3.1. Utilities Messages

3.1.1. Perception Messages

message utilities/BoundingBox
Parameters:

  • probability (float64) – Probability that the perceived cone is of this color.

  • id (int16) – ID (color) of the perceived cone. 0: yellow, 1: blue, 2: small orange, 3: big orange.

  • used_mask (bool) – Whether the mask of the cone was used to determine the cone top

  • x_cone_top (int16) – x point of top of the perceived cone mask

  • y_cone_top (int16) – y point of top of the perceived cone mask

  • xmin (int64) – X coordinate of the upper left corner of the bounding box.

  • ymin (int64) – Y coordinate of the upper left corner of the bounding box.

  • xmax (int64) – X coordinate of the lower right corner of the bounding box.

  • ymax (int64) – Y coordinate of the lower right corner of the bounding box.

  • Class (string) – String representation of the color of the perceived cone.

  • mask (sensor_msgs/Image) – Mask of the perceived cone.

Message containing a bounding box for a perceived cone in an image.

message utilities/BoundingBoxes
Parameters:

  • header (Header) – Header containing the time the bounding boxes have been calculated at.

  • image_header (Header) – Header of the processed image containing the time the image has been recorded at.

  • lidar_header (Header) – Header of the lidar pointcloud to match with the image.

  • processing_time (float64) – Processing time for one image

  • bounding_boxes (utilities/BoundingBox[]) – Bounding boxes perceived in the image.

Message containing all bounding boxes for an processed image by the trt inference.

3.1.2. Mapping Messages

message utilities/ConePosition
Parameters:

  • x (float64) – X position of the cone.

  • y (float64) – Y position of the cone.

  • id (int16) – ID (color) of the cone.

  • probability (float64) – Probability that the cone is of this color.

  • is_lidar (bool) – LiDAR was used to determine position

Message containing a position, id and probability for a cone.

message utilities/ConeList
Parameters:

  • header (Header) – Header containing the time the cone positions have been calculated at.

  • image_header (Header) – Header of the image the cones have been perceived in containing the time the image has been recorded at.

  • lidar_header (Header) – Header of the image the cones have been perceived in containing the time the image has been recorded at.

  • cones (utilities/ConePosition[]) – List of cone positions.

  • processing_time (float64) – Time needed for the calculation

  • lidar_processing_time (float64) – Time needed for the lidar transformation

  • sensor_time_delta (float64) – Time needed for the lidar transformation

Message containing a list of cone positions.

3.1.3. SLAM Messages

message utilities/VehiclePose
Parameters:

  • header (Header) – Header containing the time the can message has been received at.

  • x (float64) – X coordinate of global vehicle position.

  • y (float64) – Y coordinate of global vehicle position.

  • v_x (float64) – Velocity in x-axis direction of vehicle.

  • psi (float64) – Global heading of vehicle.

  • P (float64[16]) – Covariance of the vehicle pose.

Message containing a vehicle pose: position, velocity and heading.

message utilities/ConePositionWithCovariance
Parameters:

  • x (float64) – X position of the cone.

  • y (float64) – Y position of the cone.

  • id (int16) – ID (color) of the cone.

  • perceived_n (uint16) – Number of times the cone has already been perceived

  • covariance (float64[4]) – Position covariance of the cone.

Message containing a position, id and position covariance for a cone.

message utilities/ConeListWithCovariance
Parameters:

  • header (Header) – Header containing the latest image header the cones are based on.

  • cones (utilities/ConePositionWithCovariance[]) – List of cones with position, color and covariance.

  • closed_track (bool) – Flag whether the tracked landmarks form a closed track.

Message containing a list of cone positions, colors and covariance.

message utilities/DisablePerception
Parameters:

  • header (Header) – Header containing the time the message has been created at.

  • disable_perception (bool) – Flag to indicate whether the perception should be enabled or disabled.

Message containing flag to disable the perception when not needed anymore for SLAM.

message utilities/PredictedMeasurements
Parameters:

  • header (Header) – Time the kalman filter has been executed for.

  • wheelspeed_fr (float64[3]) – Predicted measurement, true measurement and it’s uncertainty for the front right wheelspeed.

  • wheelspeed_fl (float64[3]) – Predicted measurement, true measurement and it’s uncertainty for the front left wheelspeed.

  • wheelspeed_rr (float64[3]) – Predicted measurement, true measurement and it’s uncertainty for the rear right wheelspeed.

  • wheelspeed_rl (float64[3]) – Predicted measurement, true measurement and it’s uncertainty for the rear left wheelspeed.

  • gps_heading (float64[3]) – Predicted measurement, true measurement and it’s uncertainty for the gps heading.

  • gps_speed (float64[3]) – Predicted measurement, true measurement and it’s uncertainty for the gps speed.

  • gps_x (float64[3]) – Predicted measurement, true measurement and it’s uncertainty for the gps x position.

  • gps_y (float64[3]) – Predicted measurement, true measurement and it’s uncertainty for the gps y position.

  • u (float64[3]) – Control input [Steering Wheel Angle, Acceration in x direction and gyro around z axis]

  • observed_landmarks (utilities/ConePosition[]) – List of true observed landmarks.

  • predicted_observed_landmarks (utilities/ConePosition[]) – List of predicted observed landmarks.

  • observable_landmarks (utilities/ConePosition[]) – List of observable landmarks.

  • mapping (int16[]) – Mapping between observed landmarks and mapped landmarks

  • individual_compatibility (bool[]) – Compatibility between observed and observable landmarks (observable x observed)

  • used_sensors (string[]) – List of used sensors during update step.

  • landmark_association_nodes_explored_n (uint32) – Number of explored nodes during landmark association

  • landmark_association_compared_associations_n (uint32) – Number of compared associations during landmark association

  • cluster_sizes (uint16[]) – Number of landmarks in each cluster

  • execution_time (float64) – Time it took to execute the kalman filter

  • local_msg_usage_delay (float64) – Time it took from arrival of LocalMapping message until it was used

  • update_unscented_transform_time_lm (float64) – Time it took to execute the corresponding functions in seconds

  • update_calculate_sigma_f_points_time_lm (float64) – Time it took to execute the corresponding functions in seconds

  • data_association_time (float64) – Time it took to execute the corresponding functions in seconds

Message used to debug the SLAM algorithm regarding the predicted and true measurements and their uncertainty.

3.1.4. Path Planning Messages

message utilities/CenterPoints
Parameters:

  • header (Header) – Header containing the time the centerpoints have been calculated at.

  • image_header (Header) – Header of the image the track is based on containing the time the image has been recorded at.

  • x (float64[]) – X coordinates of the computed centerpoints.

  • y (float64[]) – Y coordinates of the computed centerpoints.

  • left_track_width (float64[]) – Left track width of the computed centerpoints.

  • right_track_width (float64[]) – Right track width of the computed centerpoints.

  • closed_track (bool) – Flag whether the centerpoints form a closed track.

  • vehicle_pose (utilities/VehiclePose) – Vehicle pose for which the centerpoints have been computed for.

  • strategy (int32[]) – Strategy used to compute the centerpoints.

  • elapsed_time (float64) – Runtime of the centerpoint computation.

message containing the coordinates of the centerpoints of the perceived and filtered track and the matching right and left track width.

3.1.5. Motion Planning Messages

message utilities/TrajectoryPoints
Parameters:

  • header (Header) – Header containing the time the trajectory has been calculated at.

  • image_header (Header) – Header of the image the centerpoints are based on.

  • pose_header (Header) – Header of the vehicle pose the trajectory has been calculated for.

  • x (float64[]) – X coordinate of the planned trajectory.

  • y (float64[]) – Y coordinate of the planned trajectory.

  • v (float64[]) – Velocity matching to the coordinates of the trajectory.

  • closed (bool) – Flag indicating whether the trajectory is closed.

  • lap_time (float64) – Lap time of the planned closed trajectory in seconds.

  • local_planning_calculation_time (float64) – Time the local motion planning needed for calculation in seconds.

  • global_planning_calculation_time (float64) – Time the global motion planning needed for calculation in seconds.

Message containing the planned trajectory.

3.1.6. Control Messages

message utilities/PredictedStates
Parameters:

  • header (Header) – Header containing the time the predicted states have been calculated at.

  • pose_header (Header) – Header of the vehicle pose the predicted states has been calculated for.

  • image_header (Header) – Header of the image the trajectory has been calculated for.

  • t (float64[]) – Relative time of the predicted vehicle states.

  • x_pos (float64[]) – X coordinates of the predicted vehicle states.

  • y_pos (float64[]) – Y coordinates of the predicted vehicle states.

  • psi (float64[]) – Global heading of the predicted vehicle states.

  • v_x (float64[]) – Velocity in x-axis direction of the predicted vehicle states.

  • steering_wheel_angle (float64[]) – Steering wheel angle of the predicted vehicle states.

  • delta_rate (float64[]) – Ackermann rate of the predicted control inputs

  • a_x (float64[]) – Accelerations in x direction of the predicted control inputs

  • torque (float64[]) – Necessary motor torque request to reach the respective acceleration

  • service_brake_pressure (float64[]) – Necessary service brake pressure request to reach the respective acceleration

Message containing the predicted states of the model predictice controller of the control module.

message utilities/MPCStatistics
Parameters:

Message containing the statistics for the solver statistics of the mpc for a prediction step