commit

pjisuv_msgs/autoware_msgs.go

@@ -7,12 +7,6 @@ import (
 	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
 )
 
-type AccelCmd struct {
-	msg.Package `ros:"autoware_msgs"`
-	Header      std_msgs.Header `rosname:"header"`
-	Accel       int32           `rosname:"accel"`
-}
-
 type AdjustXY struct {
 	msg.Package `ros:"autoware_msgs"`
 	Header      std_msgs.Header `rosname:"header"`
@@ -20,12 +14,6 @@ type AdjustXY struct {
 	Y           int32           `rosname:"y"`
 }
 
-type BrakeCmd struct {
-	msg.Package `ros:"autoware_msgs"`
-	Header      std_msgs.Header `rosname:"header"`
-	Brake       int32           `rosname:"brake"`
-}
-
 type Centroids struct {
 	msg.Package `ros:"autoware_msgs"`
 	Header      std_msgs.Header       `rosname:"header"`
@@ -199,16 +187,7 @@ type ExtractedPosition struct {
 	LinkId      int32   `rosname:"linkId"`
 	PlId        int32   `rosname:"plId"`
 }
-type Gear struct {
-	msg.Package `ros:"autoware_msgs"`
-	None        uint8 `rosname:"NONE"`
-	Park        uint8 `rosname:"PARK"`
-	Reverse     uint8 `rosname:"REVERSE"`
-	Neutral     uint8 `rosname:"NEUTRAL"`
-	Drive       uint8 `rosname:"DRIVE"`
-	Low         uint8 `rosname:"LOW"`
-	Gear        uint8 `rosname:"gear"`
-}
+
 type GeometricRectangle struct {
 	msg.Package `ros:"autoware_msgs"`
 	Wl          float32 `rosname:"wl"`
@@ -289,12 +268,7 @@ type IndicatorCmd struct {
 	L           int32           `rosname:"l"`
 	R           int32           `rosname:"r"`
 }
-type LampCmd struct {
-	msg.Package `ros:"autoware_msgs"`
-	Header      std_msgs.Header `rosname:"header"`
-	L           int32           `rosname:"l"`
-	R           int32           `rosname:"r"`
-}
+
 type NDTStat struct {
 	msg.Package    `ros:"autoware_msgs"`
 	Header         std_msgs.Header `rosname:"header"`
@@ -331,3 +305,173 @@ type PointsImage struct {
 	ImageHeight int32           `rosname:"image_height"`
 	ImageWidth  int32           `rosname:"image_width"`
 }
+
+type ProjectionMatrix struct {
+	msg.Package      `ros:"autoware_msgs"`
+	Header           std_msgs.Header `rosname:"header"`
+	ProjectionMatrix [16]float64     `rosname:"projection_matrix"`
+}
+
+type SteerCmd struct {
+	msg.Package `ros:"autoware_msgs"`
+	Header      std_msgs.Header `rosname:"header"`
+	Steer       int32           `rosname:"steer"`
+}
+
+type AccelCmd struct {
+	msg.Package `ros:"autoware_msgs"`
+	Header      std_msgs.Header `rosname:"header"`
+	Accel       int32           `rosname:"accel"`
+}
+type BrakeCmd struct {
+	msg.Package `ros:"autoware_msgs"`
+	Header      std_msgs.Header `rosname:"header"`
+	Brake       int32           `rosname:"brake"`
+}
+type LampCmd struct {
+	msg.Package `ros:"autoware_msgs"`
+	Header      std_msgs.Header `rosname:"header"`
+	L           int32           `rosname:"l"`
+	R           int32           `rosname:"r"`
+}
+type Gear struct {
+	msg.Package `ros:"autoware_msgs"`
+	None        uint8 `rosname:"NONE"`
+	Park        uint8 `rosname:"PARK"`
+	Reverse     uint8 `rosname:"REVERSE"`
+	Neutral     uint8 `rosname:"NEUTRAL"`
+	Drive       uint8 `rosname:"DRIVE"`
+	Low         uint8 `rosname:"LOW"`
+	Gear        uint8 `rosname:"gear"`
+}
+
+type VehicleCmd struct {
+	msg.Package `ros:"autoware_msgs"`
+	Header      std_msgs.Header            `rosname:"header"`
+	SteerCmd    SteerCmd                   `rosname:"steer_cmd"`
+	AccelCmd    AccelCmd                   `rosname:"accel_cmd"`
+	BrakeCmd    BrakeCmd                   `rosname:"brake_cmd"`
+	LampCmd     LampCmd                    `rosname:"lamp_cmd"`
+	GearCmd     Gear                       `rosname:"gear_cmd"`
+	mode        int32                      `rosname:"mode"`
+	TwistCmd    geometry_msgs.TwistStamped `rosname:"twist_cmd"`
+	CtrlCmd     ControlCommand             `rosname:"ctrl_cmd"`
+	Emergency   int32                      `rosname:"emergency"`
+}
+
+type RemoteCmd struct {
+	msg.Package `ros:"autoware_msgs"`
+	Header      std_msgs.Header `rosname:"header"`
+	VehicleCmd  VehicleCmd      `rosname:"vehicle_cmd"`
+	ControlMode int32           `rosname:"control_mode"`
+}
+type ScanImage struct {
+	msg.Package `ros:"autoware_msgs"`
+	Header      std_msgs.Header `rosname:"header"`
+	Distance    []float32       `rosname:"distance"`
+	Intensity   []float32       `rosname:"intensity"`
+	MaxY        int32           `rosname:"max_y"`
+	MinY        int32           `rosname:"min_y"`
+}
+type Signals struct {
+	msg.Package `ros:"autoware_msgs"`
+	Header      std_msgs.Header     `rosname:"header"`
+	Signals     []ExtractedPosition `rosname:"Signals"`
+}
+type State struct {
+	msg.Package   `ros:"autoware_msgs"`
+	Header        std_msgs.Header `rosname:"header"`
+	VehicleState  string          `rosname:"vehicle_state"`
+	MissionState  string          `rosname:"mission_state"`
+	BehaviorState string          `rosname:"behavior_state"`
+	MotionState   string          `rosname:"motion_state"`
+}
+type StateCmd struct {
+	msg.Package `ros:"autoware_msgs"`
+	Header      std_msgs.Header `rosname:"header"`
+	Cmd         int32           `rosname:"cmd"`
+}
+type SyncTimeDiff struct {
+	msg.Package `ros:"autoware_msgs"`
+	Header      std_msgs.Header `rosname:"header"`
+	TimeDiff    float64         `rosname:"time_diff"`
+	Camera      std_msgs.Time   `rosname:"camera"`
+	Lidar       std_msgs.Time   `rosname:"lidar"`
+}
+type SyncTimeMonitor struct {
+	msg.Package      `ros:"autoware_msgs"`
+	Header           std_msgs.Header `rosname:"header"`
+	ImageRaw         float64         `rosname:"image_raw"`
+	PointsRaw        float64         `rosname:"points_raw"`
+	PointsImage      float64         `rosname:"points_image"`
+	VscanPoints      float64         `rosname:"vscan_points"`
+	VscanImage       float64         `rosname:"vscan_image"`
+	ImageObj         float64         `rosname:"image_obj"`
+	ImageObjRanged   float64         `rosname:"image_obj_ranged"`
+	ImageObjTracked  float64         `rosname:"image_obj_tracked"`
+	CurrentPose      float64         `rosname:"current_pose"`
+	ObjLabel         float64         `rosname:"obj_label"`
+	ClusterCentroids float64         `rosname:"cluster_centroids"`
+	ObjPose          float64         `rosname:"obj_pose"`
+	ExecutionTime    float64         `rosname:"execution_time"`
+	CycleTime        float64         `rosname:"cycle_time"`
+	TimeDiff         float64         `rosname:"time_diff"`
+}
+type TrafficLight struct {
+	msg.Package  `ros:"autoware_msgs"`
+	Header       std_msgs.Header
+	TrafficLight int32
+}
+type TrafficLightResult struct {
+	msg.Package          `ros:"autoware_msgs"`
+	Header               std_msgs.Header
+	LightId              int32
+	RecognitionResult    int32
+	RecognitionResultStr string
+	LaneId               int32
+}
+type TrafficLightResultArray struct {
+	msg.Package `ros:"autoware_msgs"`
+	Header      std_msgs.Header
+	Results     []TrafficLightResult
+}
+type TunedResult struct {
+	msg.Package `ros:"autoware_msgs"`
+	Header      std_msgs.Header
+	Red         ColorSet `rosname:"Red"`
+	Yellow      ColorSet `rosname:"Yellow"`
+	Green       ColorSet `rosname:"Green"`
+}
+type VehicleLocation struct {
+	msg.Package   `ros:"autoware_msgs"`
+	Header        std_msgs.Header
+	LaneArrayId   int32
+	WaypointIndex int32
+}
+type VehicleStatus struct {
+	msg.Package     `ros:"autoware_msgs"`
+	msg.Definitions `ros:"int32 MODE_MANUAL=0,int32 MODE_AUTO=1,int32 LAMP_LEFT=1,int32 LAMP_RIGHT=2,int32 LAMP_HAZARD=3"`
+	Header          std_msgs.Header
+	Tm              string
+	Drivemode       int32
+	Steeringmode    int32
+	CurrentGear     Gear
+	Speed           float64
+	Drivepedal      int32
+	Brakepedal      int32
+	Angle           float64
+	Lamp            int32
+	Light           int32
+}
+type VscanTracked struct {
+	msg.Package `ros:"autoware_msgs"`
+	Position    geometry_msgs.Point
+	Orientation float32
+	Velocity    float32
+	GeoRect     GeometricRectangle
+}
+type VscanTrackedArray struct {
+	msg.Package `ros:"autoware_msgs"`
+	Header      std_msgs.Header
+	ObjTracked  []VscanTracked
+}

pjisuv_msgs/common_msgs.go

@@ -2,6 +2,8 @@ package pjisuv_msgs
 
 import (
 	"github.com/bluenviron/goroslib/v2/pkg/msg"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/geometry_msgs"
+	"github.com/bluenviron/goroslib/v2/pkg/msgs/sensor_msgs"
 	"github.com/bluenviron/goroslib/v2/pkg/msgs/std_msgs"
 )
 
@@ -65,3 +67,188 @@ type Retrieval struct {
 	BCHornSt               int16           `rosname:"BC_Horn_St"`                // 喇叭状态
 
 }
+type Cicv_moving_object__ struct {
+	msg.Package      `ros:"common_msgs"`
+	Header           std_msgs.Header
+	Id               uint32
+	Label            string
+	Probability      float32
+	LabelProbability float32
+	MotionStatus     uint32
+	Ttc              float32
+	Variance         float32
+	DataSource       string
+	LeftTopX         float32
+	LeftTopY         float32
+	RightTopX        float32
+	RightTopY        float32
+	LeftButtomX      float32
+	LeftButtomY      float32
+	RightButtomX     float32
+	RightButtomY     float32
+	MinZ             float32
+	MaxZ             float32
+	Pose             geometry_msgs.Pose
+	Dimensions       geometry_msgs.Vector3
+	Velocity         geometry_msgs.Twist
+	Acceleration     geometry_msgs.Twist
+	ConvexHull       geometry_msgs.PolygonStamped
+	Speed            float32
+	SpeedDirection   float32
+	GlobalX          float32
+	GlobalY          float32
+	Lane             int32
+	RelativeLane     int32
+	GlobalLane       int32
+}
+type Cicv_moving_object struct {
+	msg.Package      `ros:"common_msgs"`
+	Header           std_msgs.Header
+	Id               uint32
+	Label            string
+	Probability      float32
+	LabelProbability float32
+	MotionStatus     uint32
+	Ttc              float32
+	Variance         float32
+	DataSource       string
+	X1               float32
+	Y1               float32
+	X2               float32
+	Y2               float32
+	X3               float32
+	Y3               float32
+	X4               float32
+	Y4               float32
+	MinZ             float32
+	MaxZ             float32
+	Pose             geometry_msgs.Pose
+	Dimensions       geometry_msgs.Vector3
+	Velocity         geometry_msgs.Twist
+	Acceleration     geometry_msgs.Twist
+	ConvexHull       geometry_msgs.PolygonStamped
+	Speed            float32
+	SpeedDirection   float32
+	GlobalX          float32
+	GlobalY          float32
+	Lane             int32
+	RelativeLane     int32
+	GlobalLane       int32
+	ClusterPoints    sensor_msgs.PointCloud2
+}
+type Cicv_moving_objects struct {
+	msg.Package `ros:"common_msgs"`
+	Header      std_msgs.Header
+	Num         int32
+	Objects     []Cicv_moving_object
+}
+type Vector3WithCovariance struct {
+	msg.Package `ros:"common_msgs"`
+	X           UnsureVar
+	Y           UnsureVar
+	Z           UnsureVar
+}
+
+type PoseEuler struct {
+	msg.Package `ros:"common_msgs"`
+	Position    Vector3WithCovariance
+	Rotation    EulerWithCovariance
+}
+
+type DRPoseWithTime struct {
+	msg.Package `ros:"common_msgs"`
+	Week        int32
+	Utctime     float64
+	DrTime      float64
+	PoseEuler   PoseEuler
+}
+type UnsureVar struct {
+	msg.Package `ros:"common_msgs"`
+	Variable    float64
+	VarStd      float64
+}
+
+type EulerWithCovariance struct {
+	msg.Package `ros:"common_msgs"`
+	Roll        UnsureVar
+	Pitch       UnsureVar
+	Yaw         UnsureVar
+}
+type LLH struct {
+	msg.Package `ros:"common_msgs"`
+	Lat         UnsureVar
+	Lon         UnsureVar
+	Height      UnsureVar
+}
+type NavStatus struct {
+	msg.Package `ros:"common_msgs"`
+	UtcTime     float64
+	GpsStatus   int8
+	PosStatus   int32
+	AttStatus   int32
+	InitStatus  int32
+	SateNum     int32
+	Hdop        float32
+	Pdop        float32
+	DiffAge     float32
+}
+type Pose struct {
+	msg.Package    `ros:"common_msgs"`
+	PoseEuler      PoseEuler
+	PoseQuaternion PoseQuaternion
+	Status         int8
+}
+type Quaternion struct {
+	msg.Package `ros:"common_msgs"`
+	X           float64
+	Y           float64
+	Z           float64
+	W           float64
+}
+type Vector3 struct {
+	msg.Package `ros:"common_msgs"`
+	X           float64
+	Y           float64
+	Z           float64
+}
+
+type PoseQuaternion struct {
+	msg.Package   `ros:"common_msgs"`
+	Position      Vector3WithCovariance
+	Quaternion    Quaternion
+	RpyCovariance Vector3
+}
+
+type Twist struct {
+	msg.Package     `ros:"common_msgs"`
+	Velocity        Vector3WithCovariance
+	AngularVelocity Vector3WithCovariance
+}
+type CommonVehicleCmd struct {
+	msg.Package             `ros:"common_msgs"`
+	Header                  std_msgs.Header
+	ICPVCmdStrAngle         float64 `rosname:"ICPV_Cmd_StrAngle"`
+	ICPVCmdStrAngleLimit    float64 `rosname:"ICPV_Cmd_StrAngleLimit"`
+	ICPVCmdEPSXBWEn         float64 `rosname:"ICPV_Cmd_EPSXBW_En"`
+	ICPVCmdEPSDir           float64 `rosname:"ICPV_Cmd_EPSDir"`
+	ICPVCmdStrAngleSpd      float64 `rosname:"ICPV_Cmd_StrAngleSpd"`
+	ICPVCmdChecksum         float64 `rosname:"ICPV_Cmd_Checksum"`
+	ICPVCmdRCnt             float64 `rosname:"ICPV_Cmd_RCnt"`
+	ICPVCmdTgtSft           float64 `rosname:"ICPV_Cmd_TgtSft"`
+	ICPVCmdAccPelEnable     float64 `rosname:"ICPV_Cmd_AccPelEnable"`
+	ICPVCmdBrkPelEnable     float64 `rosname:"ICPV_Cmd_BrkPelEnable"`
+	ICPVCmdAccPelPosAct     float64 `rosname:"ICPV_Cmd_AccPelPosAct"`
+	ICPVCmdAccPelPosActInv  float64 `rosname:"ICPV_Cmd_AccPelPosActInv"`
+	ICPVCmdBrkPelPosAct     float64 `rosname:"ICPV_Cmd_BrkPelPosAct"`
+	ICPVCmdBrkPelPosActInv  float64 `rosname:"ICPV_Cmd_BrkPelPosActInv"`
+	ICPVCmdBrkLightReq      float64 `rosname:"ICPV_Cmd_BrkLightReq"`
+	ICPVCmdTgtSftEnable     float64 `rosname:"ICPV_Cmd_TgtSftEnable"`
+	ICPVCmdATOModeEnable    float64 `rosname:"ICPV_Cmd_ATOModeEnable"`
+	CANICPVVCUControlEPBREQ float64 `rosname:"CAN_ICPV_VCU_Control_EPB_REQ"`
+	CANICPVVCUBUZZING       float64 `rosname:"CAN_ICPV_VCU_BUZZING"`
+	TargetX                 float64
+	TargetY                 float64
+	Velocity                float64
+	CalcAccel               float64
+	AutoMode                int16
+}

pjisuv_msgs/原始msg文件/autoware_msgs/msg/ProjectionMatrix.msg

@@ -1,2 +0,0 @@
-Header header
-float64[16] projection_matrix

pjisuv_msgs/原始msg文件/autoware_msgs/msg/RemoteCmd.msg

@@ -1,3 +0,0 @@
-Header header
-autoware_msgs/VehicleCmd vehicle_cmd
-int32 control_mode

pjisuv_msgs/原始msg文件/autoware_msgs/msg/ScanImage.msg

@@ -1,5 +0,0 @@
-Header header
-float32[] distance
-float32[] intensity
-int32 max_y
-int32 min_y

pjisuv_msgs/原始msg文件/autoware_msgs/msg/Signals.msg

@@ -1,2 +0,0 @@
-Header header
-ExtractedPosition[] Signals

pjisuv_msgs/原始msg文件/autoware_msgs/msg/State.msg

@@ -1,5 +0,0 @@
-Header header
-string vehicle_state
-string mission_state
-string behavior_state
-string motion_state

pjisuv_msgs/原始msg文件/autoware_msgs/msg/StateCmd.msg

@@ -1,2 +0,0 @@
-Header header
-int32 cmd

pjisuv_msgs/原始msg文件/autoware_msgs/msg/SteerCmd.msg

@@ -1,2 +0,0 @@
-Header header
-int32 steer

pjisuv_msgs/原始msg文件/autoware_msgs/msg/SyncTimeDiff.msg

@@ -1,4 +0,0 @@
-Header header
-float64 time_diff
-time camera
-time lidar

pjisuv_msgs/原始msg文件/autoware_msgs/msg/SyncTimeMonitor.msg

@@ -1,27 +0,0 @@
-Header header
-float64 image_raw
-float64 points_raw
-float64 points_image
-float64 vscan_points
-float64 vscan_image
-float64 image_obj
-float64 image_obj_ranged
-float64 image_obj_tracked
-float64 current_pose
-float64 obj_label
-float64 cluster_centroids
-float64 obj_pose
-float64 execution_time
-float64 cycle_time
-float64 time_diff
-
-
-# time image_raw
-# time points_raw
-# time image_obj
-# time image_obj_ranged
-# time image_obj_tracked
-# time current_pose
-# time obj_label
-# time cluster_centroids
-# time obj_pose

pjisuv_msgs/原始msg文件/autoware_msgs/msg/TrafficLight.msg

@@ -1,2 +0,0 @@
-Header header
-int32 traffic_light

pjisuv_msgs/原始msg文件/autoware_msgs/msg/TrafficLightResult.msg

@@ -1,22 +0,0 @@
-# This message defines meta information for a traffic light status
-Header header
-
-# Each bulb is assigned with an Id
-# The TLR node convention is to use the yellow bulb's ID
-int32 light_id
-
-# The result as provided by the tlr nodes
-# Red and Yellow states are both treated as STOP
-# RED       = 0
-# YELLOW    = 0
-# GREEN     = 1
-# UNKNOWN   = 2
-int32 recognition_result
-
-# This string is used by the Audio Player
-string recognition_result_str
-
-# LaneId to which this traffic light result belongs to
-# this Id is defined by the ADAS MAP
-int32 lane_id
-

pjisuv_msgs/原始msg文件/autoware_msgs/msg/TrafficLightResultArray.msg

@@ -1,2 +0,0 @@
-Header header
-TrafficLightResult[] results

pjisuv_msgs/原始msg文件/autoware_msgs/msg/TunedResult.msg

@@ -1,4 +0,0 @@
-Header header
-ColorSet Red
-ColorSet Yellow
-ColorSet Green

pjisuv_msgs/原始msg文件/autoware_msgs/msg/VehicleCmd.msg

@@ -1,10 +0,0 @@
-Header header
-autoware_msgs/SteerCmd steer_cmd
-autoware_msgs/AccelCmd accel_cmd
-autoware_msgs/BrakeCmd brake_cmd
-autoware_msgs/LampCmd lamp_cmd
-autoware_msgs/Gear gear_cmd
-int32 mode
-geometry_msgs/TwistStamped twist_cmd
-autoware_msgs/ControlCommand ctrl_cmd
-int32 emergency

pjisuv_msgs/原始msg文件/autoware_msgs/msg/VehicleLocation.msg

@@ -1,3 +0,0 @@
-Header header
-int32 lane_array_id
-int32 waypoint_index

pjisuv_msgs/原始msg文件/autoware_msgs/msg/VehicleStatus.msg

@@ -1,24 +0,0 @@
-Header header
-string tm
-
-# Powertrain
-int32 drivemode
-int32 steeringmode
-int32 MODE_MANUAL=0
-int32 MODE_AUTO=1
-
-autoware_msgs/Gear current_gear
-
-float64 speed # vehicle velocity [km/s]
-int32 drivepedal
-int32 brakepedal
-
-float64 angle # vehicle steering (tire) angle [rad]
-
-# Body
-int32 lamp
-int32 LAMP_LEFT=1
-int32 LAMP_RIGHT=2
-int32 LAMP_HAZARD=3
-
-int32 light

pjisuv_msgs/原始msg文件/autoware_msgs/msg/VscanTracked.msg

@@ -1,4 +0,0 @@
-geometry_msgs/Point position
-float32 orientation
-float32 velocity
-GeometricRectangle geo_rect

pjisuv_msgs/原始msg文件/autoware_msgs/msg/VscanTrackedArray.msg

@@ -1,2 +0,0 @@
-std_msgs/Header header
-VscanTracked[] obj_tracked

pjisuv_msgs/原始msg文件/common_msgs/msg/DRPoseWithTime.msg

@@ -1,4 +0,0 @@
-int32      week
-float64    utctime
-float64    dr_time
-PoseEuler  pose_euler

pjisuv_msgs/原始msg文件/common_msgs/msg/EulerWithCovariance.msg

@@ -1,3 +0,0 @@
-UnsureVar 	roll
-UnsureVar 	pitch
-UnsureVar 	yaw

pjisuv_msgs/原始msg文件/common_msgs/msg/LLH.msg

@@ -1,3 +0,0 @@
-UnsureVar 	lat
-UnsureVar 	lon
-UnsureVar 	height

pjisuv_msgs/原始msg文件/common_msgs/msg/NavStatus.msg

@@ -1,9 +0,0 @@
-float64 	utc_time
-int8 	gps_status # 0-nofix  1-single  2-psrdiff  3-code_diff  4-narrow_init  5-narrow_float
-int32 	pos_status
-int32  	att_status
-int32  	init_status
-int32  	sate_num
-float32  	hdop
-float32  	pdop
-float32  	diff_age

pjisuv_msgs/原始msg文件/common_msgs/msg/Pose.msg

@@ -1,3 +0,0 @@
-PoseEuler  	pose_euler
-PoseQuaternion 	pose_quaternion
-int8  	status   # 0-normal  1-error

pjisuv_msgs/原始msg文件/common_msgs/msg/PoseEuler.msg

@@ -1,2 +0,0 @@
-Vector3WithCovariance 	position
-EulerWithCovariance 	rotation

pjisuv_msgs/原始msg文件/common_msgs/msg/PoseQuaternion.msg

@@ -1,3 +0,0 @@
-Vector3WithCovariance 	position
-Quaternion 	quaternion
-Vector3  rpy_covariance	

pjisuv_msgs/原始msg文件/common_msgs/msg/Quaternion.msg

@@ -1,4 +0,0 @@
-float64 	x
-float64 	y
-float64 	z
-float64 	w

pjisuv_msgs/原始msg文件/common_msgs/msg/TimeStatistics.msg

@@ -1,2 +0,0 @@
-TimeStatus[] 	dev_time_status_msg
-float64 	sending_timestamp

pjisuv_msgs/原始msg文件/common_msgs/msg/Twist.msg

@@ -1,2 +0,0 @@
-Vector3WithCovariance 	velocity
-Vector3WithCovariance 	angular_velocity

pjisuv_msgs/原始msg文件/common_msgs/msg/UnsureVar.msg

@@ -1,2 +0,0 @@
-float64 	variable
-float64 	var_std

pjisuv_msgs/原始msg文件/common_msgs/msg/Vector3.msg

@@ -1,3 +0,0 @@
-float64 	x
-float64 	y
-float64 	z

pjisuv_msgs/原始msg文件/common_msgs/msg/Vector3WithCovariance.msg

@@ -1,3 +0,0 @@
-UnsureVar 	x
-UnsureVar 	y
-UnsureVar 	z

pjisuv_msgs/原始msg文件/common_msgs/msg/VehicleCmd.msg

@@ -1,29 +0,0 @@
-Header header
-#245
-float64 ICPV_Cmd_StrAngle                   #方向盘转向角度控制
-float64 ICPV_Cmd_StrAngleLimit              #方向盘限幅
-float64 ICPV_Cmd_EPSXBW_En                  #转向控制使能
-float64 ICPV_Cmd_EPSDir                     #方向盘转动方向
-float64 ICPV_Cmd_StrAngleSpd                #方向盘目标角速度
-float64 ICPV_Cmd_Checksum                  
-float64 ICPV_Cmd_RCnt                
-#226
-float64 ICPV_Cmd_TgtSft                     #档位控制指令
-float64 ICPV_Cmd_AccPelEnable               #加速踏板使能
-float64 ICPV_Cmd_BrkPelEnable               #制动踏板使能
-float64 ICPV_Cmd_AccPelPosAct               #加速踏板开度
-float64 ICPV_Cmd_AccPelPosActInv            #100 - 加速踏板开度
-float64 ICPV_Cmd_BrkPelPosAct               #制动踏板开度
-float64 ICPV_Cmd_BrkPelPosActInv            #100 - 制动踏板开度
-float64 ICPV_Cmd_BrkLightReq                #制动灯控制指令
-float64 ICPV_Cmd_TgtSftEnable               #挡位控制使能
-float64 ICPV_Cmd_ATOModeEnable              #自动驾驶模式使能
-float64 CAN_ICPV_VCU_Control_EPB_REQ        #线控灯光
-float64 CAN_ICPV_VCU_BUZZING                #线控声音
-#target point and velocity
-float64 target_x
-float64 target_y
-float64 velocity
-float64 calc_accel
-int16 auto_mode
-

pjisuv_msgs/原始msg文件/common_msgs/msg/cicv_moving_object.msg

@@ -1,37 +0,0 @@
-std_msgs/Header  header
-uint32 id                                  #目标ID
-string label                             #目标类型
-float32 probability              #障碍物存在概率(取值范围0-1)
-float32 label_probability #障碍物类型概率(取值范围0-1)
-uint32 motion_status        #障碍物运动状态
-float32 ttc                                #TTC
-float32 variance                    #方差
-string data_source              #目标数据来源，0：融合结果，1：激光雷达，2：视觉，3：毫米波雷达，4：超声波雷达
-float32 x1                #相对坐标系下的左前坐标（单位cm）
-float32 y1                #相对坐标系下的左前坐标（单位cm）
-float32 x2                #相对坐标系下的右前坐标（单位cm）
-float32 y2                #相对坐标系下的右前坐标（单位cm）
-float32 x3                #相对坐标系下的右后坐标（单位cm）
-float32 y3                #相对坐标系下的右后坐标（单位cm）
-float32 x4                #相对坐标系下的左后坐标（单位cm）
-float32 y4                #相对坐标系下的左后坐标（单位cm）
-float32 min_z                         #最小高度
-float32 max_z                         #最大高度
-geometry_msgs/Pose              pose                                  #相对坐标系下的障碍物中心点坐标
-geometry_msgs/Vector3        dimensions                    #相对坐标系下的障碍物尺寸
-geometry_msgs/Twist              velocity                           #相对坐标系下的障碍物速度信息(速度矢量)
-geometry_msgs/Twist              acceleration                  #相对坐标系下的障碍物加速度信息(速度矢量)
-geometry_msgs/PolygonStamped    convex_hull    #障碍物多边形框(暂时不用赋值)
-float32 speed                         #相对坐标系下的速度(sor文档需求)
-float32 speed_direction    #相对坐标系下 的速度方向(sor文档需求)
-float32 global_x                    #全局下的x坐标
-float32 global_y                    #全局下的y坐标
-int32 lane                                 #sor里面需求
-#与ego车道的对应关系
-# 0:障碍物位于自车所在道（若自车变道，以前轴中心越线为切换点）
-#1、2…：分别位于左1、2…车道
-#-1、-2…：分别位于右1、2…车道
-int32 relative_lane
-#与HD MAP车道的对应关系
-int32 global_lane
-sensor_msgs/PointCloud2 cluster_points

pjisuv_msgs/原始msg文件/common_msgs/msg/cicv_moving_object__.msg

@@ -1,36 +0,0 @@
-std_msgs/Header  header
-uint32 id                                  #目标ID
-string label                             #目标类型
-float32 probability              #障碍物存在概率(取值范围0-1)
-float32 label_probability #障碍物类型概率(取值范围0-1)
-uint32 motion_status        #障碍物运动状态
-float32 ttc                                #TTC
-float32 variance                    #方差
-string data_source              #目标数据来源，0：融合结果，1：激光雷达，2：视觉，3：毫米波雷达，4：超声波雷达
-float32 left_top_x                #相对坐标系下的左前坐标
-float32 left_top_y                #相对坐标系下的左前坐标
-float32 right_top_x             #相对坐标系下的右前坐标
-float32 right_top_y             #相对坐标系下的右前坐标
-float32 left_buttom_x        #相对坐标系下的左后坐标
-float32 left_buttom_y        #相对坐标系下的左后坐标
-float32 right_buttom_x     #相对坐标系下的右后坐标
-float32 right_buttom_y     #相对坐标系下的右后坐标
-float32 min_z                         #最小高度
-float32 max_z                         #最大高度
-geometry_msgs/Pose              pose                                  #相对坐标系下的障碍物中心点坐标
-geometry_msgs/Vector3        dimensions                    #相对坐标系下的障碍物尺寸
-geometry_msgs/Twist              velocity                           #相对坐标系下的障碍物速度信息(速度矢量)
-geometry_msgs/Twist              acceleration                  #相对坐标系下的障碍物加速度信息(速度矢量)
-geometry_msgs/PolygonStamped    convex_hull    #障碍物多边形框(暂时不用赋值)
-float32 speed                         #相对坐标系下的速度(sor文档需求)
-float32 speed_direction    #相对坐标系下 的速度方向(sor文档需求)
-float32 global_x                    #全局下的x坐标
-float32 global_y                    #全局下的y坐标
-int32 lane                                 #sor里面需求
-#与ego车道的对应关系
-# 0:障碍物位于自车所在道（若自车变道，以前轴中心越线为切换点）
-#1、2…：分别位于左1、2…车道
-#-1、-2…：分别位于右1、2…车道
-int32 relative_lane
-#与HD MAP车道的对应关系
-int32 global_lane

pjisuv_msgs/原始msg文件/common_msgs/msg/cicv_moving_objects.msg

@@ -1,3 +0,0 @@
-std_msgs/Header  header
-int32 num                                                     #障碍物数量
-cicv_moving_object[] objects                         #障碍物描述