fix(mick_robot_vehicle_interface): 首次支持autoware #1
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订阅车速控制、档位控制 发布车速、档位、驾驶模式
修改了interface和protocol里涉及到串口的部分 boost::asio::buffer到std::string的转换不够优雅
至少需要接收以下话题
- 转向、速度、加速度
/control/command/control_cmd
- 紧急停车
/control/command/emergency_cmd
- 档位控制
/control/command/gear_cmd
- 转向灯
/control/command/turn_indicators_cmd
- 双闪 危险报警闪光灯
/control/command/hazard_lights_cmd
至少需要发布以下话题
- 车辆档位状态
/vehicle/status/gear_status
- 上报车辆控制模式 用于确定是否被人工接管
/vehicle/status/control_mode
- 上报车速
/vehicle/status/velocity_status
- 上报转向
/vehicle/status/steering_status
- 上报转向灯
/vehicle/status/turn_indicators_status
- 上报双闪灯
/vehicle/status/hazard_lights_status
chz2012
changed the title
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此PR是第一版可以在Autoware上运行的车辆接口。