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docs(autoparking): document current 3D LiDAR API #3975

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25 changes: 19 additions & 6 deletions _pages/exercises/AutonomousCars/autoparking.md
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Expand Up @@ -80,6 +80,7 @@ This exercise now supports ROS 2-direct implementation in addition to the origin
It is composed of 180 pairs of values: (0-180º distance in millimeters)
- `HAL.getBackLaserData()` - to obtain the back laser sensor data.
It is composed of 180 pairs of values: (0-180º distance in millimeters)
- `HAL.getLidarData()` - to obtain the 3D LiDAR point cloud data.
- `HAL.setV()` - to set the linear speed.
- `HAL.setW()` - to set the angular velocity.

Expand Down Expand Up @@ -120,17 +121,17 @@ void exercise() {

Use standard ROS 2 topics for direct communication with the simulation.

- `/prius_autoparking/cmd_vel` - Publish to this topic to set both linear and angular velocities. Message type: `geometry_msgs/msg/Twist`
- `/autonomous_car/cmd_vel` - Publish to this topic to set both linear and angular velocities. Message type: `geometry_msgs/msg/Twist`

- `/prius_autoparking/odom` - Subscribe to this topic to receive the car odometry. Message type: `nav_msgs/msg/Odometry`
- `/autonomous_car/odom` - Subscribe to this topic to receive the car odometry. Message type: `nav_msgs/msg/Odometry`

- `/prius_autoparking/scan_front` - Subscribe to this topic to receive the front laser scan. Message type: `sensor_msgs/msg/LaserScan`
- `/autonomous_car/laser_front/scan` - Subscribe to this topic to receive the front laser scan. Message type: `sensor_msgs/msg/LaserScan`

- `/prius_autoparking/scan_side` - Subscribe to this topic to receive the right-side laser scan. Message type: `sensor_msgs/msg/LaserScan`
- `/autonomous_car/laser_side/scan` - Subscribe to this topic to receive the right-side laser scan. Message type: `sensor_msgs/msg/LaserScan`

- `/prius_autoparking/scan_back` - Subscribe to this topic to receive the rear laser scan. Message type: `sensor_msgs/msg/LaserScan`
- `/autonomous_car/laser_back/scan` - Subscribe to this topic to receive the rear laser scan. Message type: `sensor_msgs/msg/LaserScan`

- `/prius_autoparking/pc2` - Subscribe to this topic to receive 3D LiDAR data. Message type: `sensor_msgs/msg/PointCloud2`
- `/autonomous_car/lidar/pc2/points` - Subscribe to this topic to receive 3D LiDAR data. Message type: `sensor_msgs/msg/PointCloud2`

#### Python

Expand Down Expand Up @@ -192,6 +193,18 @@ To have frequency control you may use a timer and a control function as follows:
- `maxRange` - maximum range value [m]
- `values` - A list of 180 measurements [m] (Note: values < minRange or > maxRange should be discarded)

## 3D LiDAR attributes

`HAL.getLidarData()` returns an object with the following attributes:

- `points` - A list of `(x, y, z)` points in meters.
- `intensities` - A list of intensity values, or an empty list when the point cloud does not provide them.
- `timeStamp` - Timestamp of the point cloud in seconds.
- `min_range` - Minimum sensor range in meters.
- `max_range` - Maximum sensor range in meters.
- `field_of_view` - Horizontal and vertical fields of view in radians.
- `is_dense` - Whether all points contain finite coordinates.

## Illustrations

{% include gallery id="gifs" caption="Autoparking Web Template" %}
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