ssc_interface.hpp File Reference

This file defines the ssc_interface class. More...

#include <ssc_interface/visibility_control.hpp>
#include <common/types.hpp>
#include <vehicle_interface/platform_interface.hpp>
#include <automotive_platform_msgs/msg/gear_command.hpp>
#include <automotive_platform_msgs/msg/gear_feedback.hpp>
#include <automotive_platform_msgs/msg/speed_mode.hpp>
#include <automotive_platform_msgs/msg/steering_feedback.hpp>
#include <automotive_platform_msgs/msg/steer_mode.hpp>
#include <automotive_platform_msgs/msg/turn_signal_command.hpp>
#include <automotive_platform_msgs/msg/velocity_accel_cov.hpp>
#include <autoware_auto_msgs/msg/high_level_control_command.hpp>
#include <autoware_auto_msgs/msg/raw_control_command.hpp>
#include <autoware_auto_msgs/msg/trajectory_point.hpp>
#include <autoware_auto_msgs/msg/vehicle_control_command.hpp>
#include <autoware_auto_msgs/msg/vehicle_kinematic_state.hpp>
#include <autoware_auto_msgs/msg/vehicle_state_command.hpp>
#include <autoware_auto_msgs/msg/vehicle_state_report.hpp>
#include <autoware_auto_msgs/srv/autonomy_mode_change.hpp>
#include <std_msgs/msg/bool.hpp>
#include <rclcpp/rclcpp.hpp>
#include <chrono>
#include <iostream>
#include <memory>
#include <mutex>

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Classes
class	ssc_interface::DbwStateMachine
	Class for maintaining the DBW state. More...
class	ssc_interface::SscInterface
	Class for interfacing with AS SSC. More...

Namespaces
	ssc_interface

Typedefs
using	ModeChangeRequest = autoware_auto_msgs::srv::AutonomyModeChange_Request

Enumerations
enum	ssc_interface::DbwState { ssc_interface::DbwState::DISABLED = 0, ssc_interface::DbwState::ENABLE_REQUESTED = 1, ssc_interface::DbwState::ENABLE_SENT = 2, ssc_interface::DbwState::ENABLED = 3 }

Variables
static constexpr float32_t	ssc_interface::STEERING_TO_TIRE_RATIO = 0.533F / 8.6F

Detailed Description

This file defines the ssc_interface class.

Copyright

Copyright 2020 The Autoware Foundation

Typedef Documentation

ModeChangeRequest

using ModeChangeRequest = autoware_auto_msgs::srv::AutonomyModeChange_Request