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| Message Type | Topic Name | Description |
|---|---|---|
can_interfacemsgs/CanFrameFrame | can_tx | A copy of all raw CAN data received by the driver from the ESR. |
can_interfacemsgs/CanFrameFrame | can_rx_echo | A copy of all raw CAN messages sent by the ESR driver to the ESR. |
delphi_esr/EsrStatus1 | parsed_tx/radarstatus1 | The 1st status message from the ESR. |
delphi_esr/EsrStatus2 | parsed_tx/radarstatus2 | The 2nd status message from the ESR. |
delphi_esr/EsrStatus3 | parsed_tx/radarstatus3 | The 3rd status message from the ESR. |
delphi_esr/EsrStatus4 | parsed_tx/radarstatus4 | The 4th status message from the ESR. |
delphi_esr/EsrStatus5 | parsed_tx/radarstatus5 | The 5th status message from the ESR. |
delphi_esr/EsrStatus6 | parsed_tx/radarstatus6 | The 6th status message from the ESR. |
delphi_esr/EsrStatus7 | parsed_tx/radarstatus7 | The 7th status message from the ESR. |
delphi_esr/EsrStatus8 | parsed_tx/radarstatus8 | The 8th status message from the ESR. |
delphi_esr/EsrStatus9 | parsed_tx/radarstatus9 | The 9th status message from the ESR. |
delphi_esr/EsrValid1 | parsed_tx/radarvalid1 | The 1st message about the validity of data coming from the ESR. |
delphi_esr/EsrValid2 | parsed_tx/radarvalid2 | The 2nd message about the validity of data coming from the ESR. |
delphi_esr/EsrTrack | parsed_tx/radartrack | All tracks (unfiltered) produced by the ESR. |
radar_msgs/RadarStatus | as_tx/radar_status | A high-level abstraction of all radar status information. |
radar_msgs/RadarErrorStatus | as_tx/radar_error_status | A high-level abstraction of all radar error states and validity information. |
radar_msgs/RadarTrackArray | as_tx/radar_tracks | A high-level abstraction of all tracks (filtered for validity) produced by the ESR. |
visualization_msgs/Marker | as_tx/radar_markers | Visualization information for RViz based on the abstracted radar tracks. |
...
| Message Type | Topic Name | Description |
|---|---|---|
can_interfacemsgs/CanFrameFrame | can_rx | Will forward any raw CAN messages published to this topic directly to the ESR. |
delphi_esr/EsrVehicle1 | parsed_rx/vehicle1_msgs | The 1st message that provides vehicle information to the ESR. |
delphi_esr/EsrVehicle2 | parsed_rx/vehicle2_msgs | The 2nd message that provides vehicle information to the ESR. |
delphi_esr/EsrVehicle3 | parsed_rx/vehicle3_msgs | The 3rd message that provides vehicle information to the ESR. |
| parsed_rx/vehicle4_msgs | The 4th message that provides vehicle information to the ESR. |
delphi_esr/EsrVehicle5 | parsed_rx/vehicle5_msgs | The 5th message that provides vehicle information to the ESR. |
geometry_msgs/Twist | as_rx/vehicle_motion | A topic for publishing abstracted vehicle motion information which is parsed into ESR-specific messages and sent to the radar. |
...