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| Message Type | Topic Name | Description |
|---|---|---|
can_msgs/Frame | 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/TwistTwistStamped | as_rx/vehicle_motion | A topic for publishing abstracted vehicle motion information which is parsed into ESR-specific messages and sent to the radar. |
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