lgsvl_msgs 消息体
1、BoundingBox2D.msg
float32 x # x position of the bounding box center in camera image space, in pixels
float32 y # y position of the bounding box center in camera image space, in pixels
float32 width # width of the bounding box, in pixels
float32 height # height of the bounding box, in pixels表示锚框在相机图片中的空间位置X，Y；以及锚框的长和宽数值；
单位：像素
2、BoundingBox3D.msg
geometry_msgs/Pose position # 3D position and orientation of the bounding box center in Lidar space, in meters
geometry_msgs/Vector3 size # Size of the bounding box, in metersBoundingBox3D.msg中用geometry_msgs/Pose position表示目标物的3D位置以及在锚框中心激光雷达下的四元数（orientation）;geometry_msgs/Vector3 size
单位：m
3、CanBusData.msg
该消息存储的是车辆底盘信息，内容较为丰富，使用如下命令可以获得其详细内容:
ros2 msg show lgsvl_msgs/msg/CanBusDatastd_msgs/Header header
float32 speed_mps
float32 throttle_pct # 0 to 1
float32 brake_pct # 0 to 1
float32 steer_pct # -1 to 1
bool parking_brake_active
bool high_beams_active
bool low_beams_active
bool hazard_lights_active
bool fog_lights_active
bool left_turn_signal_active
bool right_turn_signal_active
bool wipers_active
bool reverse_gear_active
int8 selected_gear
bool engine_active
float32 engine_rpm
float64 gps_latitude
float64 gps_longitude
float64 gps_altitude
geometry_msgs/Quaternion orientation
geometry_msgs/Vector3 linear_velocities
int8 GEAR_NEUTRAL = 0
int8 GEAR_DRIVE = 1
int8 GEAR_REVERSE = 2
int8 GEAR_PARKING = 3
int8 GEAR_LOW = 4std_msgs/Header header
float32 speed_mps 速度_m/s
float32 throttle_pct # 0 to 1 油门踏板开度
float32 brake_pct # 0 to 1 刹车踏板开度
float32 steer_pct # -1 to 1 方向盘转角
bool parking_brake_active #泊车制动状态
bool high_beams_active #远光灯
bool low_beams_active #近光灯状态
bool hazard_lights_active #双闪
bool fog_lights_active #雾灯
bool left_turn_signal_active #左转向灯
bool right_turn_signal_active #右转向灯
bool wipers_active #雨刷器状态
bool reverse_gear_active #倒车状态
int8 selected_gear#选择档位
bool engine_active#引擎状态
float32 engine_rpm #发动机转速 转/分钟
float64 gps_latitude #gps纬度
float64 gps_longitude #gps经度
float64 gps_altitude #gps 海拔高度
geometry_msgs/Quaternion orientation #四元数朝向
geometry_msgs/Vector3 linear_velocities#线速度
int8 GEAR_NEUTRAL = 0 #空档
int8 GEAR_DRIVE = 1 #行使
int8 GEAR_REVERSE = 2 #倒车
int8 GEAR_PARKING = 3 #泊车
int8 GEAR_LOW = 4 #低速
4、DetectedRadarObject.msg
该包用来获取毫米波雷达和超声波雷达上的数据
int32 id #目标物ID
geometry_msgs/Vector3 sensor_aim #传感器朝向
geometry_msgs/Vector3 sensor_right #测量是正确的概率
geometry_msgs/Point sensor_position#传感器位置
geometry_msgs/Vector3 sensor_velocity #速度
float64 sensor_angle#传感器角度
geometry_msgs/Point object_position #目标物位置
geometry_msgs/Vector3 object_velocity#目标物速度
geometry_msgs/Point object_relative_position #目标物相对位置
geometry_msgs/Vector3 object_relative_velocity#目标物相对速度
geometry_msgs/Vector3 object_collider_size #物体对撞机尺寸
uint8 object_state #目标物体状态
bool new_detection #新检测
uint8 STATE_MOVING = 0 #开始运动
uint8 STATE_STATIONARY = 1 #开始固定
5、DetectedRadarObjectArray
std_msgs/Header header
lgsvl_msgs/DetectedRadarObject[] objects
6、Detection2D.msg
std_msgs/Header header
uint32 id # 检测到的对象的数字ID
string label # car, pedestrian 车或者人
float32 score # The confidence score of the detected object in the range [0-1] 置信度
BoundingBox2D bbox # A 2D bounding box 一个2D的锚框
geometry_msgs/Twist velocity # Linear and angular velocity 线速度和角速度
7、Detection2DArray.msg
std_msgs/Header header
Detection2D[] detections # 2D检测列表
8、Detection3D.msg
std_msgs/Header header
uint32 id # 3D检测目标物的ID
string label # car, pedestrian
float32 score # The confidence score of the detected object in the range [0-1]
BoundingBox3D bbox # 3D锚框
geometry_msgs/Twist velocity # 线速度和角速度
9、Detection3DArray.msg
std_msgs/Header header
Detection3D[] detections # A list of 3D detections
10、Signal.msg
信号灯信息
std_msgs/Header header
uint32 id # The numeric ID of the detected signal
string label # green, yellow, red
float32 score #置信度0-1
BoundingBox3D bbox #一个关于信号灯的锚框
11、SignalArray.msg
std_msgs/Header header
Signal[] signals # A list of traffic signals
12、Ultrasonic.msg
超声波的消息
std_msgs/Header header
float32 minimum_distance #最小距离
13、VehicleControlData.msg
std_msgs/Header header
float32 acceleration_pct # 加速度0 to 1
float32 braking_pct # 刹车0 to 1
float32 target_wheel_angle #目标车轮转角 radians
float32 target_wheel_angular_rate # 目标车轮转速radians / second
uint8 target_gear
uint8 GEAR_NEUTRAL = 0
uint8 GEAR_DRIVE = 1 #正齿轮传动
uint8 GEAR_REVERSE = 2 #齿轮_反转 倒档
uint8 GEAR_PARKING = 3 #泊车
uint8 GEAR_LOW = 4 #齿轮_低速
14、VehicleOdometry.msg
std_msgs/Header header
float32 velocity # meters / second
float32 front_wheel_angle # radians
float32 rear_wheel_angle # radians
15、VehicleStateData.msg
std_msgs/Header header
uint8 blinker_state #信号灯状态
uint8 headlight_state#前照灯状态
uint8 wiper_state #雨刷器状态
uint8 current_gear#当前的档位
uint8 vehicle_mode#车辆模型
bool hand_brake_active #手刹状态
bool horn_active #喇叭状态
bool autonomous_mode_active #自动模式激活
uint8 BLINKERS_OFF = 0 #闪烁器_关闭
uint8 BLINKERS_LEFT = 1 #左转灯
uint8 BLINKERS_RIGHT = 2#右转灯
uint8 BLINKERS_HAZARD = 3#危险灯 双闪
uint8 HEADLIGHTS_OFF = 0#前照灯关闭
uint8 HEADLIGHTS_LOW = 1#近光灯
uint8 HEADLIGHTS_HIGH = 2#远光灯
uint8 WIPERS_OFF = 0#雨刷器关闭
uint8 WIPERS_LOW = 1#雨刷器低速
uint8 WIPERS_MED = 2#雨刷器中速
uint8 WIPERS_HIGH = 3#雨刷器高速
uint8 GEAR_NEUTRAL = 0 #空档
uint8 GEAR_DRIVE = 1 #前进档
uint8 GEAR_REVERSE = 2 #倒档
uint8 GEAR_PARKING = 3 #驻车当
uint8 GEAR_LOW = 4 #低速档
uint8 VEHICLE_MODE_COMPLETE_MANUAL = 0#车辆模式完全手动
uint8 VEHICLE_MODE_COMPLETE_AUTO_DRIVE = 1#完全自动驾驶
uint8 VEHICLE_MODE_AUTO_STEER_ONLY = 2#仅车辆模式自动档
uint8 VEHICLE_MODE_AUTO_SPEED_ONLY = 3#车辆模式自动速度
uint8 VEHICLE_MODE_EMERGENCY_MODE = 4 #车辆模式_紧急模式