Adapter for the PacSim simulator. More...

#include <pacsim.hpp>

Inheritance diagram for PacSimAdapter:

Collaboration diagram for PacSimAdapter:

Public Member Functions
	PacSimAdapter (const ControlParameters &params)

void	_pacsim_gt_pose_callback (const geometry_msgs::msg::TwistWithCovarianceStamped &msg)
	Callback for the pacsim ground truth pose topic, used when using simulated SLAM.

void	_pacsim_gt_velocities_callback (const geometry_msgs::msg::TwistWithCovarianceStamped &msg)
	Callback for the pacsim ground truth velocity topic, used when using simulated velocity estimation.

void	_pacsim_gt_state_vector_callback (const custom_interfaces::msg::VehicleStateVector &msg)
	Callback for the pacsim ground truth state vector topic, used when using simulated full state estimation.

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

	PacSimAdapter (const PlanningParameters &params)

void	set_mission_state ()

void	track_callback (const visualization_msgs::msg::MarkerArray &msg)

void	finish () override
	Called when planning mission is completed.

void	timer_callback ()

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

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< pacsim::msg::StampedScalar >::SharedPtr	steering_pub_

rclcpp::Publisher< pacsim::msg::Wheels >::SharedPtr	throttle_pub_

rclcpp::Subscription< geometry_msgs::msg::TwistWithCovarianceStamped >::SharedPtr	car_velocity_sub_

rclcpp::Subscription< geometry_msgs::msg::TwistWithCovarianceStamped >::SharedPtr	car_pose_sub_

rclcpp::Subscription< custom_interfaces::msg::VehicleStateVector >::SharedPtr	car_state_vector_sub_

rclcpp::Client< std_srvs::srv::Empty >::SharedPtr	finished_client_

rclcpp::Subscription< visualization_msgs::msg::MarkerArray >::SharedPtr	path_sub_

rclcpp::TimerBase::SharedPtr	timer_

std::unique_ptr< tf2_ros::Buffer >	tf_buffer_

std::shared_ptr< tf2_ros::TransformListener >	tf_listener_

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

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 for the PacSim simulator.

Works on a publish-subscribe model.

Definition at line 16 of file pacsim.hpp.

Constructor & Destructor Documentation

◆ PacSimAdapter() [1/2]

PacSimAdapter::PacSimAdapter ( const ControlParameters & params )

explicit

Definition at line 3 of file pacsim.cpp.

Here is the call graph for this function:

◆ PacSimAdapter() [2/2]

PacSimAdapter::PacSimAdapter ( const PlanningParameters & params )

explicit

Definition at line 3 of file pacsim.cpp.

Here is the call graph for this function:

Member Function Documentation

◆ _pacsim_gt_pose_callback()

void PacSimAdapter::_pacsim_gt_pose_callback ( const geometry_msgs::msg::TwistWithCovarianceStamped & msg )

Callback for the pacsim ground truth pose topic, used when using simulated SLAM.

Definition at line 28 of file pacsim.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ _pacsim_gt_state_vector_callback()

void PacSimAdapter::_pacsim_gt_state_vector_callback ( const custom_interfaces::msg::VehicleStateVector & msg )

Callback for the pacsim ground truth state vector topic, used when using simulated full state estimation.

Definition at line 49 of file pacsim.cpp.

Here is the caller graph for this function:

◆ _pacsim_gt_velocities_callback()

void PacSimAdapter::_pacsim_gt_velocities_callback ( const geometry_msgs::msg::TwistWithCovarianceStamped & msg )

Callback for the pacsim ground truth velocity topic, used when using simulated velocity estimation.

Definition at line 39 of file pacsim.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ finish()

void PacSimAdapter::finish ( )

overridevirtual

Called when planning mission is completed.

Implements Planning.

Definition at line 47 of file pacsim.cpp.

◆ publish_command()

void PacSimAdapter::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 54 of file pacsim.cpp.

◆ set_mission_state()

void PacSimAdapter::set_mission_state ( )

Definition at line 43 of file pacsim.cpp.

◆ timer_callback()

void PacSimAdapter::timer_callback ( )

Definition at line 20 of file pacsim.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ track_callback()

void PacSimAdapter::track_callback ( const visualization_msgs::msg::MarkerArray & msg )

Definition at line 55 of file pacsim.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

Member Data Documentation

◆ car_pose_sub_

rclcpp::Subscription<geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr PacSimAdapter::car_pose_sub_

private

Definition at line 24 of file pacsim.hpp.

◆ car_state_vector_sub_

rclcpp::Subscription<custom_interfaces::msg::VehicleStateVector>::SharedPtr PacSimAdapter::car_state_vector_sub_

private

Definition at line 25 of file pacsim.hpp.

◆ car_velocity_sub_

rclcpp::Subscription<geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr PacSimAdapter::car_velocity_sub_

private

Definition at line 23 of file pacsim.hpp.

◆ finished_client_

rclcpp::Client<std_srvs::srv::Empty>::SharedPtr PacSimAdapter::finished_client_

private

Definition at line 21 of file pacsim.hpp.

◆ path_sub_

rclcpp::Subscription<visualization_msgs::msg::MarkerArray>::SharedPtr PacSimAdapter::path_sub_

private

Definition at line 22 of file pacsim.hpp.

◆ steering_pub_

rclcpp::Publisher<pacsim::msg::StampedScalar>::SharedPtr PacSimAdapter::steering_pub_

private

Definition at line 19 of file pacsim.hpp.

◆ tf_buffer_

std::unique_ptr<tf2_ros::Buffer> PacSimAdapter::tf_buffer_

private

Definition at line 25 of file pacsim.hpp.

◆ tf_listener_

std::shared_ptr<tf2_ros::TransformListener> PacSimAdapter::tf_listener_

private

Definition at line 26 of file pacsim.hpp.

◆ throttle_pub_

rclcpp::Publisher<pacsim::msg::Wheels>::SharedPtr PacSimAdapter::throttle_pub_

private

Definition at line 20 of file pacsim.hpp.

◆ timer_

rclcpp::TimerBase::SharedPtr PacSimAdapter::timer_

private

Definition at line 23 of file pacsim.hpp.

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

src/control/include/adapter/pacsim.hpp
src/planning/include/adapter_planning/pacsim.hpp
src/control/src/adapter/pacsim.cpp
src/planning/src/adapter_planning/pacsim.cpp

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PacSimAdapter() [1/2]

◆ PacSimAdapter() [2/2]

Member Function Documentation

◆ _pacsim_gt_pose_callback()

◆ _pacsim_gt_state_vector_callback()

◆ _pacsim_gt_velocities_callback()

◆ finish()

◆ publish_command()

◆ set_mission_state()

◆ timer_callback()

◆ track_callback()

Member Data Documentation

◆ car_pose_sub_

◆ car_state_vector_sub_

◆ car_velocity_sub_

◆ finished_client_

◆ path_sub_

◆ steering_pub_

◆ tf_buffer_

◆ tf_listener_

◆ throttle_pub_

◆ timer_