Name		Name	Last commit message	Last commit date
parent directory ..
config		config
include/lsdb_interface		include/lsdb_interface
launch		launch
src		src
CMakeLists.txt		CMakeLists.txt
README.md		README.md
package.xml		package.xml

README.md

LSDB_INTERFACE

Input / Output

Input topics

From Autoware

Name	Type	Description
/control/command/control_cmd	autoware_auto_control_msgs/msg/AckermannControlCommand	lateral and longitudinal control command
/control/command/gear_cmd	autoware_auto_vehicle_msgs/msg/GearCommand	gear command
/control/command/turn_indicators_cmd	autoware_auto_vehicle_msgs/msg/TurnIndicatorsCommand	turn indicators command
/control/command/hazard_lights_cmd	autoware_auto_vehicle_msgs/msg/HazardLightsCommand	hazard lights command
/control/command/emergency_cmd	tier4_vehicle_msgs/msg/VehicleEmergencyStamped	emergency command

From lsdb_serial_interface

Name	Type	Description
/lsdb/left/status	lsdb_msgs/msg/LsdbStatusStamped	current status from left motor controller
/lsdb/right/status	lsdb_msgs/msg/LsdbStatusStamped	current status from right motor controller

Output topics

To Autoware

Name	Type	Description
/vehicle/status/velocity_status	autoware_auto_vehicle_msgs/msg/VelocityReport	velocity
/vehicle/status/steering_status	autoware_auto_vehicle_msgs/msg/SteeringReport	steering wheel angle
/vehicle/status/gear_status	autoware_auto_vehicle_msgs/msg/GearReport	gear status
/vehicle/status/turn_indicators_status	autoware_auto_vehicle_msgs/msg/TurnIndicatorsReport	turn indicators status
/vehicle/status/hazard_lights_status	autoware_auto_vehicle_msgs/msg/HazardLightsReport	hazard lights status
/vehicle/status/control_mode	autoware_auto_vehicle_msgs/msg/ControlModeReport	control mode
/vehicle/status/velocity_kmph	tier4_debug_msgs/msg/Float32Stamped	velocity [km/h]
/vehicle/status/steering_wheel_deg	tier4_debug_msgs/msg/Float32Stamped	steering wheel angle [deg]
/vehicle/status/battery_charge	tier4_vehicle_msgs/msg/BatteryStatus	NOT IMPLEMENTED

To lsdb_serial_interface

Name	Type	Description
/lsdb/left/command	lsdb_msgs/msg/LsdbCommandStamped	command to left motor controller
/lsdb/right/command	lsdb_msgs/msg/LsdbCommandStamped	command to right motor controller

ROS Parameters

Name	Type	Description	Default
loop_rate	double	loop rate to publish commands [Hz]	50.0
control_cmd_timeout_sec	double	control_cmd time out [sec]	1.0
lsdb_status_timeout_sec	double	lsdb_status time out [sec]	0.5