Custom ROS 2 messages for Cornell Electric Vehicles.

SensorCollect.msg

• float64 : timestamp [ Message time in s ]
• float32 : velocity [ Velocity in m/s]
• float32 : steering_angle [ Steering angle in radians ]

Trajectory.msg

• Header : header [ Header ]
• Waypoint[] : waypoints [ Array of Waypoints ]

Waypoint.msg

• float32 : x [ x-coordinate in meters ]
• float32 : y [ y-coordinate in meters ]
• float32 : v [ velocity in m/s ]
• float32 : tau [ steering angle in radians ]
• float32 : theta [ heading in radians ]

Obstacle.msg

• float64 : x [ x-coordinate of obstacle center in meters ]
• float64 : y [ y-coordinate of obstacle center in meters ]
• float64 : z [ z-coordinate of obstacle center in meters ]
• float64 : max_radius [ maximum radius of obstacle in meters ]

Obstacles.msg

• Obstacle[] : obstacles [ Array of Obstacle(s) ]