sim_sample_actuator_ros_tool

Sample actuator module for a vehicle in the simulation framework.

actuator_single_track_model

• computes a DeltaTrajectory from motion_state and the control inputs steering angle and acceleration, based on the single track model, considering a deadtime.

Installation

• this package is part of the simulation framework
• see coincarsim_getting_started for installation and more details

Usage

• started within the a vehicle launchfile of the simulation_initialization_ros_tool

Parameters

• parameters that need to be passed to the launchfile sample_actuator.launch:

  • vehicle_id: Id of the vehicle, needs to be unique within the framework

  • vehicle_ns: Namespace of the vehicle, needs to be unique within the framework

  • objects_ground_truth_topic_with_ns: Topic under which the ground truth states of the objects are received

  • steering_angle_in_topic: Topic under which the current steering angle is received

  • acceleration_in_topic: Topic under which the current acceleration is received

  • desired_motion_topic_with_ns: Topic under which the desired motion of the vehicle is published

  • vehicle_parameter_file: Path to the file that contains the parameters for the single track model

• parameters that can be dynamically reconfigured

  • horizon_t: Time horizon for motion calculation [s]
  • delay_steering: Steering time delay [s]
  • delay_acceleration: Acceleration time delay [s]
  • actuator_frequency: Actuator frequency [Hz]

Contribution

• fork this repo
• implement your own vehicle model
• ensure that
  • $(arg desired_motion_topic_with_ns) is published
  • all internal ROS communication stays within the perception namespace

Contributors

Nick Engelhardt, Maximilian Naumann, Sascha Wirges

License

This package is distributed under the 3-Clause BSD License, see LICENSE.