simulation.src.gazebo_simulation.src.car_state.node module¶

Summary¶

Classes:

ROS node which publishes information about the model in a CarState.

Reference¶

class CarStateNode[source]¶

Bases: simulation.utils.ros_base.node_base.NodeBase

ROS node which publishes information about the model in a CarState.

car_frame¶

Frame of car in vehicle coordinate system

Type: shapely.geom.Polygon

model_pose_subscriber¶

Receive the cars pose

Type: rospy.Subscriber

model_twist_subscriber¶

Receive the cars twist

Type: rospy.Subscriber

get_vehicle_twist (Callable[[],None]: Returns current vehicle twist by calling the service proxy

publisher¶

CarStateMsg) publishes real time information about the car

Type: rospy.publisher

receive_pose(pose)[source]¶

receive_twist(twist)[source]¶

start()[source]¶: Start node.

stop()[source]¶: Turn off node.

read_car_config()[source]¶: Process car parameters.

state_update()[source]¶: Publish new CarState with updated information.