Merge pull request #116 from matt-attack/add-vehicle-parameters

Add vehicle parameters message

marti_nav_msgs/CMakeLists.txt

@@ -46,6 +46,7 @@ add_message_files(FILES
   TrackedObject.msg
   TrackedObjectArray.msg
   VehicleControl.msg
+  VehicleParameters.msg
   Wgs84Sample.msg
 )
 

marti_nav_msgs/msg/VehicleParameters.msg

@@ -0,0 +1,28 @@
+# Set of parameters that describe the motion parameters of a vehicle
+
+# Vehicle's maximum curvature in 1/meters. Should be positive.
+float32 max_curvature
+
+# Vehicle's minimum curvature in 1/meters. Should be negative
+float32 min_curvature
+
+# Vehicle's maximum allowed lateral acceleration in m/s^2
+float32 max_lateral_acceleration
+
+# Vehicle's target lateral acceleration in m/s^2. May be exceeded by vehicle
+float32 target_lateral_acceleration
+
+# Vehicle's maximum allowed linear acceleration in m/s^2
+float32 max_acceleration
+
+# Vehicle's target linear acceleration in m/s^2
+float32 target_acceleration
+
+# Vehicle's maximum linear deceleration in m/s^s. May be exceeded by vehicle
+float32 max_deceleration
+
+# Vehicle's target linear deceleration in m/s^2
+float32 target_deceleration
+
+# Vehicle's linear acceleration in m/s^2 when stopping at the end of a path segment
+float32 stop_deceleration