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feat: update interface #57

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Jul 2, 2024
Merged

feat: update interface #57

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26 changes: 18 additions & 8 deletions docs/specifications/interface.ja.md
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
| Publisher | `/vehicle/status/gear_status` | `autoware_auto_vehicle_msgs/msg/GearReport` |
| Publisher | `/sensing/gnss/pose_with_covariance` | `geometry_msgs/msg/PoseWithCovarianceStamped` |
| Publisher | `/sensing/imu/imu_raw` | `sensor_msgs/msg/Imu` |
| Publisher | `/aichallenge/objects` | `sstd_msgs.msg.Float64MultiArray` |

<!--
| Subscription | `/vehicle/status/actuation_status` | `tier4_vehicle_msgs/msg/ActuationCommandStamped` |
Expand All @@ -25,11 +26,11 @@
| ----------------------------------- | -------------------- |
| stamp | メッセージの送信時刻 |
| lateral.stamp | 未使用 |
| lateral.steering_tire_angle | T.B.D. |
| lateral.steering_tire_rotation_rate | T.B.D. |
| lateral.steering_tire_angle | 目標操舵角 |
| lateral.steering_tire_rotation_rate | 未使用 |
| longitudinal.stamp | 未使用 |
| longitudinal.speed | T.B.D. |
| longitudinal.acceleration | T.B.D. |
| longitudinal.speed | 未使用 |
| longitudinal.acceleration | 目標加速度 |
| longitudinal.jerk | 未使用 |

### `/vehicle/status/velocity_status`
Expand All @@ -38,16 +39,16 @@
| --------------------- | ------------------------ |
| header.stamp | データの取得時刻 |
| header.frame_id | フレームID (`base_link`) |
| longitudinal_velocity | 速度 |
| lateral_velocity | T.B.D. |
| heading_rate | T.B.D |
| longitudinal_velocity | 縦速度 |
| lateral_velocity | 横速度 |
| heading_rate | 角速度 |

### `/vehicle/status/steering_status`

| Name | Description |
| ------------------- | ---------------- |
| stamp | データの取得時刻 |
| steering_tire_angle | タイヤ角度 |
| steering_tire_angle | 操舵角 |

### `/control/command/gear_cmd`

Expand Down Expand Up @@ -82,3 +83,12 @@
| orientation | 方位 |
| angular_velocity | 角速度 |
| linear_acceleration | 加速度 |

### `/aichallenge/objects`

| Name | Description |
| --------------- | ------------------------ |
| data[N * 4 + 0] | N番目の仮想障害物のX座標 |
| data[N * 4 + 1] | N番目の仮想障害物のY座標 |
| data[N * 4 + 2] | N番目の仮想障害物のZ座標 |
| data[N * 4 + 3] | N番目の仮想障害物の半径 |
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