Adapter class to interface with the EUFS simulator. More...

#include <eufs.hpp>

Inheritance diagram for EufsAdapter:

Collaboration diagram for EufsAdapter:

Public Member Functions
	EufsAdapter (const ControlParameters &params)

void	vehicle_state_callback (const eufs_msgs::msg::CarState &msg)
	Callback function for velocities and poses, which are coupled in EUFS.

void	publish_command (common_lib::structures::ControlCommand cmd) override
	Adapters override this function to publish control commands in their environment.

	EufsAdapter (std::shared_ptr< SENode > se_node)

void	mission_state_callback (const eufs_msgs::msg::CanState &msg) const

void	finish () final
	Function that sends the finish signal to the respective node.

void	perception_detections_subscription_callback (const eufs_msgs::msg::ConeArrayWithCovariance &msg) const

void	wheel_speeds_subscription_callback (const eufs_msgs::msg::WheelSpeedsStamped &msg) const

	EufsAdapter (const PlanningParameters &params)

void	mission_state_callback (eufs_msgs::msg::CanState msg)

void	set_mission_state (int mission, int state)

void	pose_callback (const eufs_msgs::msg::CarState &msg)

void	map_callback (const eufs_msgs::msg::ConeArrayWithCovariance &msg)

void	finish () override
	Function that sends the finish signal to the respective node.

Public Member Functions inherited from ControlNode
	ControlNode (const ControlParameters &params)

Public Member Functions inherited from Adapter
	Adapter (std::shared_ptr< SENode > se_node)

void	imu_subscription_callback (const sensor_msgs::msg::Imu &msg)
	Function that parses the message sent from the ros IMU topic and calls the respective node's function to update the motion.

virtual	~Adapter ()=default

Public Member Functions inherited from Planning
	Planning (const PlanningParameters &params)
	Constructs a Planning node with the specified configuration parameters.

void	set_mission (Mission mission)
	Sets the mission type for planning execution.

Private Attributes
rclcpp::Publisher< ackermann_msgs::msg::AckermannDriveStamped >::SharedPtr	control_pub_

rclcpp::Subscription< eufs_msgs::msg::CarState >::SharedPtr	vehicle_pose_sub_

rclcpp::Subscription< eufs_msgs::msg::ConeArrayWithCovariance >::SharedPtr	_perception_detections_subscription_
	Subscriber for simulated perception detections.

rclcpp::Subscription< eufs_msgs::msg::WheelSpeedsStamped >::SharedPtr	_eufs_wheel_speeds_subscription_
	Subscriber for wheel speeds and steering angle.

rclcpp::Subscription< eufs_msgs::msg::CanState >::SharedPtr	eufs_state_subscription_

rclcpp::Client< eufs_msgs::srv::SetCanState >::SharedPtr	eufs_mission_state_client_

rclcpp::Client< eufs_msgs::srv::SetCanState >::SharedPtr	eufs_ebs_client_

rclcpp::Subscription< eufs_msgs::msg::CarState >::SharedPtr	eufs_pose_subscription_

rclcpp::Subscription< eufs_msgs::msg::ConeArrayWithCovariance >::SharedPtr	eufs_map_subscription_

rclcpp::Publisher< visualization_msgs::msg::MarkerArray >::SharedPtr	eufs_map_publisher_

Additional Inherited Members
Static Public Member Functions inherited from Planning
static PlanningParameters	load_config (std::string &adapter)
	Loads planning configuration from YAML files.

Public Attributes inherited from Adapter
std::shared_ptr< SENode >	node_

rclcpp::Subscription< sensor_msgs::msg::Imu >::SharedPtr	_imu_subscription_

Protected Member Functions inherited from ControlNode
void	vehicle_pose_callback (const custom_interfaces::msg::Pose &msg)
	Called when a new vehicle pose is received.

void	path_callback (const custom_interfaces::msg::PathPointArray &msg)
	Called when a new path is received.

void	vehicle_state_callback (const custom_interfaces::msg::Velocities &msg)
	Called when a new velocity is received.

Protected Attributes inherited from ControlNode
bool	go_signal_ {false}

ControlParameters	params_

Detailed Description

Adapter class to interface with the EUFS simulator.

Works on a publish-subscribe model. Publishes commands to the simulator in the form of AckermannDriveStamped messages and subscribes to CarState messages if using simulated SLAM.

Definition at line 14 of file eufs.hpp.

Constructor & Destructor Documentation

◆ EufsAdapter() [1/3]

EufsAdapter::EufsAdapter ( const ControlParameters & params )

explicit

Definition at line 3 of file eufs.cpp.

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◆ EufsAdapter() [2/3]

EufsAdapter::EufsAdapter ( std::shared_ptr< SENode > se_node )

explicit

Definition at line 8 of file eufs.cpp.

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◆ EufsAdapter() [3/3]

EufsAdapter::EufsAdapter ( const PlanningParameters & params )

explicit

Definition at line 82 of file eufs.cpp.

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Member Function Documentation

◆ finish() [1/2]

void EufsAdapter::finish ( )

finalvirtual

Function that sends the finish signal to the respective node.

Implements Adapter.

Definition at line 47 of file eufs.cpp.

◆ finish() [2/2]

void EufsAdapter::finish ( )

overridevirtual

Function that sends the finish signal to the respective node.

Implements Adapter.

◆ map_callback()

void EufsAdapter::map_callback ( const eufs_msgs::msg::ConeArrayWithCovariance & msg )

Definition at line 143 of file eufs.cpp.

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◆ mission_state_callback() [1/2]

void EufsAdapter::mission_state_callback ( const eufs_msgs::msg::CanState & msg ) const

Definition at line 37 of file eufs.cpp.

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◆ mission_state_callback() [2/2]

void EufsAdapter::mission_state_callback ( eufs_msgs::msg::CanState msg )

Definition at line 107 of file eufs.cpp.

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◆ perception_detections_subscription_callback()

void EufsAdapter::perception_detections_subscription_callback ( const eufs_msgs::msg::ConeArrayWithCovariance & msg ) const

Definition at line 51 of file eufs.cpp.

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◆ pose_callback()

void EufsAdapter::pose_callback ( const eufs_msgs::msg::CarState & msg )

Definition at line 126 of file eufs.cpp.

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◆ publish_command()

void EufsAdapter::publish_command ( common_lib::structures::ControlCommand cmd )

overridevirtual

Adapters override this function to publish control commands in their environment.

Parameters

cmd	Control command to be published

Implements ControlNode.

Definition at line 34 of file eufs.cpp.

◆ set_mission_state()

void EufsAdapter::set_mission_state	(	int	mission,
		int	state
	)

Definition at line 114 of file eufs.cpp.

◆ vehicle_state_callback()

void EufsAdapter::vehicle_state_callback ( const eufs_msgs::msg::CarState & msg )

Callback function for velocities and poses, which are coupled in EUFS.

Definition at line 19 of file eufs.cpp.

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◆ wheel_speeds_subscription_callback()

void EufsAdapter::wheel_speeds_subscription_callback ( const eufs_msgs::msg::WheelSpeedsStamped & msg ) const

Definition at line 109 of file eufs.cpp.

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Member Data Documentation

◆ _eufs_wheel_speeds_subscription_

rclcpp::Subscription<eufs_msgs::msg::WheelSpeedsStamped>::SharedPtr EufsAdapter::_eufs_wheel_speeds_subscription_

private

Subscriber for wheel speeds and steering angle.

Definition at line 12 of file eufs.hpp.

◆ _perception_detections_subscription_

rclcpp::Subscription<eufs_msgs::msg::ConeArrayWithCovariance>::SharedPtr EufsAdapter::_perception_detections_subscription_

private

Subscriber for simulated perception detections.

Definition at line 10 of file eufs.hpp.

◆ control_pub_

rclcpp::Publisher<ackermann_msgs::msg::AckermannDriveStamped>::SharedPtr EufsAdapter::control_pub_

private

Definition at line 16 of file eufs.hpp.

◆ eufs_ebs_client_

rclcpp::Client< eufs_msgs::srv::SetCanState >::SharedPtr EufsAdapter::eufs_ebs_client_

private

Definition at line 15 of file eufs.hpp.

◆ eufs_map_publisher_

rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr EufsAdapter::eufs_map_publisher_

private

Definition at line 13 of file eufs.hpp.

◆ eufs_map_subscription_

rclcpp::Subscription<eufs_msgs::msg::ConeArrayWithCovariance>::SharedPtr EufsAdapter::eufs_map_subscription_

private

Definition at line 12 of file eufs.hpp.

◆ eufs_mission_state_client_

rclcpp::Client< eufs_msgs::srv::SetCanState >::SharedPtr EufsAdapter::eufs_mission_state_client_

private

Definition at line 14 of file eufs.hpp.

◆ eufs_pose_subscription_

rclcpp::Subscription<eufs_msgs::msg::CarState>::SharedPtr EufsAdapter::eufs_pose_subscription_

private

Definition at line 11 of file eufs.hpp.

◆ eufs_state_subscription_

rclcpp::Subscription< eufs_msgs::msg::CanState >::SharedPtr EufsAdapter::eufs_state_subscription_

private

Definition at line 13 of file eufs.hpp.

◆ vehicle_pose_sub_

rclcpp::Subscription<eufs_msgs::msg::CarState>::SharedPtr EufsAdapter::vehicle_pose_sub_

private

Definition at line 17 of file eufs.hpp.

The documentation for this class was generated from the following files:

src/control/include/adapter/eufs.hpp
src/ekf_state_est/include/adapter_ekf_state_est/eufs.hpp
src/planning/include/adapter_planning/eufs.hpp
src/control/src/adapter/eufs.cpp
src/ekf_state_est/src/adapter_ekf_state_est/eufs.cpp
src/planning/src/adapter_planning/eufs.cpp

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ EufsAdapter() [1/3]

◆ EufsAdapter() [2/3]

◆ EufsAdapter() [3/3]

Member Function Documentation

◆ finish() [1/2]

◆ finish() [2/2]

◆ map_callback()

◆ mission_state_callback() [1/2]

◆ mission_state_callback() [2/2]

◆ perception_detections_subscription_callback()

◆ pose_callback()

◆ publish_command()

◆ set_mission_state()

◆ vehicle_state_callback()

◆ wheel_speeds_subscription_callback()

Member Data Documentation

◆ _eufs_wheel_speeds_subscription_

◆ _perception_detections_subscription_

◆ control_pub_

◆ eufs_ebs_client_

◆ eufs_map_publisher_

◆ eufs_map_subscription_

◆ eufs_mission_state_client_

◆ eufs_pose_subscription_

◆ eufs_state_subscription_

◆ vehicle_pose_sub_