def publishBrakeCmd(self, pedalVal):
msg = BrakeCmd()
msg.pedal_cmd = pedalVal
msg.pedal_cmd_type = 2
msg.boo_cmd = False
msg.enable = True
msg.clear = False
msg.ignore = False
msg.count = 0
self.brake_pub.publish(msg)
def publishBrakeCmd(self, pedalVal): msg = BrakeCmd() msg.pedal_cmd = pedalVal msg.pedal_cmd_type = 2 ''' pedal_cmd_type=1: Unitless, range 0.15 to 0.50 =2: Percent of maximum torque, range 0 to 1 =3: Torque (unit: N.m), range 0 to 3250 ''' msg.boo_cmd = False msg.enable = True msg.clear = False msg.ignore = False msg.count = 0 self.brake_pub.publish(msg)
