simulation.src.simulation_evaluation.src.speaker package

Subpackages

Submodules

simulation.src.simulation_evaluation.src.speaker.node module

ROS node that connects multiple speakers to ROS topics.

Classes:

SpeakerNode()

ROS node that integrates all speakers into the ROS framework.

Functions:

main([args])

Console-script entry point for the speaker node.
class SpeakerNode[source]

Bases: NodeBase

ROS node that integrates all speakers into the ROS framework.

speakers

All speakers with a publisher that publishes messages created by the speaker.

Type:

List[Tuple[Speaker, rclpy.publisher.Publisher]]

subscriber

Receive CarState messages with position and speed of the car.

section_proxy, lane_proxy, parking_proxy, obstacle_proxy, intersection_proxy

Callables wrapping the groundtruth service clients the speakers query.

Methods:

_service_proxy(name, srv_type)

Create a synchronous service-client callable.

start()

Called when activating the node.

stop()

Called when deactivating or shutting down the node.

carstate_cb(msg)

Receive CarState message and pass it to all speakers.

receive_groundtruth_update(msg)

Receive GroundtruthStatus message.

publish_speakers()

Publish the output of all speakers.
_service_proxy(name, srv_type)[source]

Create a synchronous service-client callable.

The returned callable accepts the request’s positional fields (e.g. an id) and returns the service response, matching the rospy.ServiceProxy interface the speakers expect.

start()[source]

Called when activating the node.

stop()[source]

Called when deactivating or shutting down the node.

carstate_cb(msg: CarState)[source]

Receive CarState message and pass it to all speakers.

Parameters:

msg – New CarState message

receive_groundtruth_update(msg: GroundtruthStatus)[source]

Receive GroundtruthStatus message.

Parameters:

msg – New GroundtruthStatus message

publish_speakers()[source]

Publish the output of all speakers.

main(args=None)[source]

Console-script entry point for the speaker node.

Module contents