Repository with our custom messages.
A partial port of autoware_auto_msgs from ROS2 index. However, we currently reuse only two message definitions.
Note, that although TrajectoryPoint.msg differs between ROS versions, their usage is same.
# Trajectory message
std_msgs/Header header
autoware_auto_msgs/TrajectoryPoint[] points
TrajectoryPoint.msg (ROS 1 version)
# Point of a Trajectory
# Zero heading corresponds to the positive x direction in the given frame.
# All fields should default to 0.
# As noted in the original message, it is possible that more fields will
# be added overtime (e.g., jerk).
# Note: We use type duration instead of std_msgs/Duration to make the API
# consistent. The only difference is, that 'time_from_start.nsecs' is int32,
# whereas it is uint32 in ROS2.
duration time_from_start # ROS duration, .secs and .nsecs
geometry_msgs/Pose pose
float32 longitudinal_velocity_mps # [m.s^-1]
float32 lateral_velocity_mps # [m.s^-1]
float32 acceleration_mps2 # [m.s^-2]
float32 heading_rate_rps # [rad.s^-1]
float32 front_wheel_angle_rad # [rad]
float32 rear_wheel_angle_rad # [rad]
TrajectoryPoint.msg (ROS 2 version)
# Point of a Trajectory
# Zero heading corresponds to the positive x direction in the given frame.
# All fields should default to 0.
# As noted in the original message, it is possible that more fields will
# be added overtime (e.g., jerk).
# Note: We use type duration instead of std_msgs/Duration to make the API
# consistent. The only difference is, that 'time_from_start.nsecs' is int32,
# whereas it is uint32 in ROS2.
builtin_interfaces/Duration time_from_start # ROS duration, .secs and .nsecs
geometry_msgs/Pose pose
float32 longitudinal_velocity_mps # [m.s^-1]
float32 lateral_velocity_mps # [m.s^-1]
float32 acceleration_mps2 # [m.s^-2]
float32 heading_rate_rps # [rad.s^-1]
float32 front_wheel_angle_rad # [rad]
float32 rear_wheel_angle_rad # [rad]
These messages are used for commanding nodes (e.g., Drive-API).
# CommandArrayStamped message
# List of commands, with a timestamp
Header header
command_msgs/Command[] commands
# Command message
string command
command_msgs/CommandParameter[] parameters
# CommandParameter message
string parameter
float64 value
Messages for describing obstacles.
# ObstaclesStamped message
std_msgs/Header header
obstacle_msgs/Obstacles obstacles
# Obstacle message
obstacle_msgs/SegmentObstacle[] segments
obstacle_msgs/TriangleObstacle[] triangles
obstacle_msgs/CircleObstacle[] circles
geometry_msgs/Point[2] points
# Triangle obstacle
# Edges of a triangle
geometry_msgs/Point edge_a
geometry_msgs/Point edge_b
geometry_msgs/Point edge_c
# Velocity of obstacle (applied to center)
geometry_msgs/Vector3 velocity
# Circle obstacle
geometry_msgs/Point center
float64 radius
# Velocity of obstacle (applied to center)
geometry_msgs/Vector3 velocity
# Point `bnodes[0]` is used to get information about parking slot.
#
# From the order of border nodes `bnodes` the orientation of the slot is
# computed. Also, *parallel* or *perpendicular* classification and entry to
# slot is computed from these information.
geometry_msgs/Point[4] bnodes
Package for messages that are related to plans/planning. Nowadays, it is better to use autoware_auto_msgs instead, as its Trajectory.msg contains more data.
# Arrays that represent Trajectory for a vehicle to follow
std_msgs/Header header
geometry_msgs/Pose[] poses # Positions and headings
float64[] curvatures # Curvature of the path at each position [m^-1]
float64[] velocities # Desired velocity at each position [m.s^-1]
float64[] accelerations # Desired acceleration at each position [m.s^-2]
As commented by Martin Endler pure Python packages in ROS2 do not support definition of messages. Therefore, the messages were separated into separate packages.
Messages used for controlling the Drive-API. Use command_msgs instead.
# Values for drive_api
float64 velocity # allowed <0; 1>, positive values for forward direction
bool forward # if true go forward, otherwise backwards
float64 steering # allowed <0; 1>, positive values for right steering
bool right # if true go right, otherwise left
# Note: Using negative values for velocity/steering will stop car/make it go straight.
Messages used between Drive-API and Teensy board (i.e., teensy-drive node). Basically they are a replacement for older f1tenth_race.
# PWM duty cycle (0-100%) corresponds to (0-65535) interval
int16 pwm_drive
int16 pwm_angle
uint32 period_thr
uint32 period_str
ROS 1 only. These messages were used for low level communication. They are left here as they can be used in some older nodes.
# PWM duty cycle (0-100%) corresponds to (0-65535) interval
int16 pwm_drive
int16 pwm_angle
uint32 period_thr
uint32 period_str
ROS 1 only. Our first message for describing the vehicle trajectory. In comparison to the plan_msgs version, this lacks header.
# Car trajectory message
geometry_msgs/Pose[] points
float64[] speed_profile
float64[] curvature
float64[] accels