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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
| 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<CpmApplication::Object> *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<CpmApplication::Object> *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