTransmitted

float32 theta_end       # End heading (provided explicitly)
float32 k_end           # End curvature
int32 seg_len           # Number of route points used to calculate the segment
float32 speed_limit     # Minimum speed of route points used (comes from MDF or -1)

# Other variables
float32 max_error
float32 max_smooth
float32 max_curv
int32 possible_points
bool bExitSegment

marti_nav_msgs/LeadVehicle¶

Field:	header (std_msgs/Header) – headwayDistance (float32) – speed (float32) – heading (float32) – xPos (float32) – yPos (float32) – classification (int8) – type (int8) –

Header header

float32 headwayDistance
float32 speed
float32 heading
float32 xPos
float32 yPos
int8 classification
int8 type

marti_nav_msgs/VehicleControl¶

Field:	header (std_msgs/Header) – engine (int32) – gear (int32) – steering (float64) – throttle (float64) – brake (float64) – steering_position (int16) – gb_position (int16) –

Header 		header

int32 		engine
int32 		gear
float64 	steering
float64 	throttle
float64 	brake
int16 		steering_position
int16 		gb_position

marti_nav_msgs/Command¶

Field:	header (std_msgs/Header) – startstop[] (int32) –

Header header

int32[] startstop