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)