simulation.src.gazebo_simulation.src.automatic_drive.node module¶

Summary¶

Classes:

`AutomaticDriveNode`	ROS node to drive the car along the right side of the road.
`DrivingState`

Reference¶

class DrivingState(distance_driven: float, time: float)[source]¶

Bases: object

distance_driven: float¶

time: float¶

class AutomaticDriveNode[source]¶

Bases: simulation.utils.ros_base.node_base.NodeBase

ROS node to drive the car along the right side of the road.

Instead of directly modifying the car’s position and speed. The vehicle_simulation’s output is emulated. I.e. the transform from the vehicle to it’s world coordinate system is published and a state_estimation message published.

This enables to use the vehicle_simulation_link_node to move the car and only replace KITcar_brain + vehicle_simulation!

pub_tf¶

Publishes the new vehicle/world transform.

Type: rospy.publisher

state_estimation_publisher¶

Publishes state estimation messages.

Type: rospy.Publisher

section_proxy¶

Connection to groundtruth section service.

Type: rospy.ServiceProxy

lane_proxy¶

Connection to groundtruth lane service.

Type: rospy.ServiceProxy

_driving_state¶

Keep track of time and distance along the road.

Type: DrivingState

start()[source]¶: Start node.

stop()[source]¶: Called when deactivating or shutting down the node.

property middle_line¶

Line in the middle of the road.

Type: Line

property driving_line¶

Line where car drives.

And points to stop at.

Type: Tuple[Line, List[List[float]]]

update()[source]¶: Calculate and publish new car state information.

update_state_estimation(speed: simulation.utils.geometry.vector.Vector, yaw_rate: float)[source]¶

Publish new state estimation message.

Parameters

speed – Current speed in vehicle coordinates.
yaw_rate – Yaw rate of the car.

update_world_vehicle_tf(vehicle_world_tf: simulation.utils.geometry.transform.Transform)[source]¶

Publish up to date world to vehicle transformation to /tf.

Parameters: vehicle_world_tf (Transform) – Transformation between vehicle and world frames.