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" ) type Header struct { msg.Package `ros:"common_msgs"` SequenceNum int32 `rosname:"sequence_num"` TimeStamp float64 `rosname:"time_stamp"` ModuleName string `rosname:"module_name"` Version string `rosname:"version"` FaultVec FaultVec `rosname:"fault_vec"` TimeStatistics TimeStatistics `rosname:"time_statistics"` } type FaultVec struct { msg.Package `ros:"common_msgs"` InfoVec []FaultInfo `rosname:"info_vec"` ModuleFaultLevel int32 `rosname:"module_fault_level"` } type TimeStatistics struct { msg.Package `ros:"common_msgs"` DevTimeStatusMsg []TimeStatus `rosname:"dev_time_status_msg"` SendingTimestamp float64 `rosname:"sending_timestamp"` } type FaultInfo struct { msg.Package `ros:"common_msgs"` TimestampSec float64 `rosname:"timestamp_sec"` ModuleName string `rosname:"module_name"` Version string `rosname:"version"` ErrorCode int32 `rosname:"error_code"` Msg string `rosname:"msg"` FaultLevel int8 `rosname:"fault_level"` FaultType int8 `rosname:"fault_type"` } type TimeStatus struct { msg.Package `ros:"common_msgs"` Dtime float64 `rosname:"dtime"` SourceNodeName string `rosname:"source_node_name"` DestinationNodeName string `rosname:"destination_node_name"` } type Retrieval struct { msg.Package `ros:"common_msgs"` Header std_msgs.Header `rosname:"header"` GearPos int16 `rosname:"GearPos"` // 当前档位 ActStrWhAng float64 `rosname:"ActStrWhAng"` // 实际方向盘转角 AccPed1 float64 `rosname:"AccPed1"` // 加速踏板开度第一路EDR AccPed2 float64 `rosname:"AccPed1"` // 加速踏板开度第二路EDR BrkPedSts int16 `rosname:"BrkPedSts"` // 制动开关状态 TurnSwitchLH int16 `rosname:"TurnSwitchLH"` // 左转向灯开关状态 TurnSwitchRH int16 `rosname:"TurnSwitchRH"` // 右转向灯开关状态 } type CicvMovingObject__ 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 CommonCicvMovingObject 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 CommonCicvMovingObjects struct { msg.Package `ros:"common_msgs"` Header std_msgs.Header Num int32 Objects []CommonCicvMovingObject } 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 }