Navigator’s Custom ROS Messages

Maintained by Daniel Vayman, last updated November 2nd, 2023

BoundingBox3D

  • Corners (Point[8])
  • Coordinates (float64[7])

CarlaGnssRoute

  • Road Options
    • VOID (-1), LEFT (1), RIGHT (2), STRAIGHT (3), LANEFOLLOW (4), CHANGELANELEFT (5), CHANGELANERIGHT (6)
  • Coordinates (NavSatFix)

CarlaRoute

  • Road Options
    • VOID (-1), LEFT (1), RIGHT (2), STRAIGHT (3), LANEFOLLOW (4), CHANGELANELEFT (5), CHANGELANERIGHT (6)
  • Coordinates (Pose)

CarlaSpeedometer

CostedPath

  • Points (Point)
  • Safety Cost (float)
  • Routing Cost (float)

CostedPaths

Egma (Evidential Grid Map Array)

FinalPath

  • Points (Point[])
  • Speeds (float[])

GPSDiagnostic

  • Nano (int)
  • GPS Fix (uint)
  • Valid Date (bool)
  • Valid Time (bool)
  • Fully Resolved (bool)
  • GPS Fix Ok (bool)
  • Diff Soln (bool)
  • Wknset (bool)
  • Towset (bool)
  • Head Veh Valid (bool)

Masses

  • Header
  • Occupied cells (float[])
  • Free cells (float[])
  • Width (int)
  • Height (int)

Mode

  • Mode
    • Disabled (0), Manual (1), Auto (2)

Object3D

  • Label (uint8)
    • PEDESTRIAN (0), CYCLIST (1), CAR (2), OTHER (99)
  • ID (uint32)
  • Confidence Score (float32)
    • [0, 1]
  • Bounding Box (BoundingBox3D)

Object3DArray

PedalPosition

  • Data (float)
    • [0.0, 1.0] 1.0 is fully depressed

PolygonArray

RadarSpotlight

  • Header
  • Track ID (int)
  • Amplitude (float)

RouteCost

  • Lane ID (int)
  • Cost (float)

RouteCosts

SteeringPosition

  • Data (float)
    • [.78, -.78] radians

TrajectoryPoint

  • X (float)
  • Y (float)
  • vx (float)
  • vy (float)

Trajectory

Trajectories

VehicleControl

  • Header
  • Throttle (float)
    • [0., 1.]
  • Steer (float)
    • [-1., 1.]
  • Brake (float)
    • [0., 1.]
  • Hand Brake (bool)
  • Reverse (bool)
  • Gear (int)
  • Manual Gear Shift (bool)

VehicleSpeed