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update ros2 topic list docs
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@mackierx111
mackierx111 committed Jun 18, 2024
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25 changes: 14 additions & 11 deletions docs/Components/ROS2/ROS2TopicList/index.md
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Expand Up @@ -8,20 +8,23 @@ The following is a summary of the *ROS2* topics that the *AWSIM* node subscribes


## List of subscribers
| Category | Topic | Message type | `frame_id` | `Hz` | `QoS` |
| :----------------------------------------------: | :------------------------------------- | :--------------------------------------------------: | :--------: | :---: | :------------------------------------------------: |
| <p style="color:rgb(0,255,255);">**Control**</p> | | | | | |
| Ackermann Control | `/control/command/control_cmd` | `autoware_auto_control_msgs/AckermannControlCommand` | - | `60` | `Reliable`,<br> `TransientLocal`,<br> `KeepLast/1` |
| Gear | `/control/command/gear_cmd` | `autoware_auto_vehicle_msgs/GearCommand` | - | `10` | `Reliable`,<br> `TransientLocal`,<br> `KeepLast/1` |
| Turn Indicators | `/control/command/turn_indicators_cmd` | `autoware_auto_vehicle_msgs/TurnIndicatorsCommand` | - | `10` | `Reliable`,<br> `TransientLocal`,<br> `KeepLast/1` |
| Hazard Lights | `/control/command/hazard_lights_cmd` | `autoware_auto_vehicle_msgs/HazardLightsCommand` | - | `10` | `Reliable`,<br> `TransientLocal`,<br> `KeepLast/1` |
| Emergency | `/control/command/emergency_cmd` | `tier4_vehicle_msgs/msg/VehicleEmergencyStamped` | - | `60` | `Reliable`,<br> `TransientLocal`,<br> `KeepLast/1` |
| Category | Topic | Message type | `frame_id` | `Hz` | `QoS` |
| :----------------------------------------------------:| :------------------------------------- | :--------------------------------------------------: | :--------: | :---: | :------------------------------------------------: |
| <p style="color:rgb(0,144,255);">**Control**</p> | | | | | |
| Ackermann Control | `/control/command/control_cmd` | `autoware_auto_control_msgs/AckermannControlCommand` | - | `60` | `Reliable`,<br> `TransientLocal`,<br> `KeepLast/1` |
| Gear | `/control/command/gear_cmd` | `autoware_auto_vehicle_msgs/GearCommand` | - | `10` | `Reliable`,<br> `TransientLocal`,<br> `KeepLast/1` |
| Turn Indicators | `/control/command/turn_indicators_cmd` | `autoware_auto_vehicle_msgs/TurnIndicatorsCommand` | - | `10` | `Reliable`,<br> `TransientLocal`,<br> `KeepLast/1` |
| Hazard Lights | `/control/command/hazard_lights_cmd` | `autoware_auto_vehicle_msgs/HazardLightsCommand` | - | `10` | `Reliable`,<br> `TransientLocal`,<br> `KeepLast/1` |
| Emergency | `/control/command/emergency_cmd` | `tier4_vehicle_msgs/msg/VehicleEmergencyStamped` | - | `60` | `Reliable`,<br> `TransientLocal`,<br> `KeepLast/1` |
| <p style="color:rgb(0,144,255);">**Control mode**</p> | | | | | |
| Engage | `/vehicle/engage` | `autoware_auto_vehicle_msgs/Engage` | - | - | `Reliable`,<br> `TransientLocal`,<br> `KeepLast/1` |

## List of publishers

| Category | Topic | Message type | `frame_id` | `Hz` | `QoS` |
| :-----------------------------------------------------: | :------------------------------------------ | :-----------------------------------------------: | :-------------------------------------: | :---: | :--------------------------------------------: |
| <p style="color:rgb(255,233,127);">**Clock** | `/clock` | `rosgraph_msgs/Clock` | - | `100` | `Best effort`,<br>`Volatile`,<br>`Keep last/1` |
| <p style="color:rgb(0,144,255);">**Clock**</p> | | | | | |
| Clock | `/clock` | `rosgraph_msgs/Clock` | - | `100` | `Best effort`,<br>`Volatile`,<br>`Keep last/1` |
| <p style="color:rgb(0,144,255);">**Sensors**</p> | | | | | |
| Camera | `/sensing/camera/traffic_light/camera_info` | `sensor_msgs/CameraInfo` | `traffic_light_left_camera/camera_link` | `10` | `Best effort`,<br>`Volatile`,<br>`Keep last/1` |
| Camera | `/sensing/camera/traffic_light/image_raw` | `sensor_msgs/Image` | `traffic_light_left_camera/camera_link` | `10` | `Best effort`,<br>`Volatile`,<br>`Keep last/1` |
Expand All @@ -30,13 +33,13 @@ The following is a summary of the *ROS2* topics that the *AWSIM* node subscribes
| IMU | `/sensing/imu/tamagawa/imu_raw` | `sensor_msgs/Imu` | `tamagawa/imu_link` | `30` | `Reliable`,<br>`Volatile`,<br>`Keep last/1000` |
| Top LiDAR | `/sensing/lidar/top/pointcloud_raw` | `sensor_msgs/PointCloud2` | `sensor_kit_base_link` | `10` | `Best effort`,<br>`Volatile`,<br>`Keep last/5` |
| Top LiDAR | `/sensing/lidar/top/pointcloud_raw_ex` | `sensor_msgs/PointCloud2` | `sensor_kit_base_link` | `10` | `Best effort`,<br>`Volatile`,<br>`Keep last/5` |
| <p style="color:rgb(0,255,144);">**Vehicle Status**</p> | | | | | |
| <p style="color:rgb(0,144,255);">**Vehicle Status**</p> | | | | | |
| Velocity | `/vehicle/status/velocity_status` | `autoware_auto_vehicle_msgs/VelocityReport` | `base_line` | `30` | `Reliable`,<br>`Volatile`,<br>`Keep last/1` |
| Steering | `/vehicle/status/steering_status` | `autoware_auto_vehicle_msgs/SteeringReport` | - | `30` | `Reliable`,<br>`Volatile`,<br>`Keep last/1` |
| Control Mode | `/vehicle/status/control_mode` | `autoware_auto_vehicle_msgs/ControlModeReport` | - | `30` | `Reliable`,<br>`Volatile`,<br>`Keep last/1` |
| Gear | `/vehicle/status/gear_status` | `autoware_auto_vehicle_msgs/GearReport` | - | `30` | `Reliable`,<br>`Volatile`,<br>`Keep last/1` |
| Turn Indicators | `/vehicle/status/turn_indicators_status` | `autoware_auto_vehicle_msgs/TurnIndicatorsReport` | - | `30` | `Reliable`,<br>`Volatile`,<br>`Keep last/1` |
| Hazard Lights | `/vehicle/status/hazard_lights_status` | `autoware_auto_vehicle_msgs/HazardLightsReport` | - | `30` | `Reliable`,<br>`Volatile`,<br>`Keep last/1` |
| <p style="color:rgb(144,255,144);">**Ground Truth**</p> | | | | | |
| <p style="color:rgb(0,144,255);">**Ground Truth**</p> | | | | | |
| Pose | `/awsim/ground_truth/vehicle/pose` | `geometry_msgs/PoseStamped` | `base_link` | `100` | `Reliable`,<br>`Volatile`,<br>`Keep last/1` |

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