Navigator’s Custom ROS Messages

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

Here’s a link to our custom messages directory within Navigator if you need all the details.

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

• Header
• Speed (float)

CostedPath

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

CostedPaths

• Header
• Paths (CostedPath[])

Egma (Evidential Grid Map Array)

• Egma (OccupancyGrid)
• Header
• Goal Point (Point)

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

• Header
• Objects (Object3D[])

PedalPosition

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

PolygonArray

• Header
• Polygons (Polygon[])

  Prediction

• Prediction (OccupancyGrid[])

RadarSpotlight

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

RoadSignsDetection

• [Header] (https://docs.ros2.org/latest/api/std_msgs/msg/Header.html)
• road_signs ([RoadSigns] (#roadsigns)[])

RoadSigns

• x (float32)
• y (float32)
• width (float32)
• height (float32)
• label (string)
• confidence (float32)

RouteCost

• Lane ID (int)
• Cost (float)

RouteCosts

• Header
• Costs (RouteCost[])

SteeringPosition

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

TrajectoryPoint

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

Trajectory

• ID (uint)
• Selected (uint)
• Points (TrajectoryPoint[])

Trajectories

• Trajectories (Trajectory[])

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

• Header
• Speed (float)