simulation.src.simulation_brain_link.src.vehicle_simulation_link package

Submodules

simulation.src.simulation_brain_link.src.vehicle_simulation_link.node module

VehicleSimulationLinkNode.

Classes:

VehicleSimulationLinkNode()

ROS node to translate state_estimation messages into movement of the vehicle in Gazebo and provide a simulation to world transformation.

class VehicleSimulationLinkNode

Bases: NodeBase

ROS node to translate state_estimation messages into movement of the vehicle in Gazebo and provide a simulation to world transformation.

Whenever the pose of the vehicle is updated and a new message is received the updated twist is calculated and published.

set_model_twist_publisher

Publishes the new twist on the model plugins set_twist topic.

Type:

rospy.publisher

get_model_pose_subscriber

Receives the current pose of the model in Gazebo.

Type:

rospy.subscriber

state_estimation_subscriber

Receives the state_estimation messages.

Type:

rospy.subscriber

latest_state_estimation

Latest received state estimation message.

Type:

StateEstimationMsg

sub_tf

Receive transformation updates

Type:

rospy.subscriber

pub_tf

Publish updates about the world to simulation transformation

Type:

rospy.publisher

vehicle_world_tf

Transformation between the vehicle and world coordinate frame.

Type:

Transform

Methods:

start()	Start node.
stop()	Called when deactivating or shutting down the node.
receive_model_pose_cb(msg)	Receive new model pose.
state_estimation_cb(msg)	Receive new state estimation.
initial_tf_cb(msg)	Receive initial tf.
update_twist(state_estimation, ...)	Update the vehicle's twist with an update on the model plugins set_twist topic.
update_pose()
receive_tf(tf_msg)	Receive msg from the tf topic and extract the world to vehicle transformation.
update_simulation_world_tf(vehicle_simulation_tf)	Publish up to date simulation to world transformation to /tf.

start()

Start node.

stop()

Called when deactivating or shutting down the node.

receive_model_pose_cb(msg: Pose)

Receive new model pose.

state_estimation_cb(msg: State)

Receive new state estimation.

initial_tf_cb(msg: Transform)

Receive initial tf.

update_twist(state_estimation: State, vehicle_simulation_rotation: Quaternion)

Update the vehicle’s twist with an update on the model plugins set_twist topic.

Parameters:

• state_estimation (StateEstimationMsg) – latest state estimation message

• vehicle_simulation_rotation (Transform) – latest update of the rotation between the simulation and vehicle coordinate frames

update_pose()

receive_tf(tf_msg: TFMessage)

Receive msg from the tf topic and extract the world to vehicle transformation.

update_simulation_world_tf(vehicle_simulation_tf: Transform)

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

Parameters:

vehicle_simulation_tf (Transform) – Transformation between vehicle and simulation frames.

Module contents