watonomous.github.io

1. Electrical Division
2. Electrical Division Home
3. CAN Bus Interfacing

[ Electrical Division : ROS Message List and Description ]

Created by [ Rowan Dempster], last modified by [ Chris Samra] on Jan 20, 2021

ROS Topics

For All Software Teams:

• /steering_data --> SteeringAngle_CAN
• /accel_data --> Torque_CAN   
• /imu_data --> IMUData_CAN   vehicle_imu?
• /vehicle_speed --> Speed_CAN

For internal Embedded Use:

• /automode_feedback --> AutoModeFeedback
• /transmission_state --> Transmission_CAN
• /steering_control_state --> Steering_State_CAN   steering_state?
• /wheel_encoder --> WheelEncoder_CAN

Other:

• [brake_tourqe_data]

• transmission_break_request

• [axle_tourqe_data]

SteeringAngle_CAN

float64 steering_angle
float64 steering_gradient

Torque_CAN

float64 torque_act

IMUData_CAN

float64 yaw_rate
float64 long_accel
float64  lat_accel

Speed_CAN

float64 calculated_speed_kmph
float64 calculated_speed_mps
time last_calculated

Document generated by Confluence on Nov 28, 2021 22:40

Atlassian