Adapter for interfacing with the real vehicle hardware. More...

#include <vehicle.hpp>

Inheritance diagram for VehicleAdapter:

Collaboration diagram for VehicleAdapter:

Public Member Functions
	VehicleAdapter (const ControlParameters &params)

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

void	go_signal_callback (const custom_interfaces::msg::OperationalStatus msg)

	VehicleAdapter (std::shared_ptr< SENode > se_node)

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

	VehicleAdapter (const PlanningParameters &params)

void	mission_state_callback (const custom_interfaces::msg::OperationalStatus &msg)

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

	VehicleAdapter (const SLAMParameters &params)
	Constructor of the vehicle adapter node.

void	_lidar_odometry_subscription_callback (const nav_msgs::msg::Odometry &msg)
	LiDAR odometry subscription callback.

void	finish () override
	Sends the finished signal to the vehicle control.

	VehicleAdapter (const VEParameters &parameters)

void	imu_callback (const geometry_msgs::msg::Vector3Stamped::SharedPtr &free_acceleration_msg, const geometry_msgs::msg::Vector3Stamped::SharedPtr &angular_velocity_msg)
	IMU subscription callback, which receives both free acceleration and angular velocity through a synchronizer message filter.

void	wss_callback (const custom_interfaces::msg::WheelRPM &rl_wheel_rpm_msg, const custom_interfaces::msg::WheelRPM &rr_wheel_rpm_msg)
	Wheel speed subscription callback, which receives both wheel speeds through a synchronizer message filter.

void	steering_angle_callback (const custom_interfaces::msg::SteeringAngle msg)
	Callback for the subscription of the steering angle sensor.

void	resolver_callback (custom_interfaces::msg::WheelRPM msg)
	Callback for the subscription of the resolver which measures the motor RPM.

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.

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	ImuPolicy = message_filters::sync_policies::ApproximateTime< custom_interfaces::msg::ImuData, custom_interfaces::msg::ImuData >
	Policy for synchronizing IMU data.

using	XsensImuPolicy = message_filters::sync_policies::ApproximateTime< geometry_msgs::msg::Vector3Stamped, geometry_msgs::msg::Vector3Stamped >
	Policy for synchronizing Xsens IMU data.

using	WheelSteerPolicy = message_filters::sync_policies::ApproximateTime< custom_interfaces::msg::WheelRPM, custom_interfaces::msg::WheelRPM, custom_interfaces::msg::SteeringAngle >
	Policy for synchronizing wheel speeds and steering angle.

using	XsensImuPolicy = message_filters::sync_policies::ApproximateTime< geometry_msgs::msg::Vector3Stamped, geometry_msgs::msg::Vector3Stamped >
	Policy for synchronizing Xsens IMU data.

using	WheelSSPolicy = message_filters::sync_policies::ApproximateTime< custom_interfaces::msg::WheelRPM, custom_interfaces::msg::WheelRPM >
	Policy for synchronizing wheel speeds.

Private Member Functions
void	wheel_speeds_subscription_callback (const custom_interfaces::msg::WheelRPM &rl_wheel_rpm_msg, const custom_interfaces::msg::WheelRPM &rr_wheel_rpm_msg, const custom_interfaces::msg::SteeringAngle &steering_angle_msg)
	Wheel speed subscription callback, which receives both wheel speeds and steering angle through a synchronizer message filter.

void	imu_subscription_callback (const custom_interfaces::msg::ImuData &roll_accx_data, const custom_interfaces::msg::ImuData &yaw_accy_data)
	IMU subscriptio callback, which receives both roll and yaw acceleration data separately and synchronizes them.

void	xsens_imu_subscription_callback (const geometry_msgs::msg::Vector3Stamped::SharedPtr &free_acceleration_msg, const geometry_msgs::msg::Vector3Stamped::SharedPtr &angular_velocity_msg)
	Xsens IMU subscription callback, which receives both free acceleration and angular velocity data separately and synchronizes them to then call State Estimation node's IMU callback.

Private Attributes
rclcpp::Subscription< custom_interfaces::msg::OperationalStatus >::SharedPtr	go_sub_
	Subscription for the go signal from the operational status, which activates the controller when true.

rclcpp::Publisher< custom_interfaces::msg::ControlCommand >::SharedPtr	control_pub_

message_filters::Subscriber< custom_interfaces::msg::WheelRPM >	_rl_wheel_rpm_subscription_
	Subscriber for rl wheel rpm.

message_filters::Subscriber< custom_interfaces::msg::WheelRPM >	_rr_wheel_rpm_subscription_
	Subscriber for rr wheel rpm.

message_filters::Subscriber< custom_interfaces::msg::SteeringAngle >	_steering_angle_subscription_
	Subscriber for steering angle.

rclcpp::Subscription< custom_interfaces::msg::OperationalStatus >::SharedPtr	_operational_status_subscription_
	Subscriber for operational status.

message_filters::Subscriber< geometry_msgs::msg::Vector3Stamped >	_free_acceleration_subscription_

message_filters::Subscriber< geometry_msgs::msg::Vector3Stamped >	_angular_velocity_subscription_

message_filters::Subscriber< custom_interfaces::msg::ImuData >	_roll_accx_imu_subscription_

message_filters::Subscriber< custom_interfaces::msg::ImuData >	_yaw_accy_imu_subscription_

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

std::shared_ptr< message_filters::Synchronizer< ImuPolicy > >	_imu_sync_

std::shared_ptr< message_filters::Synchronizer< XsensImuPolicy > >	_xsens_imu_sync_

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

rclcpp::Subscription< custom_interfaces::msg::OperationalStatus >::SharedPtr	mission_subscription_

rclcpp::Subscription< nav_msgs::msg::Odometry >::SharedPtr	_lidar_odometry_subscription_

std::shared_ptr< tf2_ros::StaticTransformBroadcaster >	_tf_static_broadcaster_
	Static transform broadcaster.

message_filters::Subscriber< custom_interfaces::msg::WheelRPM >	_fl_wheel_rpm_subscription_
	Subscriber for fl wheel rpm.

message_filters::Subscriber< custom_interfaces::msg::WheelRPM >	_fr_wheel_rpm_subscription_
	Subscriber for fr wheel rpm.

std::shared_ptr< message_filters::Synchronizer< WheelSSPolicy > >	_wss_sync_
	Synchronizer for wheel speeds.

rclcpp::Subscription< custom_interfaces::msg::SteeringAngle >::SharedPtr	_steering_angle_sub_

rclcpp::Subscription< custom_interfaces::msg::WheelRPM >::SharedPtr	_resolver_sub_

double	last_decent_fl_wss_reading = 0

double	average_imu_bias = 0.0

int	number_of_imu_readings = 0

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 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 ControlNode
bool	go_signal_ {false}

ControlParameters	params_

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 for interfacing with the real vehicle hardware.

Adapter class for the vehicle.

Adapter class to interface with the vehicle for SLAM.

Works on a publish-subscribe model. Publishes commands to the vehicle in the form of ControlCommand messages and subscribes to OperationalStatus messages to receive a go signal.

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

This class subscribes to the IMU, wheel speed sensors, and steering angle topics published by the vehicle. It then passes the data to the velocity estimator for processing.

Definition at line 15 of file vehicle.hpp.

Member Typedef Documentation

◆ ImuPolicy

using VehicleAdapter::ImuPolicy = message_filters::sync_policies::ApproximateTime< custom_interfaces::msg::ImuData, custom_interfaces::msg::ImuData>

private

Policy for synchronizing IMU data.

Definition at line 35 of file vehicle.hpp.

◆ WheelSSPolicy

using VehicleAdapter::WheelSSPolicy = message_filters::sync_policies::ApproximateTime< custom_interfaces::msg::WheelRPM, custom_interfaces::msg::WheelRPM>

private

Policy for synchronizing wheel speeds.

Definition at line 34 of file vehicle_adapter.hpp.

◆ WheelSteerPolicy

using VehicleAdapter::WheelSteerPolicy = message_filters::sync_policies::ApproximateTime< custom_interfaces::msg::WheelRPM, custom_interfaces::msg::WheelRPM, custom_interfaces::msg::SteeringAngle>

private

Policy for synchronizing wheel speeds and steering angle.

Definition at line 41 of file vehicle.hpp.

◆ XsensImuPolicy [1/2]

using VehicleAdapter::XsensImuPolicy = message_filters::sync_policies::ApproximateTime< geometry_msgs::msg::Vector3Stamped, geometry_msgs::msg::Vector3Stamped>

private

Policy for synchronizing Xsens IMU data.

Definition at line 38 of file vehicle.hpp.

◆ XsensImuPolicy [2/2]

using VehicleAdapter::XsensImuPolicy = message_filters::sync_policies::ApproximateTime< geometry_msgs::msg::Vector3Stamped, geometry_msgs::msg::Vector3Stamped>

private

Policy for synchronizing Xsens IMU data.

Definition at line 31 of file vehicle_adapter.hpp.

Constructor & Destructor Documentation

◆ VehicleAdapter() [1/5]

VehicleAdapter::VehicleAdapter ( const ControlParameters & params )

explicit

Definition at line 3 of file vehicle.cpp.

◆ VehicleAdapter() [2/5]

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

explicit

Definition at line 6 of file vehicle.cpp.

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◆ VehicleAdapter() [3/5]

VehicleAdapter::VehicleAdapter ( const PlanningParameters & params )

explicit

Definition at line 5 of file vehicle.cpp.

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◆ VehicleAdapter() [4/5]

VehicleAdapter::VehicleAdapter ( const SLAMParameters & params )

Constructor of the vehicle adapter node.

Definition at line 13 of file vehicle.cpp.

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◆ VehicleAdapter() [5/5]

VehicleAdapter::VehicleAdapter ( const VEParameters & parameters )

explicit

Definition at line 3 of file vehicle_adapter.cpp.

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Member Function Documentation

◆ _lidar_odometry_subscription_callback()

void VehicleAdapter::_lidar_odometry_subscription_callback ( const nav_msgs::msg::Odometry & msg )

LiDAR odometry subscription callback.

Parameters

msg	Pose estimated by the LiDAR odometry

Definition at line 77 of file vehicle.cpp.

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◆ finish() [1/3]

void VehicleAdapter::finish ( )

finalvirtual

Function that sends the finish signal to the respective node.

Implements Adapter.

Definition at line 76 of file vehicle.cpp.

◆ finish() [2/3]

void VehicleAdapter::finish ( )

overridevirtual

Function that sends the finish signal to the respective node.

Implements Adapter.

◆ finish() [3/3]

void VehicleAdapter::finish ( )

overridevirtual

Sends the finished signal to the vehicle control.

Implements Adapter.

◆ go_signal_callback()

void VehicleAdapter::go_signal_callback ( const custom_interfaces::msg::OperationalStatus msg )

Definition at line 25 of file vehicle.cpp.

◆ imu_callback()

void VehicleAdapter::imu_callback	(	const geometry_msgs::msg::Vector3Stamped::SharedPtr &	free_acceleration_msg,
		const geometry_msgs::msg::Vector3Stamped::SharedPtr &	angular_velocity_msg
	)

IMU subscription callback, which receives both free acceleration and angular velocity through a synchronizer message filter.

Definition at line 47 of file vehicle_adapter.cpp.

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◆ imu_subscription_callback()

void VehicleAdapter::imu_subscription_callback	(	const custom_interfaces::msg::ImuData &	roll_accx_data,
		const custom_interfaces::msg::ImuData &	yaw_accy_data
	)

private

IMU subscriptio callback, which receives both roll and yaw acceleration data separately and synchronizes them.

Parameters

roll_accx_data	roll and acceleration in x axis data
yaw_accy_data	yaw and acceleration in y axis data

Definition at line 55 of file vehicle.cpp.

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◆ mission_state_callback()

void VehicleAdapter::mission_state_callback ( const custom_interfaces::msg::OperationalStatus & msg )

Definition at line 13 of file vehicle.cpp.

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◆ publish_command()

void VehicleAdapter::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 13 of file vehicle.cpp.

◆ resolver_callback()

void VehicleAdapter::resolver_callback ( custom_interfaces::msg::WheelRPM msg )

Callback for the subscription of the resolver which measures the motor RPM.

Definition at line 66 of file vehicle_adapter.cpp.

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◆ steering_angle_callback()

void VehicleAdapter::steering_angle_callback ( const custom_interfaces::msg::SteeringAngle msg )

Callback for the subscription of the steering angle sensor.

Definition at line 42 of file vehicle_adapter.cpp.

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◆ wheel_speeds_subscription_callback()

void VehicleAdapter::wheel_speeds_subscription_callback	(	const custom_interfaces::msg::WheelRPM &	rl_wheel_rpm_msg,
		const custom_interfaces::msg::WheelRPM &	rr_wheel_rpm_msg,
		const custom_interfaces::msg::SteeringAngle &	steering_angle_msg
	)

private

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

Definition at line 44 of file vehicle.cpp.

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◆ wss_callback()

void VehicleAdapter::wss_callback	(	const custom_interfaces::msg::WheelRPM &	rl_wheel_rpm_msg,
		const custom_interfaces::msg::WheelRPM &	rr_wheel_rpm_msg
	)

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

Definition at line 27 of file vehicle_adapter.cpp.

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◆ xsens_imu_subscription_callback()

void VehicleAdapter::xsens_imu_subscription_callback	(	const geometry_msgs::msg::Vector3Stamped::SharedPtr &	free_acceleration_msg,
		const geometry_msgs::msg::Vector3Stamped::SharedPtr &	angular_velocity_msg
	)

private

Xsens IMU subscription callback, which receives both free acceleration and angular velocity data separately and synchronizes them to then call State Estimation node's IMU callback.

Parameters

free_acceleration_msg	acceleration without gravity in x, y and z axis
angular_velocity_msg	angular velocity around x, y and z axis

Definition at line 65 of file vehicle.cpp.

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Member Data Documentation

◆ _angular_velocity_subscription_

message_filters::Subscriber< geometry_msgs::msg::Vector3Stamped > VehicleAdapter::_angular_velocity_subscription_

private

Definition at line 30 of file vehicle.hpp.

◆ _finished_client_

rclcpp::Client< std_srvs::srv::Trigger >::SharedPtr VehicleAdapter::_finished_client_

private

Client for finished signal.

Definition at line 53 of file vehicle.hpp.

◆ _fl_wheel_rpm_subscription_

message_filters::Subscriber<custom_interfaces::msg::WheelRPM> VehicleAdapter::_fl_wheel_rpm_subscription_

private

Subscriber for fl wheel rpm.

Definition at line 25 of file vehicle_adapter.hpp.

◆ _fr_wheel_rpm_subscription_

message_filters::Subscriber<custom_interfaces::msg::WheelRPM> VehicleAdapter::_fr_wheel_rpm_subscription_

private

Subscriber for fr wheel rpm.

Definition at line 27 of file vehicle_adapter.hpp.

◆ _free_acceleration_subscription_

message_filters::Subscriber< geometry_msgs::msg::Vector3Stamped > VehicleAdapter::_free_acceleration_subscription_

private

Definition at line 29 of file vehicle.hpp.

◆ _imu_sync_

std::shared_ptr<message_filters::Synchronizer<ImuPolicy> > VehicleAdapter::_imu_sync_

private

Definition at line 48 of file vehicle.hpp.

◆ _lidar_odometry_subscription_

rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr VehicleAdapter::_lidar_odometry_subscription_

private

Definition at line 20 of file vehicle.hpp.

◆ _operational_status_subscription_

rclcpp::Subscription< custom_interfaces::msg::OperationalStatus >::SharedPtr VehicleAdapter::_operational_status_subscription_

private

Subscriber for operational status.

Definition at line 27 of file vehicle.hpp.

◆ _resolver_sub_

rclcpp::Subscription<custom_interfaces::msg::WheelRPM>::SharedPtr VehicleAdapter::_resolver_sub_

private

Definition at line 43 of file vehicle_adapter.hpp.

◆ _rl_wheel_rpm_subscription_

message_filters::Subscriber<custom_interfaces::msg::WheelRPM> VehicleAdapter::_rl_wheel_rpm_subscription_

private

Subscriber for rl wheel rpm.

Definition at line 21 of file vehicle.hpp.

◆ _roll_accx_imu_subscription_

message_filters::Subscriber<custom_interfaces::msg::ImuData> VehicleAdapter::_roll_accx_imu_subscription_

private

Definition at line 32 of file vehicle.hpp.

◆ _rr_wheel_rpm_subscription_

message_filters::Subscriber<custom_interfaces::msg::WheelRPM> VehicleAdapter::_rr_wheel_rpm_subscription_

private

Subscriber for rr wheel rpm.

Definition at line 23 of file vehicle.hpp.

◆ _steering_angle_sub_

rclcpp::Subscription<custom_interfaces::msg::SteeringAngle>::SharedPtr VehicleAdapter::_steering_angle_sub_

private

Definition at line 41 of file vehicle_adapter.hpp.

◆ _steering_angle_subscription_

message_filters::Subscriber<custom_interfaces::msg::SteeringAngle> VehicleAdapter::_steering_angle_subscription_

private

Subscriber for steering angle.

Definition at line 25 of file vehicle.hpp.

◆ _sync_

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

private

Synchronizer for wheel speeds and steering angle.

Definition at line 46 of file vehicle.hpp.

◆ _tf_static_broadcaster_

std::shared_ptr<tf2_ros::StaticTransformBroadcaster> VehicleAdapter::_tf_static_broadcaster_

private

Static transform broadcaster.

Definition at line 26 of file vehicle.hpp.

◆ _wss_sync_

std::shared_ptr<message_filters::Synchronizer<WheelSSPolicy> > VehicleAdapter::_wss_sync_

private

Synchronizer for wheel speeds.

Definition at line 38 of file vehicle_adapter.hpp.

◆ _xsens_imu_sync_

std::shared_ptr< message_filters::Synchronizer< XsensImuPolicy > > VehicleAdapter::_xsens_imu_sync_

private

Definition at line 50 of file vehicle.hpp.

◆ _yaw_accy_imu_subscription_

message_filters::Subscriber<custom_interfaces::msg::ImuData> VehicleAdapter::_yaw_accy_imu_subscription_

private

Definition at line 33 of file vehicle.hpp.

◆ average_imu_bias

double VehicleAdapter::average_imu_bias = 0.0

private

Definition at line 46 of file vehicle_adapter.hpp.

◆ control_pub_

rclcpp::Publisher<custom_interfaces::msg::ControlCommand>::SharedPtr VehicleAdapter::control_pub_

private

Definition at line 24 of file vehicle.hpp.

◆ go_sub_

rclcpp::Subscription<custom_interfaces::msg::OperationalStatus>::SharedPtr VehicleAdapter::go_sub_

private

Subscription for the go signal from the operational status, which activates the controller when true.

Definition at line 22 of file vehicle.hpp.

◆ last_decent_fl_wss_reading

double VehicleAdapter::last_decent_fl_wss_reading = 0

private

Definition at line 45 of file vehicle_adapter.hpp.

◆ mission_subscription_

rclcpp::Subscription<custom_interfaces::msg::OperationalStatus>::SharedPtr VehicleAdapter::mission_subscription_

private

Definition at line 8 of file vehicle.hpp.

◆ number_of_imu_readings

int VehicleAdapter::number_of_imu_readings = 0

private

Definition at line 47 of file vehicle_adapter.hpp.

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

src/control/include/adapter/vehicle.hpp
src/ekf_state_est/include/adapter_ekf_state_est/vehicle.hpp
src/velocity_estimation/include/adapters/vehicle_adapter.hpp
src/planning/include/adapter_planning/vehicle.hpp
src/slam/include/adapter_slam/vehicle.hpp
src/control/src/adapter/vehicle.cpp
src/ekf_state_est/src/adapter_ekf_state_est/vehicle.cpp
src/planning/src/adapter_planning/vehicle.cpp
src/slam/src/adapter_slam/vehicle.cpp
src/velocity_estimation/src/adapters/vehicle_adapter.cpp

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ImuPolicy

◆ WheelSSPolicy

◆ WheelSteerPolicy

◆ XsensImuPolicy [1/2]

◆ XsensImuPolicy [2/2]

Constructor & Destructor Documentation

◆ VehicleAdapter() [1/5]

◆ VehicleAdapter() [2/5]

◆ VehicleAdapter() [3/5]

◆ VehicleAdapter() [4/5]

◆ VehicleAdapter() [5/5]

Member Function Documentation

◆ _lidar_odometry_subscription_callback()

◆ finish() [1/3]

◆ finish() [2/3]

◆ finish() [3/3]

◆ go_signal_callback()

◆ imu_callback()

◆ imu_subscription_callback()

◆ mission_state_callback()

◆ publish_command()

◆ resolver_callback()

◆ steering_angle_callback()

◆ wheel_speeds_subscription_callback()

◆ wss_callback()

◆ xsens_imu_subscription_callback()

Member Data Documentation

◆ _angular_velocity_subscription_

◆ _finished_client_

◆ _fl_wheel_rpm_subscription_

◆ _fr_wheel_rpm_subscription_

◆ _free_acceleration_subscription_

◆ _imu_sync_

◆ _lidar_odometry_subscription_

◆ _operational_status_subscription_

◆ _resolver_sub_

◆ _rl_wheel_rpm_subscription_

◆ _roll_accx_imu_subscription_

◆ _rr_wheel_rpm_subscription_

◆ _steering_angle_sub_

◆ _steering_angle_subscription_

◆ _sync_

◆ _tf_static_broadcaster_

◆ _wss_sync_

◆ _xsens_imu_sync_

◆ _yaw_accy_imu_subscription_

◆ average_imu_bias

◆ control_pub_

◆ go_sub_

◆ last_decent_fl_wss_reading

◆ mission_subscription_

◆ number_of_imu_readings