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 make_brake_msg(brake_value=0.0):
brake_command_object = BrakeCmd()
brake_command_object.pedal_cmd = brake_value
brake_command_object.pedal_cmd_type = 2
brake_command_object.boo_cmd = False
brake_command_object.enable = False
brake_command_object.ignore = False
brake_command_object.count = 0
return brake_command_object
def brake_cmd_publisher(self, brake_value=0.0):
rospy.get_time()
brake_command_object = BrakeCmd()
brake_command_object.pedal_cmd = brake_value
brake_command_object.pedal_cmd_type = 1
brake_command_object.boo_cmd = True
brake_command_object.enable = True
brake_command_object.ignore = False
brake_command_object.count = 0
rospy.loginfo("Brake Publish ::>"+str(brake_command_object.pedal_cmd))
rospy.loginfo("Brake Pedal_cmd Report ::>"+str(self.brake_pedal_cmd))
rospy.loginfo("Brake Pedal_input Report ::>"+str(self.brake_pedal_input))
rospy.loginfo("Brake Pedal_output Report ::>"+str(self.brake_pedal_output))
self.pub_brake_cmd.publish(brake_command_object)
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)
def brake_cmd_publisher(self, brake_value=0.0):
"""
ID = 96 in BusCan
# Brake pedal
# Options defined below
float32 pedal_cmd
uint8 pedal_cmd_type
# Brake On Off (BOO), brake lights
bool boo_cmd
# Enable
bool enable
# Ignore driver overrides
bool ignore
# Watchdog counter (optional)
uint8 count
uint8 CMD_NONE=0
uint8 CMD_PEDAL=1 # Unitless, range 0.15 to 0.50
uint8 CMD_PERCENT=2 # Percent of maximum torque, range 0 to 1
uint8 CMD_TORQUE=3 # Nm, range 0 to 3250
float32 TORQUE_BOO=520 # Nm, brake lights threshold
float32 TORQUE_MAX=3412 # Nm, maximum torque
"""
#msg_str = "Publishing Brake message in /vehicle/brake_cmd %s" % rospy.get_time()
#rospy.loginfo(msg_str)
brake_command_object = BrakeCmd()
#brake_command_object.pedal_cmd = random.uniform(0.15, 0.5)
brake_command_object.pedal_cmd = brake_value
brake_command_object.pedal_cmd_type = 1
brake_command_object.boo_cmd = False
brake_command_object.enable = False
brake_command_object.ignore = False
brake_command_object.count = 0
rospy.loginfo("Brake Publish ::>" +
str(brake_command_object.pedal_cmd))
self.pub_brake_cmd.publish(brake_command_object)
