simulation.src.gazebo_simulation.src.car_model.dr_drift module

Summary

Classes:

DrDrift

Representation of the Dr.

Functions:

load_dr_drift

Create a DrDrift instance with the information located in the provided files.

Reference

class DrDrift(specs: simulation.src.gazebo_simulation.src.car_model.car_specs.CarSpecs, camera_specs: simulation.src.gazebo_simulation.src.car_model.camera_specs.CameraSpecs, tof_sensors: List[simulation.src.gazebo_simulation.src.car_model.tof_sensors.TofSensor], name: str = 'dr_drift', version='1.0.0')[source]

Bases: simulation.utils.urdf.core.XmlObject

Representation of the Dr. Drift vehicle.

This class can be used to create a gazebo model of our Dr. Drift car. Within the initializer all pieces that make up the simulated model of Dr. Drift are created.

Information about the sensors’ specifications and positions are taken from the car_specs ROS package located in KITcar_brain.

TAG = 'robot'
name: simulation.utils.urdf.core.Attribute
version: simulation.utils.urdf.core.Attribute

Chassis.

load_dr_drift(car_specs_path: str, camera_specs_path: str, coordinate_systems_path: str, save_car_specs: Optional[str] = None, save_camera_calibration: Optional[str] = None, save_static_coordinates: Optional[str] = None) → simulation.src.gazebo_simulation.src.car_model.dr_drift.DrDrift[source]

Create a DrDrift instance with the information located in the provided files.

Parameters

  • car_specs_path – Path to a yaml file that can be converted into a CarSpecs instance.

  • camera_specs_path – Path to a yaml file that can be converted into a CameraSpecs instance.

  • coordinate_systems_path – Path to a file defining the positions time of flight sensors.

  • save_car_specs – Path to where the resulting car_specs should be saved.

  • save_camera_calibration – Path to where the resulting camera calibration should be saved.

  • save_static_coordinates – Path to where the used static coordinate systems should be saved.