simulation.src.simulation_evaluation.src.evaluation_test.node module

Summary

Classes:

EvaluationTestNode

Node primarily useful to test and debug nodes in the evaluation pipeline.

Reference

class EvaluationTestNode

Bases: simulation.utils.ros_base.node_base.NodeBase

Node primarily useful to test and debug nodes in the evaluation pipeline.

The node has a number of predefined paths and is able to fake CarState messages as if the car was driving on one of those paths.

start()

Called when activating the node.

fake_car_state(path: simulation.utils.geometry.line.Line, arc_length: float, speed: float)

Publish a CarState message depending on situation.

Parameters

• path – The car drives on this path.

• arc_length – Current arc length of the car on the path.

• speed – Speed the car drives with.

_get_path() → simulation.utils.geometry.line.Line

Create a predefined path.

Depending on the path parameter, one of the predefined paths is created.

_get_stops() → List[Tuple[float, float]]

Load stops from parameters.

A stop can be configured inside a parameter file by appending to the stops list. The stop list should be a list of lists with two values. E.g.

stops: [[1, 2], [3, 1]]

is interpretated as a stop after 1m for 2 seconds and another stop after 3 meters for 1 second. :returns: Sorted list of all stops as tuples with arc_length and duration.

drive()

Drive along a path.