0x4502 - ReportPlatformSpecifications

Description

Sends PlatformSpecifications data

Structure

ReportPlatformSpecifications
 platformData
   platformSpecifics
     skidsteer
     Ackermann
   platformInertial
   platformSpec

Field #	Field Name	Type	Optional	Interpretation
1	platformSpecifics	platformSpecifics	false
2	platformInertial	platformInertial	false	General platform specs
3	platformSpec	platformSpec	false

Index	Type
0	skidsteer
1	Ackermann

Field #	Field Name	Type	Units	Optional	Interpretation
1	PresenceVector	uint8
2	TrackSeparation	uint16	meter	true	Distance between the two tracks
3	DriveWheelRadius	uint16	meter	true	Radius of the drive wheel (distance from center of the drive shaft to the outer edge of the drive wheel) in meters

Field #	Field Name	Type	Units	Optional	Interpretation
1	PresenceVector	uint8
2	SteeringAngleRange	uint16	radian	true	The maximum achievable steering angles, as measured by a virtual wheel at the center of the front axle. Negative values cause the vehicle to turn left; positive values cause the vehicle to turn right.
3	MinTurnRadius	uint16	meter	true	The radius of the smallest turn the vehicle is able to make.
4	WheelSeparation	uint16	meter	true	Distance between the centers of the left and right wheels
5	DriveWheelRadius	uint16	meter	true	Radius of the drive wheel (distance from center of the drive shaft to the outer edge of the drive wheel) in meters

Field #	Field Name	Type	Units	Optional
1	PresenceVector	uint8
2	MaximumForwardSpeed	uint16	meter per second	true
3	MaximumReverseSpeed	uint16	meter per second	true
4	MaximumRotationalSpeed	uint16	radian per second	true
5	MaximumForwardAcceleration	uint8	meter per second squared	true
6	MaximumReverseAcceleration	uint8	meter per second squared	true
7	MaximumForwardDeceleration	uint8	meter per second squared	true
8	MaximumReverseDeceleration	uint8	meter per second squared	true

Field #	Field Name	Type	Units	Optional	Interpretation
1	PresenceVector	uint16
2	MobilityPlatformName			false	A human-readable string for the vehicle.
3	Front	uint16	meter	true	Measured along the positive X axis of the vehicle coordinate frame
4	Back	uint16	meter	true	Measured along the negative X axis of the vehicle coordinate frame
5	Right	uint16	meter	true	Measured along the positive Y axis of the vehicle coordinate frame
6	Left	uint16	meter	true	Measured along the negative Y axis of the vehicle coordinate frame
7	Bottom	uint16	meter	true	Measured along the positive Z axis of the vehicle coordinate frame
8	Top	uint16	meter	true	Measured along the negative Z axis of the vehicle coordinate frame
9	Xcg	uint16	meter	true	Measured from the vehicle coordinate frame
10	Ycg	uint16	meter	true	Measured from the vehicle coordinate frame
11	Zcg	uint16	meter	true	Measured from the vehicle coordinate frame
12	WheelBase	uint16	meter	true	Distance between the center of the frontmost wheel and the center of the rearmost wheel.
13	StaticPitchOver	uint16	radian	true
14	StaticRollOver	uint16	radian	true
15	VehicleWeight	uint32	kilogram	true
16	ApproachAngle	uint16	radian	true	The angle formed by an imaginary line from the front bumper to the bottom of the front tire
17	DepartureAngle	uint16	radian	true	The angle formed by an imaginary line from the bottom of the rear tire to rear bumper.
18	BreakOverAngle	uint16	radian	true	The angle formed by an imaginary line from the bottom of the tires to the center of the vehicle's underside.