simulation.src.simulation_evaluation.src.speaker.node module

ROS node that connects multiple speakers to ROS topics.

Summary

Classes:

SpeakerNode

ROS node that integrates all speakers into the ROS framework.

Reference

class SpeakerNode

Bases: simulation.utils.ros_base.node_base.NodeBase

ROS node that integrates all speakers into the ROS framework.

speakers

All speakers with their message type and a publisher that publishes messages created by the speaker.

Type

List[Tuple[Speaker, rospy.Message, rospy.Publisher]]

subscriber

Receive CarState messages with position and speed of the car.

Type

rospy.Subscriber

section_proxy, lane_proxy, parking_proxy, obstacle_proxy, intersection_proxy

Proxies that the speakers need to request groundtruth information.

Type

rospy.ServiceProxy

start()

Called when activating the node.

stop()

Called when deactivating or shutting down the node.

carstate_cb(msg: gazebo_simulation.msg._CarState.CarState)

Receive CarState message and pass it to all speakers.

Parameters

msg – New CarState message

receive_groundtruth_update(msg: simulation_groundtruth.msg._GroundtruthStatus.GroundtruthStatus)

Receive GroundtruthStatus message.

Parameters

msg – New GroundtruthStatus message

publish_speakers()

Publish the output of all speakers.