Adapter class to interface with the Pacsim simulator for SLAM. More...

#include <pacsim.hpp>

Inheritance diagram for PacsimAdapter:

Collaboration diagram for PacsimAdapter:

Public Member Functions
	PacsimAdapter (std::shared_ptr< SENode > se_node)

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

	PacsimAdapter (const SLAMParameters &params)
	Constructor of the pacsim adapter node.

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

	PacsimAdapter (const VEParameters &parameters)

void	imu_callback (const sensor_msgs::msg::Imu::SharedPtr msg)
	callback that gets called when the IMU data is received

void	wss_callback (const pacsim::msg::Wheels::SharedPtr msg)
	callback that gets called when the wheel speeds are received

void	steering_angle_callback (const pacsim::msg::StampedScalar::SharedPtr msg)
	callback that gets called when the steering angle is received

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 SLAMNode
	SLAMNode (const SLAMParameters &params)
	Constructor that uses the parameters structure.

void	init ()
	Initialize functions @description This method is used to initialize things that require the constructed node.

Public Member Functions inherited from VENode
	VENode (const VEParameters &parameters)

Private Types
using	WheelSteerPolicy = message_filters::sync_policies::ApproximateTime< pacsim::msg::Wheels, pacsim::msg::StampedScalar >
	Policy for synchronizing wheel speeds and steering angle.

Private Member Functions
void	wheel_speeds_subscription_callback (const pacsim::msg::Wheels &wheels_msg, const pacsim::msg::StampedScalar &steering_angle_msg)
	Wheel speed subscription callback, which receives both wheel speeds and steering angle through a synchronizer message filter.

void	perception_detections_subscription_callback (const pacsim::msg::PerceptionDetections &msg)
	Callback for simulated perception detections from pacsim.

void	_pacsim_perception_subscription_callback (const pacsim::msg::PerceptionDetections &msg)
	Callback for simulated perception detections from pacsim.

void	_pacsim_velocities_subscription_callback (const geometry_msgs::msg::TwistWithCovarianceStamped &msg)
	Callback for simulated velocities from pacsim.

void	_pacsim_imu_subscription_callback (const sensor_msgs::msg::Imu &msg)
	Callback for simulated IMU data from pacsim.

void	fetch_discipline ()
	Fetches the mission from the parameters.

Private Attributes
message_filters::Subscriber< pacsim::msg::Wheels >	_pacsim_wheel_speeds_subscription_
	Subscriber for wheel speeds.

message_filters::Subscriber< pacsim::msg::StampedScalar >	_steering_angle_subscription_
	Subscriber for steering angle.

std::shared_ptr< message_filters::Synchronizer< WheelSteerPolicy > >	_sync_
	Synchronizer for wheel speeds and steering angle.

rclcpp::Subscription< pacsim::msg::PerceptionDetections >::SharedPtr	_perception_detections_subscription_
	Subscriber for simulated perception detections.

rclcpp::Client< std_srvs::srv::Empty >::SharedPtr	_finished_client_
	Client for finished signal.

rclcpp::Subscription< geometry_msgs::msg::TwistWithCovarianceStamped >::SharedPtr	_velocities_subscription_
	Subscriber for simulated velocities.

rclcpp::Subscription< sensor_msgs::msg::Imu >::SharedPtr	_imu_subscription_
	Subscriber for simulated IMU data.

rclcpp::Client< rcl_interfaces::srv::GetParameters >::SharedPtr	param_client_

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

rclcpp::Subscription< pacsim::msg::Wheels >::SharedPtr	wheel_speeds_sub_

rclcpp::Subscription< pacsim::msg::StampedScalar >::SharedPtr	_steering_angle_sub_

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

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

Protected Member Functions inherited from SLAMNode
void	_perception_subscription_callback (const custom_interfaces::msg::PerceptionOutput &msg)
	Callback that updates everytime information is received from the perception module.

void	_velocities_subscription_callback (const custom_interfaces::msg::Velocities &msg)
	Callback that updates everytime information is received from velocity estimation node.

void	_imu_subscription_callback (const sensor_msgs::msg::Imu &msg)
	Callback that updates everytime information is received from the IMU.

void	_publish_vehicle_pose ()
	publishes the localization ('vehicle_pose') to the topic vehicle_pose

void	_publish_map ()
	publishes the map ('track_map') to the topic track_map

void	_publish_associations ()
	Publishes the visualization of the associations by data association.

void	_publish_covariance ()
	publishes the covariance of the state

void	_publish_lap_counter ()
	publishes the lap counter

bool	_is_mission_finished ()
	Checks if the mission is finished.

Protected Member Functions inherited from VENode
void	publish_velocities () const

Protected Attributes inherited from SLAMNode
rclcpp::CallbackGroup::SharedPtr	_callback_group_
	Callback group for subscriptions, used to control if they are concurrent or not.

rclcpp::Subscription< custom_interfaces::msg::PerceptionOutput >::SharedPtr	_perception_subscription_

rclcpp::Subscription< custom_interfaces::msg::Velocities >::SharedPtr	_velocities_subscription_

rclcpp::Publisher< custom_interfaces::msg::Pose >::SharedPtr	_vehicle_pose_publisher_

rclcpp::Publisher< custom_interfaces::msg::ConeArray >::SharedPtr	_map_publisher_

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

rclcpp::Publisher< visualization_msgs::msg::Marker >::SharedPtr	_position_visualization_publisher_
	Publishes the vehicle position.

rclcpp::Publisher< visualization_msgs::msg::MarkerArray >::SharedPtr	_trajectory_visualization_publisher_
	Publishes full vehicle trajectory.

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

rclcpp::Publisher< std_msgs::msg::Float64MultiArray >::SharedPtr	_execution_time_publisher_

rclcpp::Publisher< std_msgs::msg::Float64MultiArray >::SharedPtr	_covariance_publisher_
	Publishes the covariance of the pose.

rclcpp::Publisher< std_msgs::msg::Float64 >::SharedPtr	_lap_counter_publisher_

rclcpp::Publisher< std_msgs::msg::Float64 >::SharedPtr	_perception_delta_publisher_

rclcpp::Time	_last_perception_message_time_ = rclcpp::Time(0)

rclcpp::CallbackGroup::SharedPtr	_parallel_callback_group_

std::shared_mutex	mutex_

std::shared_ptr< tf2_ros::TransformBroadcaster >	_tf_broadcaster_

rclcpp::TimerBase::SharedPtr	_timer_
	timer

std::shared_ptr< SLAMSolver >	_slam_solver_
	SLAM solver object.

std::vector< common_lib::structures::Cone >	_perception_map_

common_lib::structures::Velocities	_vehicle_state_velocities_

std::vector< common_lib::structures::Cone >	_track_map_

Eigen::VectorXi	_associations_

Eigen::VectorXd	_observations_global_
	Global observations of the cones.

Eigen::VectorXd	_map_coordinates_
	Coordinates of the cones in the map.

common_lib::structures::Pose	_vehicle_pose_

std::shared_ptr< std::vector< double > >	_execution_times_

common_lib::competition_logic::Mission	_mission_ = common_lib::competition_logic::Mission::NONE

bool	_go_ = true

std::string	_adapter_name_
	flag to start the mission

std::string	_vehicle_frame_id_
	Frame id of the vehicle for the transform.

SLAMParameters	_params_

Protected Attributes inherited from VENode
VEParameters	_parameters_

std::shared_ptr< VelocityEstimator >	_velocity_estimator_

rclcpp::Publisher< custom_interfaces::msg::Velocities >::SharedPtr	_velocities_pub_

Detailed Description

Adapter class to interface with the Pacsim simulator for SLAM.

Adapter class for the pacsim simulator.

This class subscribes to the necessary topics from Pacsim and adapts the data for use in the SLAM node

This class subscribes to the IMU, wheel speeds, and steering angle topics published by the pacsim simulator. It then passes the data to the velocity estimator for processing.

Definition at line 17 of file pacsim.hpp.

Member Typedef Documentation

◆ WheelSteerPolicy

using PacsimAdapter::WheelSteerPolicy = message_filters::sync_policies::ApproximateTime< pacsim::msg::Wheels, pacsim::msg::StampedScalar>

private

Policy for synchronizing wheel speeds and steering angle.

Definition at line 23 of file pacsim.hpp.

Constructor & Destructor Documentation

◆ PacsimAdapter() [1/3]

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

explicit

Definition at line 10 of file pacsim.cpp.

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◆ PacsimAdapter() [2/3]

PacsimAdapter::PacsimAdapter ( const SLAMParameters & params )

Constructor of the pacsim adapter node.

Definition at line 10 of file pacsim.cpp.

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◆ PacsimAdapter() [3/3]

PacsimAdapter::PacsimAdapter ( const VEParameters & parameters )

explicit

Definition at line 3 of file pacsim_adapter.cpp.

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Member Function Documentation

◆ _pacsim_imu_subscription_callback()

void PacsimAdapter::_pacsim_imu_subscription_callback ( const sensor_msgs::msg::Imu & msg )

private

Callback for simulated IMU data from pacsim.

Parameters

msg	Message containing the IMU data of the vehicle

Definition at line 135 of file pacsim.cpp.

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◆ _pacsim_perception_subscription_callback()

void PacsimAdapter::_pacsim_perception_subscription_callback ( const pacsim::msg::PerceptionDetections & msg )

private

Callback for simulated perception detections from pacsim.

Parameters

msg	Message containing the array of perceived detections

Definition at line 98 of file pacsim.cpp.

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◆ _pacsim_velocities_subscription_callback()

void PacsimAdapter::_pacsim_velocities_subscription_callback ( const geometry_msgs::msg::TwistWithCovarianceStamped & msg )

private

Callback for simulated velocities from pacsim.

Parameters

msg	Message containing the velocities of the vehicle

Definition at line 120 of file pacsim.cpp.

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◆ fetch_discipline()

void PacsimAdapter::fetch_discipline ( )

private

Fetches the mission from the parameters.

Definition at line 57 of file pacsim.cpp.

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◆ finish() [1/2]

void PacsimAdapter::finish ( )

finalvirtual

Function that sends the finish signal to the respective node.

Implements Adapter.

Definition at line 41 of file pacsim.cpp.

◆ finish() [2/2]

void PacsimAdapter::finish ( )

overridevirtual

Function that sends the finish signal to the respective node.

Implements Adapter.

◆ imu_callback()

void PacsimAdapter::imu_callback ( const sensor_msgs::msg::Imu::SharedPtr msg )

callback that gets called when the IMU data is received

Definition at line 15 of file pacsim_adapter.cpp.

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◆ perception_detections_subscription_callback()

void PacsimAdapter::perception_detections_subscription_callback ( const pacsim::msg::PerceptionDetections & msg )

private

Callback for simulated perception detections from pacsim.

Parameters

msg	Message containing the array of perceived detections

Definition at line 49 of file pacsim.cpp.

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◆ steering_angle_callback()

void PacsimAdapter::steering_angle_callback ( const pacsim::msg::StampedScalar::SharedPtr msg )

callback that gets called when the steering angle is received

Definition at line 32 of file pacsim_adapter.cpp.

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◆ wheel_speeds_subscription_callback()

void PacsimAdapter::wheel_speeds_subscription_callback	(	const pacsim::msg::Wheels &	wheels_msg,
		const pacsim::msg::StampedScalar &	steering_angle_msg
	)

private

Wheel speed subscription callback, which receives both wheel speeds and steering angle through a synchronizer message filter.

Definition at line 34 of file pacsim.cpp.

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◆ wss_callback()

void PacsimAdapter::wss_callback ( const pacsim::msg::Wheels::SharedPtr msg )

callback that gets called when the wheel speeds are received

Definition at line 22 of file pacsim_adapter.cpp.

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Member Data Documentation

◆ _finished_client_

rclcpp::Client< std_srvs::srv::Empty >::SharedPtr PacsimAdapter::_finished_client_

private

Client for finished signal.

Definition at line 33 of file pacsim.hpp.

◆ _imu_sub_

rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr PacsimAdapter::_imu_sub_

private

Definition at line 17 of file pacsim_adapter.hpp.

◆ _imu_subscription_

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

private

Subscriber for simulated IMU data.

Definition at line 24 of file pacsim.hpp.

◆ _pacsim_wheel_speeds_subscription_

message_filters::Subscriber<pacsim::msg::Wheels> PacsimAdapter::_pacsim_wheel_speeds_subscription_

private

Subscriber for wheel speeds.

Definition at line 19 of file pacsim.hpp.

◆ _perception_detections_subscription_

rclcpp::Subscription< pacsim::msg::PerceptionDetections >::SharedPtr PacsimAdapter::_perception_detections_subscription_

private

Subscriber for simulated perception detections.

Definition at line 30 of file pacsim.hpp.

◆ _steering_angle_sub_

rclcpp::Subscription<pacsim::msg::StampedScalar>::SharedPtr PacsimAdapter::_steering_angle_sub_

private

Definition at line 19 of file pacsim_adapter.hpp.

◆ _steering_angle_subscription_

message_filters::Subscriber<pacsim::msg::StampedScalar> PacsimAdapter::_steering_angle_subscription_

private

Subscriber for steering angle.

Definition at line 21 of file pacsim.hpp.

◆ _sync_

std::shared_ptr<message_filters::Synchronizer<WheelSteerPolicy> > PacsimAdapter::_sync_

private

Synchronizer for wheel speeds and steering angle.

Definition at line 27 of file pacsim.hpp.

◆ _velocities_subscription_

rclcpp::Subscription<geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr PacsimAdapter::_velocities_subscription_

private

Subscriber for simulated velocities.

Definition at line 21 of file pacsim.hpp.

◆ param_client_

rclcpp::Client<rcl_interfaces::srv::GetParameters>::SharedPtr PacsimAdapter::param_client_

private

Definition at line 29 of file pacsim.hpp.

◆ wheel_speeds_sub_

rclcpp::Subscription<pacsim::msg::Wheels>::SharedPtr PacsimAdapter::wheel_speeds_sub_

private

Definition at line 18 of file pacsim_adapter.hpp.

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

src/ekf_state_est/include/adapter_ekf_state_est/pacsim.hpp
src/slam/include/adapter_slam/pacsim.hpp
src/velocity_estimation/include/adapters/pacsim_adapter.hpp
src/ekf_state_est/src/adapter_ekf_state_est/pacsim.cpp
src/slam/src/adapter_slam/pacsim.cpp
src/velocity_estimation/src/adapters/pacsim_adapter.cpp

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ WheelSteerPolicy

Constructor & Destructor Documentation

◆ PacsimAdapter() [1/3]

◆ PacsimAdapter() [2/3]

◆ PacsimAdapter() [3/3]

Member Function Documentation

◆ _pacsim_imu_subscription_callback()

◆ _pacsim_perception_subscription_callback()

◆ _pacsim_velocities_subscription_callback()

◆ fetch_discipline()

◆ finish() [1/2]

◆ finish() [2/2]

◆ imu_callback()

◆ perception_detections_subscription_callback()

◆ steering_angle_callback()

◆ wheel_speeds_subscription_callback()

◆ wss_callback()

Member Data Documentation

◆ _finished_client_

◆ _imu_sub_

◆ _imu_subscription_

◆ _pacsim_wheel_speeds_subscription_

◆ _perception_detections_subscription_

◆ _steering_angle_sub_

◆ _steering_angle_subscription_

◆ _sync_

◆ _velocities_subscription_

◆ param_client_

◆ wheel_speeds_sub_