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spec_v6.txt
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spec_v6.txt
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field in message message type source/destination unit
ros message ID
"ActuationRequest, Senderstamp = 0"
acceleration --> 160 ActuationRequest CAN +ve = 0 < x < 100 -> acceleration pedal % , -ve = -4 m/s2 < x < 0 -> braking deceleration -> 25 Hz (source can accept upto 100 Hz)
steering --> 160 ActuationRequest CAN rad -3.2 < x < 3.2 (100 Hz) -> 25 Hz (source can accept upto 100 Hz)
"SensorMsgCAN, Senderstamp = 1"
yawrate <-- 197 VehicleState.yawrate CAN rad/s (rhino.odvd) -> 100 Hz ok
vx <-- 1046 GroundSpeedReading.groundspeed CAN m/s -> 10 Hz ok
ax <-- 197 VehicleState.accelerationX CAN m/s^2 (rhino.odvd) -> 100 Hz ok
ay <-- 197 VehicleState.accelerationY CAN m/s^2 (rhino.odvd) -> 100 Hz ok
delta_swa <-- 199 Steering.steeringwheelangle CAN rad (rhino.odvd) -> 100 Hz ok
load_axle_1 <-- 195 Axles.loadAxle11 CAN kg (rhino.odvd) -> 4 Hz ok
load_axle_2 <-- 195 Axles.loadAxle12 CAN kg (rhino.odvd) -> 4 Hz ok
load_axle_3 <-- 195 Axles.loadAxle13 CAN kg (rhino.odvd) -> 4 Hz ok
speed_wheel_111 <-- 198 Wheels.speedWheel111 CAN km/h (rhino.odvd) (Left) -> 50 Hz ok
speed_wheel_112 <-- 198 Wheels.speedWheel112 CAN km/h (rhino.odvd) (Right) -> 50 Hz ok
speed_wheel_121 <-- 198 Wheels.speedWheel121 CAN km/h (rhino.odvd) (Left) -> 50 Hz ok
speed_wheel_122 <-- 198 Wheels.speedWheel122 CAN km/h (rhino.odvd) (Right) -> 50 Hz ok
speed_wheel_131 <-- 198 Wheels.speedWheel131 CAN km/h (rhino.odvd) (Left) -> 100 Hz ok
speed_wheel_132 <-- 198 Wheels.speedWheel132 CAN km/h (rhino.odvd) (Right) -> 100 Hz ok
"SensorMsgGPS, 25Hz, CAN, Senderstamp = 2"
lat <-- 1116 Geolocation.latitude gps deg
long <-- 1116 Geolocation.longitude gps deg
yawangle <-- 1116 Geolocation.heading gps deg (0 to 360 deg)
yawrate <-- 1017 Equilibrioception.yawrate gps deg/s
ax <-- 1030 AccelerationReading.accelerationX gps m/s2
ay <-- 1030 AccelerationReading.acceleratonY gps m/s2
altitude <-- 1116 Geolocation.altitude gps m
vx <-- 1017 Equilibrioception.vx gps m/s
vy <-- 1017 Equilibrioception.vy gps m/s