simulation.src.gazebo_simulation.src.automatic_drive package

Submodules

simulation.src.gazebo_simulation.src.automatic_drive.node module

Classes:

DrivingState(distance_driven, time)
AutomaticDriveNode()	ROS node to drive the car along the right side of the road.

class DrivingState(distance_driven: float, time: float)

Bases: object

Attributes:

distance_driven
time

distance_driven: float

time: float

class AutomaticDriveNode

Bases: NodeBase

ROS node to drive the car along the right side of the road.

Instead of directly modifying the car’s position and speed. The vehicle_simulation’s output is emulated. I.e. the transform from the vehicle to it’s world coordinate system is published and a state_estimation message published.

This enables to use the vehicle_simulation_link_node to move the car and only replace KITcar_brain + vehicle_simulation!

pub_tf

Publishes the new vehicle/world transform.

Type:

rospy.publisher

state_estimation_publisher

Publishes state estimation messages.

Type:

rospy.Publisher

section_proxy

Connection to groundtruth section service.

Type:

rospy.ServiceProxy

lane_proxy

Connection to groundtruth lane service.

Type:

rospy.ServiceProxy

_driving_state

Keep track of time and distance along the road.

Type:

DrivingState

Methods:

start()	Start node.
stop()	Called when deactivating or shutting down the node.
update()	Calculate and publish new car state information.
update_state_estimation(speed, yaw_rate)	Publish new state estimation message.
update_world_vehicle_tf(vehicle_world_tf)	Publish up to date world to vehicle transformation to /tf.

Attributes:

middle_line	Line in the middle of the road.
driving_line	Line where car drives.
speeds

start()

Start node.

stop()

Called when deactivating or shutting down the node.

property middle_line: Line

Line in the middle of the road.

Type:

Line

property driving_line: Tuple[Line, List[List[float]]]

Line where car drives.

And points to stop at.

Type:

Tuple[Line, List[List[float]]]

property speeds

update()

Calculate and publish new car state information.

update_state_estimation(speed: Vector, yaw_rate: float)

Publish new state estimation message.

Parameters:

• speed – Current speed in vehicle coordinates.

• yaw_rate – Yaw rate of the car.

update_world_vehicle_tf(vehicle_world_tf: Transform)

Publish up to date world to vehicle transformation to /tf.

Parameters:

vehicle_world_tf (Transform) – Transformation between vehicle and world frames.

Module contents