Class representing the main speed_est node responsible for publishing the calculated vehicle state with speed and the map. More...

#include <se_node.hpp>

Inheritance diagram for SENode:

Collaboration diagram for SENode:

Public Member Functions
	SENode ()
	Constructor of the main node, most things are received by launch parameter.

Private Member Functions
void	_perception_subscription_callback (const custom_interfaces::msg::ConeArray &msg)
	Callback that updates everytime information is received from the perception module.

void	_imu_subscription_callback (const sensor_msgs::msg::Imu &imu_msg)
	Function to be called everytime information is received from the IMU.

void	_wheel_speeds_subscription_callback (double rl_speed, double rr_speed, double fl_speed, double fr_speed, double steering_angle, const rclcpp::Time &timestamp)
	Function to be called everytime information is received from the wheel encoders.

void	_update_and_publish ()
	Executes:

void	_publish_vehicle_state ()
	publishes the localization ('vehicle_localization') to the topic vehicle_location

void	_publish_vehicle_state_wss ()
	publishes the localization ('vehicle_localization') to the topic vehicle_location

void	_publish_vehicle_state_imu ()
	publishes the localization ('vehicle_localization') to the topic vehicle_location

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

void	_ekf_step ()
	executes the prediction step of the EKF

Private Attributes
rclcpp::Subscription< custom_interfaces::msg::ConeArray >::SharedPtr	_perception_subscription_

rclcpp::Publisher< custom_interfaces::msg::VehicleState >::SharedPtr	_vehicle_state_publisher_

rclcpp::Publisher< custom_interfaces::msg::VehicleState >::SharedPtr	_vehicle_state_publisher_wss_

rclcpp::Publisher< custom_interfaces::msg::VehicleState >::SharedPtr	_vehicle_state_publisher_imu_

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

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

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

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

rclcpp::TimerBase::SharedPtr	_timer_
	timer

std::shared_ptr< ExtendedKalmanFilter >	_ekf_
	SLAM EKF object.

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

std::shared_ptr< MotionUpdate >	_motion_update_

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

std::shared_ptr< common_lib::structures::VehicleState >	_vehicle_state_

common_lib::competition_logic::Mission	_mission_

rclcpp::Publisher< visualization_msgs::msg::Marker >::SharedPtr	_position_publisher_

rclcpp::Publisher< visualization_msgs::msg::Marker >::SharedPtr	_car_model_publisher_

bool	_go_

bool	_use_odometry_
	flag to start the mission

bool	_use_simulated_perception_

std::string	_adapter_name_

std::shared_ptr< Adapter >	_adapter_

std::mutex	_mutex_

std::shared_ptr< common_lib::car_parameters::CarParameters >	_car_parameters_ = std::make_shared<common_lib::car_parameters::CarParameters>()
	Mutex used to lock EKF access.

Friends
class	Adapter

class	EufsAdapter

class	FsdsAdapter

class	PacsimAdapter

class	VehicleAdapter

Detailed Description

Class representing the main speed_est node responsible for publishing the calculated vehicle state with speed and the map.

As well as, subscribing and interpreting information, such as the cone's position and colors, from the perception module.

Definition at line 33 of file se_node.hpp.

Constructor & Destructor Documentation

◆ SENode()

SENode::SENode ( )

Constructor of the main node, most things are received by launch parameter.

Definition at line 24 of file se_node.cpp.

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Member Function Documentation

◆ _ekf_step()

void SENode::_ekf_step ( )

private

executes the prediction step of the EKF

Definition at line 403 of file se_node.cpp.

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◆ _imu_subscription_callback()

void SENode::_imu_subscription_callback ( const sensor_msgs::msg::Imu & imu_msg )

private

Function to be called everytime information is received from the IMU.

Parameters

rotational_velocity
acceleration_x
acceleration_y

Definition at line 141 of file se_node.cpp.

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◆ _perception_subscription_callback()

void SENode::_perception_subscription_callback ( const custom_interfaces::msg::ConeArray & msg )

private

Callback that updates everytime information is received from the perception module.

Parameters

msg	Message containing the array of perceived cones

Definition at line 103 of file se_node.cpp.

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◆ _publish_map()

void SENode::_publish_map ( )

private

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

Definition at line 378 of file se_node.cpp.

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◆ _publish_vehicle_state()

void SENode::_publish_vehicle_state ( )

private

publishes the localization ('vehicle_localization') to the topic vehicle_location

Definition at line 252 of file se_node.cpp.

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◆ _publish_vehicle_state_imu()

void SENode::_publish_vehicle_state_imu ( )

private

publishes the localization ('vehicle_localization') to the topic vehicle_location

Definition at line 357 of file se_node.cpp.

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◆ _publish_vehicle_state_wss()

void SENode::_publish_vehicle_state_wss ( )

private

publishes the localization ('vehicle_localization') to the topic vehicle_location

Definition at line 277 of file se_node.cpp.

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◆ _update_and_publish()

void SENode::_update_and_publish ( )

private

Executes:

the prediction, validation and discovery steps of the EKF
publication of localization
publication of map

Definition at line 415 of file se_node.cpp.

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◆ _wheel_speeds_subscription_callback()

void SENode::_wheel_speeds_subscription_callback	(	double	rl_speed,
		double	rr_speed,
		double	fl_speed,
		double	fr_speed,
		double	steering_angle,
		const rclcpp::Time &	timestamp
	)

private

Function to be called everytime information is received from the wheel encoders.

Parameters

lb_speed	wheel speeds in rpm
lf_speed	wheel speeds in rpm
rb_speed	wheel speeds in rpm
rf_speed	wheel speeds in rpm
steering_angle	steering angle in radians
timestamp	timestamp of the message

Definition at line 191 of file se_node.cpp.

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Friends And Related Symbol Documentation

◆ Adapter

friend class Adapter

friend

Definition at line 140 of file se_node.hpp.

◆ EufsAdapter

friend class EufsAdapter

friend

Definition at line 141 of file se_node.hpp.

◆ FsdsAdapter

friend class FsdsAdapter

friend

Definition at line 142 of file se_node.hpp.

◆ PacsimAdapter

friend class PacsimAdapter

friend

Definition at line 143 of file se_node.hpp.

◆ VehicleAdapter

friend class VehicleAdapter

friend

Definition at line 144 of file se_node.hpp.

Member Data Documentation

◆ _adapter_

std::shared_ptr<Adapter> SENode::_adapter_

private

Definition at line 55 of file se_node.hpp.

◆ _adapter_name_

std::string SENode::_adapter_name_

private

Definition at line 54 of file se_node.hpp.

◆ _car_model_publisher_

rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr SENode::_car_model_publisher_

private

Definition at line 50 of file se_node.hpp.

◆ _car_parameters_

std::shared_ptr<common_lib::car_parameters::CarParameters> SENode::_car_parameters_ = std::make_shared<common_lib::car_parameters::CarParameters>()

private

Mutex used to lock EKF access.

Definition at line 57 of file se_node.hpp.

◆ _correction_execution_time_publisher_

rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr SENode::_correction_execution_time_publisher_

private

Definition at line 40 of file se_node.hpp.

◆ _ekf_

std::shared_ptr<ExtendedKalmanFilter> SENode::_ekf_

private

SLAM EKF object.

Definition at line 43 of file se_node.hpp.

◆ _go_

bool SENode::_go_

private

Definition at line 51 of file se_node.hpp.

◆ _map_publisher_

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

private

Definition at line 38 of file se_node.hpp.

◆ _mission_

common_lib::competition_logic::Mission SENode::_mission_

private

Definition at line 48 of file se_node.hpp.

◆ _motion_update_

std::shared_ptr<MotionUpdate> SENode::_motion_update_

private

Definition at line 45 of file se_node.hpp.

◆ _mutex_

std::mutex SENode::_mutex_

private

Definition at line 56 of file se_node.hpp.

◆ _perception_map_

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

private

Definition at line 44 of file se_node.hpp.

◆ _perception_subscription_

rclcpp::Subscription<custom_interfaces::msg::ConeArray>::SharedPtr SENode::_perception_subscription_

private

Definition at line 34 of file se_node.hpp.

◆ _position_publisher_

rclcpp::Publisher<visualization_msgs::msg::Marker>::SharedPtr SENode::_position_publisher_

private

Definition at line 49 of file se_node.hpp.

◆ _prediction_execution_time_publisher_

rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr SENode::_prediction_execution_time_publisher_

private

Definition at line 41 of file se_node.hpp.

◆ _timer_

rclcpp::TimerBase::SharedPtr SENode::_timer_

private

timer

Definition at line 42 of file se_node.hpp.

◆ _track_map_

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

private

Definition at line 46 of file se_node.hpp.

◆ _use_odometry_

bool SENode::_use_odometry_

private

flag to start the mission

Definition at line 52 of file se_node.hpp.

◆ _use_simulated_perception_

bool SENode::_use_simulated_perception_

private

Definition at line 53 of file se_node.hpp.

◆ _vehicle_state_

std::shared_ptr<common_lib::structures::VehicleState> SENode::_vehicle_state_

private

Definition at line 47 of file se_node.hpp.

◆ _vehicle_state_publisher_

rclcpp::Publisher<custom_interfaces::msg::VehicleState>::SharedPtr SENode::_vehicle_state_publisher_

private

Definition at line 35 of file se_node.hpp.

◆ _vehicle_state_publisher_imu_

rclcpp::Publisher<custom_interfaces::msg::VehicleState>::SharedPtr SENode::_vehicle_state_publisher_imu_

private

Definition at line 37 of file se_node.hpp.

◆ _vehicle_state_publisher_wss_

rclcpp::Publisher<custom_interfaces::msg::VehicleState>::SharedPtr SENode::_vehicle_state_publisher_wss_

private

Definition at line 36 of file se_node.hpp.

◆ _visualization_map_publisher_

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

private

Definition at line 39 of file se_node.hpp.

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

src/ekf_state_est/include/ros_node/se_node.hpp
src/ekf_state_est/src/ros_node/se_node.cpp

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ SENode()

Member Function Documentation

◆ _ekf_step()

◆ _imu_subscription_callback()

◆ _perception_subscription_callback()

◆ _publish_map()

◆ _publish_vehicle_state()

◆ _publish_vehicle_state_imu()

◆ _publish_vehicle_state_wss()

◆ _update_and_publish()

◆ _wheel_speeds_subscription_callback()

Friends And Related Symbol Documentation

◆ Adapter

◆ EufsAdapter

◆ FsdsAdapter

◆ PacsimAdapter

◆ VehicleAdapter

Member Data Documentation

◆ _adapter_

◆ _adapter_name_

◆ _car_model_publisher_

◆ _car_parameters_

◆ _correction_execution_time_publisher_

◆ _ekf_

◆ _go_

◆ _map_publisher_

◆ _mission_

◆ _motion_update_

◆ _mutex_

◆ _perception_map_

◆ _perception_subscription_

◆ _position_publisher_

◆ _prediction_execution_time_publisher_

◆ _timer_

◆ _track_map_

◆ _use_odometry_

◆ _use_simulated_perception_

◆ _vehicle_state_

◆ _vehicle_state_publisher_

◆ _vehicle_state_publisher_imu_

◆ _vehicle_state_publisher_wss_

◆ _visualization_map_publisher_