Topic and transform structure

This is a work in progress. -Will

Topics

• /vehicle/ Topics that describe the vehicle state. Position and orientation are published by /tf.

  • stock/ Data from the GEM e6's factory CAN bus
    • speed (Which message?)
    • indicators (Custom message containing enums for blinkers and headlights)
    • charge (Battery charge, both as remaining range (remember to put this in meters) and as percentage. This should be available from stock CAN, with a little digging...)

• /gps/

  • accel/ AccelWithCovarianceStamped or AccelStamped
  • time/

• /zed2i_front/

  • Sensor data as needed

• /zed_rear/

  • Sensor data as needed

/tf

• /tf_static
  • /earth->/map
• /tf
  • /map->/gps_link (From GPS. This is only accurate to ~2m, should be refined using NDT)
  • /map->/base_link (Published by NDT or similar)
  • /base_link->/odom (Uses dead reckoning from IMU, handled by dedicated node)
  • /base_link->/lidar_front
  • /base_link->/lidar_rear
  • /base_link->/zed2i_front
  • /base_link->/zed_rear
  • /base_link->/gps