simulation.src.gazebo_simulation.src.automatic_drive package¶
Submodules¶
simulation.src.gazebo_simulation.src.automatic_drive.node module¶
Classes:
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ROS node to drive the car along the right side of the road. |
- class DrivingState(distance_driven: float, time: float)[source]¶
Bases:
object
Attributes:
- distance_driven: float¶
- time: float¶
- class AutomaticDriveNode[source]¶
Bases:
simulation.utils.ros_base.node_base.NodeBase
ROS node to drive the car along the right side of the road.
Instead of directly modifying the car’s position and speed. The vehicle_simulation’s output is emulated. I.e. the transform from the vehicle to it’s world coordinate system is published and a state_estimation message published.
This enables to use the vehicle_simulation_link_node to move the car and only replace KITcar_brain + vehicle_simulation!
- pub_tf¶
Publishes the new vehicle/world transform.
- Type
rospy.publisher
- state_estimation_publisher¶
Publishes state estimation messages.
- Type
rospy.Publisher
- section_proxy¶
Connection to groundtruth section service.
- Type
rospy.ServiceProxy
- lane_proxy¶
Connection to groundtruth lane service.
- Type
rospy.ServiceProxy
- _driving_state¶
Keep track of time and distance along the road.
- Type
Methods:
start
()Start node.
stop
()Called when deactivating or shutting down the node.
update
()Calculate and publish new car state information.
update_state_estimation
(speed, yaw_rate)Publish new state estimation message.
update_world_vehicle_tf
(vehicle_world_tf)Publish up to date world to vehicle transformation to /tf.
Attributes:
Line in the middle of the road.
Line where car drives.
- property driving_line¶
Line where car drives.
And points to stop at.
- Type
Tuple[Line, List[List[float]]]
- property speeds¶
- update_state_estimation(speed: simulation.utils.geometry.vector.Vector, yaw_rate: float)[source]¶
Publish new state estimation message.
- Parameters
speed – Current speed in vehicle coordinates.
yaw_rate – Yaw rate of the car.
- update_world_vehicle_tf(vehicle_world_tf: simulation.utils.geometry.transform.Transform)[source]¶
Publish up to date world to vehicle transformation to /tf.
- Parameters
vehicle_world_tf (Transform) – Transformation between vehicle and world frames.