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Update docs design page with new topic and function 

Signed-off-by: Tiago Garcia <tiago.rgarcia@av.it.pt>
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Tiago Garcia 2024-09-04 16:49:05 +01:00
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@ -17,33 +17,37 @@ The V2XNode launches a ROS2 Node for AutowareV2X. Its main purpose is to act as
### Input ### Input
| Name | Type | Description | | Name | Type | Description |
| -------------------- | ------------------------------- | ---------------- | |------------------------------------------|--------------------------------------------------------|---------------------------------------------|
| `/perception/object_recognition/objects` | `autoware_auto_perception_msgs::msg::PredictedObjects` | Perceived Objects by Autoware | | `/perception/object_recognition/objects` | `autoware_auto_perception_msgs::msg::PredictedObjects` | Perceived Objects by Autoware |
| `/tf` | `tf2_msgs::msg::TFMessage` | Pose of Ego Vehicle | | `/tf` | `tf2_msgs::msg::TFMessage` | Pose of Ego Vehicle |
| `/vehicle/status/velocity_report` | `autoware_auto_vehicle_msgs::msg::VelocityReport` | Velocity 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/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 | | `/api/vehicle/dimensions` | `autoware_adapi_v1_msgs::srv::GetVehicleDimensions` | Service to get Vehicle Dimensions |
### Output ### Output
| Name | Type | Description | | Name | Type | Description |
| -------------------- | ------------------------------- | ---------------- | |------------------------|--------------------------------------------------------|--------------------------|
| `/v2x/cpm/objects` | `autoware_auto_perception_msgs::msg::PredictedObjects` | Objects received by CPMs | | `/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 ### Functions
| Name | Description | | Name | Description |
| -------------------- | ---------------- | |---------------------------------------------------------------------------------------------------|------------------------------------------------------------|
| `objectsCallback(const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr msg)` | Call `V2XApp::objectsCallback` | | `objectsCallback(const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr msg)` | Call `V2XApp::objectsCallback` |
| `tfCallback` | Call `V2XApp::tfCallback` | | `tfCallback` | Call `V2XApp::tfCallback` |
| `velocityReportCallback` | Call `V2XApp::velocityReportCallback` | | `velocityReportCallback` | Call `V2XApp::velocityReportCallback` |
| `vehicleStatusCallback` | Call `V2XApp::vehicleStatusCallback` | | `vehicleStatusCallback` | Call `V2XApp::vehicleStatusCallback` |
| `getVehicleDimensions` | Sends a request to the service used for vehicle dimensions | | `getVehicleDimensions` | Sends a request to the service used for vehicle dimensions |
| `publishObjects(std::vector<CpmApplication::Object> *objectsStack, int cpm_num)` | | | `publishObjects(std::vector<CpmApplication::Object> *objectsStack, int cpm_num)` | |
| `publishCpmSenderObject` | Not used now | | `publishCpmSenderObject` | Not used now |
| `publishReceivedCam(etsi_its_cam_ts_msgs::msg::CAM &msg)` | Publishes a received CAM into the ROS environment |
## V2XApp ## V2XApp
## CPM Facility ## CPM Facility
## CAM Facility