simulation.src.simulation_brain_link.src.vehicle_simulation_link.node module

VehicleSimulationLinkNode.

Summary

Classes:

VehicleSimulationLinkNode

ROS node to translate state_estimation messages into movement of the vehicle in Gazebo and provide a simulation to world transformation.

Reference

class VehicleSimulationLinkNode

Bases: simulation.utils.ros_base.node_base.NodeBase

ROS node to translate state_estimation messages into movement of the vehicle in Gazebo and provide a simulation to world transformation.

Whenever the pose of the vehicle is updated and a new message is received the updated twist is calculated and published.

set_model_twist_publisher

Publishes the new twist on the model plugins set_twist topic.

Type

rospy.publisher

get_model_pose_subscriber

Receives the current pose of the model in Gazebo.

Type

rospy.subscriber

state_estimation_subscriber

Receives the state_estimation messages.

Type

rospy.subscriber

latest_state_estimation

Latest received state estimation message.

Type

StateEstimationMsg

sub_tf

Receive transformation updates

Type

rospy.subscriber

pub_tf

Publish updates about the world to simulation transformation

Type

rospy.publisher

vehicle_world_tf

Transformation between the vehicle and world coordinate frame.

Type

Transform

start()

Start node.

stop()

Called when deactivating or shutting down the node.

receive_model_pose_cb(msg: geometry_msgs.msg._Pose.Pose)

Receive new model pose.

state_estimation_cb(msg: simulation_brain_link.msg._State.State)

Receive new state estimation.

update_twist(state_estimation: simulation_brain_link.msg._State.State, vehicle_simulation_rotation: pyquaternion.quaternion.Quaternion)

Update the vehicle’s twist with an update on the model plugins set_twist topic.

Parameters

• state_estimation (StateEstimationMsg) – latest state estimation message

• vehicle_simulation_rotation (Transform) – latest update of the rotation between the simulation and vehicle coordinate frames

update_pose()

receive_tf(tf_msg: tf2_msgs.msg._TFMessage.TFMessage)

Receive msg from the tf topic and extract the world to vehicle transformation.

update_simulation_world_tf(vehicle_simulation_tf: simulation.utils.geometry.transform.Transform)

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

Parameters

vehicle_simulation_tf (Transform) – Transformation between vehicle and simulation frames.