Navigator topics

Maintained by Daniel Vayman

Does not include Carla topics

/lidar: Unfiltered pointclouds formatted from our Lidars.
/lidar/filtered: Ground segmented pointclouds
/gnss/odometry: Odometry obtained from our GNSS RTK.
/speed: Speed obtained from our GNSS RTK formatted into our CarlaSpeedometer message.
/cameras/cameraX: Image messages obtained from our physical/simulator cameras.

/grid/occupancy/current: A static, current OccupancyGrid message.
/grid/masses: Similar formatting as the above, only a custom Masses grid that uses DST & decay for inference models.
/grid/junction: OccupancyGrid that represents an intersection.
/grid/stateful_junction: OccupancyGrid that represents the same intersection, only high or low cost depending on status.
/grid/drivable: OccupancyGrid that represents driveable area (lanes).
/grid/route_distance: OccupancyGrid that represents distance to center line of path (cost gradient).
/grid/steering_cost: OccupancyGrid that represents steering angle after compounding previous cost maps.
/grid/speed_cost: OccupancyGrid that represents possible speed after compounding previous cost maps.

/planning/rough_route: A rough Path published by the Carla simulator.
/planning/smoothed_route: A rough Path compiled from a pre-defined physical route (linestring).
/planning/route: A final route Path translated either from /planning/rough_route (Carla) or /planning/smoothed_route (Navigator).
/planning/is_waiting: A Bool message that represents a waiting status to enter a junction.
/planning/target_speed: A CarlaSpeedometer message that holds a target speed used in intersection speed management.

/joy: A Joy message published by ROS2’s joystick drivers, used for teleoperation.
/requested_mode: A custom Mode message that governs our control output (disabled, manual, auto).
/vehicle/control: Custom VehicleControl that holds Throttle/Brake/Steering(TBS) values used by our controller and sent to our actuation nodes.