From 3b2e30d283bcc291a762c08e3652bc183d202d49 Mon Sep 17 00:00:00 2001 From: Tiago Garcia Date: Wed, 4 Sep 2024 16:49:05 +0100 Subject: [PATCH] Update docs design page with new topic and function Signed-off-by: Tiago Garcia --- docs/design/index.md | 42 +++++++++++++++++++++++------------------- 1 file changed, 23 insertions(+), 19 deletions(-) diff --git a/docs/design/index.md b/docs/design/index.md index ae0ee88..e9ef0b9 100644 --- a/docs/design/index.md +++ b/docs/design/index.md @@ -17,33 +17,37 @@ The V2XNode launches a ROS2 Node for AutowareV2X. Its main purpose is to act as ### Input -| Name | Type | Description | -| -------------------- | ------------------------------- | ---------------- | -| `/perception/object_recognition/objects` | `autoware_auto_perception_msgs::msg::PredictedObjects` | Perceived Objects by Autoware | -| `/tf` | `tf2_msgs::msg::TFMessage` | Pose of Ego Vehicle | -| `/vehicle/status/velocity_report` | `autoware_auto_vehicle_msgs::msg::VelocityReport` | Velocity of Ego Vehicle | -| `/api/vehicle/status` | `autoware_adapi_v1_msgs::msg::VehicleStatus` | Vehicle Status (gear, steering angle, etc.) | -| `/api/vehicle/dimensions` | `autoware_adapi_v1_msgs::srv::GetVehicleDimensions` | Service to get Vehicle Dimensions | +| Name | Type | Description | +|------------------------------------------|--------------------------------------------------------|---------------------------------------------| +| `/perception/object_recognition/objects` | `autoware_auto_perception_msgs::msg::PredictedObjects` | Perceived Objects by Autoware | +| `/tf` | `tf2_msgs::msg::TFMessage` | Pose of Ego Vehicle | +| `/vehicle/status/velocity_report` | `autoware_auto_vehicle_msgs::msg::VelocityReport` | Velocity of Ego Vehicle | +| `/api/vehicle/status` | `autoware_adapi_v1_msgs::msg::VehicleStatus` | Vehicle Status (gear, steering angle, etc.) | +| `/api/vehicle/dimensions` | `autoware_adapi_v1_msgs::srv::GetVehicleDimensions` | Service to get Vehicle Dimensions | ### Output -| Name | Type | Description | -| -------------------- | ------------------------------- | ---------------- | -| `/v2x/cpm/objects` | `autoware_auto_perception_msgs::msg::PredictedObjects` | Objects received by CPMs | +| Name | Type | Description | +|------------------------|--------------------------------------------------------|--------------------------| +| `/v2x/cpm/objects` | `autoware_auto_perception_msgs::msg::PredictedObjects` | Objects received by CPMs | +| `/v2x/cam_ts/received` | `etsi_its_cam_ts_msgs::msg::CAM` | Received CAMs | ### Functions -| Name | Description | -| -------------------- | ---------------- | -| `objectsCallback(const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr msg)` | Call `V2XApp::objectsCallback` | -| `tfCallback` | Call `V2XApp::tfCallback` | -| `velocityReportCallback` | Call `V2XApp::velocityReportCallback` | -| `vehicleStatusCallback` | Call `V2XApp::vehicleStatusCallback` | -| `getVehicleDimensions` | Sends a request to the service used for vehicle dimensions | -| `publishObjects(std::vector *objectsStack, int cpm_num)` | | -| `publishCpmSenderObject` | Not used now | +| Name | Description | +|---------------------------------------------------------------------------------------------------|------------------------------------------------------------| +| `objectsCallback(const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr msg)` | Call `V2XApp::objectsCallback` | +| `tfCallback` | Call `V2XApp::tfCallback` | +| `velocityReportCallback` | Call `V2XApp::velocityReportCallback` | +| `vehicleStatusCallback` | Call `V2XApp::vehicleStatusCallback` | +| `getVehicleDimensions` | Sends a request to the service used for vehicle dimensions | +| `publishObjects(std::vector *objectsStack, int cpm_num)` | | +| `publishCpmSenderObject` | Not used now | +| `publishReceivedCam(etsi_its_cam_ts_msgs::msg::CAM &msg)` | Publishes a received CAM into the ROS environment | ## V2XApp ## CPM Facility + +## CAM Facility