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can_zoe_msgs

    • Name Last commit Last update
    msg
    CMakeLists.txt
    README.md
    package.xml
    README.md

    can_zoe_msgs

    Package ROS1 that contain ros messages use to communicate with the CAN bus of the Zoe1.

    Message List

    Name Use
    ActivationCondition Check the condition of robotization
    BattInfo Battery information
    CmdAcceleration Order of Acceleration
    CmdBrake Order of Braking
    CmdOptions Order to control the blinker,light and horn
    CmdPRND Order for the gearbox
    Frame CAN message
    IMU IMU sensor message
    Odom Odom sensor message
    PRNDCmdInfo gear box information
    RobotizationActivation state of control activation
    SelectorAInfo state of controlpannel Led and buzzer
    SelectorBInfo state of switch led and buzzer on the controlpannel
    Speed Speed information
    SpeedControl Order for speed control
    Steering Steering informtion
    SteeringCmdInfo Steering control information
    TorqueInfo Torque information

    Import messages

    Python

    from can_zoe_msgs.msg import CmdSteering
from can_zoe_msgs.msg import CmdAcceleration
from can_zoe_msgs.msg import CmdBrake
from can_zoe_msgs.msg import Speed
from can_zoe_msgs.msg import Steering

if __name__ == '__main__':
  #var init
  acc = CmdAcceleration()
  acc.can_publish = True
  brk = CmdBrake()
  brk.can_publish = True
  steer = CmdSteering()
  steer.can_publish = True
  steer.cooperative_mode = 0
  steer.rotation_speed = 100.0

    C++

    #include "can_zoe_msgs/CmdAcceleration.h"
#include "can_zoe_msgs/CmdBrake.h"
#include "can_zoe_msgs/CmdSteering.h"
#include "can_zoe_msgs/CmdPRND.h"
#include "can_zoe_msgs/SpeedControl.h"

int main (){
  can_zoe_msgs::CmdAcceleration cmdAccel;
  can_zoe_msgs::CmdBrake cmdBrake;

  cmdAccel.acceleration = 0.0;
}
}