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virtual_vehicle.py
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virtual_vehicle.py
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import rospy
from math import *
from pyquaternion import Quaternion
from visualization_msgs.msg import Marker
from visualization_msgs.msg import MarkerArray
from ackermann_msgs.msg import AckermannDriveStamped
from std_msgs.msg import Float64MultiArray
from drproj.srv import *
class VirtualVehicle(object):
def __init__(self, state, model, cmd_topic_name, cmd_srv_name, is_ros=True):
# Member
self.state = state
self.model = model
if is_ros:
self.cmd_sub = rospy.Subscriber(cmd_topic_name, AckermannDriveStamped, self.cmd_cb)
self.cmd_srv = rospy.Service(cmd_srv_name, MoveVehicle, self.move_vehicle)
self.reset_srv = rospy.Service('reset_vehicle', ResetVehicle, self.reset_vehicle)
def cmd_cb(self, data):
v = data.drive.speed
steer = data.drive.steering_angle
self.step(v, steer, self.model.config['dt'])
def move_vehicle(self, req):
for _ in range(self.model.config['steps_per_move']):
self.step(req.v, req.steer, self.model.config['dt'])
return MoveVehicleResponse(x=self.state.x, y=self.state.y, yaw=self.state.yaw,
v=req.v, steer=req.steer)
def reset_vehicle_manually(self, state):
self.state.x = state[0]
self.state.y = state[1]
self.state.yaw = state[2]
self.state.v = state[3]
self.state.steer = state[4]
# print('-------------------- reset in virtual vehicle manually --------------------')
def reset_vehicle(self, req):
self.state.x = req.state[0]
self.state.y = req.state[1]
self.state.yaw = req.state[2]
self.state.v = req.state[3]
self.state.steer = req.state[4]
print('-------------------- reset in virtual vehicle --------------------')
return True
def step(self, v, steer, dt):
''' Update the virtual vehicle's state according to the input control.
Arguments
---------
v (float): m/s.
steer (float): degree.
dt (float): s.
'''
self.state = self.model.step(self.state, v, steer, dt)
return self.state
def show(self, topic_name, grid_map):
pub = rospy.Publisher(topic_name, MarkerArray, queue_size=10, latch=True)
# Build marker for center point of rear axis.
center_rear = Marker()
center_rear.id = 0
center_rear.header.frame_id = '/map'
center_rear.type = center_rear.CUBE
center_rear.action = center_rear.ADD
center_rear.pose.position.x = self.state.x
center_rear.pose.position.y = grid_map.max_y * grid_map.resolution - self.state.y
center_rear.pose.position.z = -0.05
center_rear.scale.x = 0.1
center_rear.scale.y = 0.1
center_rear.scale.z = 0.1
center_rear.color.r = 1.0
center_rear.color.a = 1.0
# Build marker for center point of vehicle.
center = Marker()
center.id = 1
center.header.frame_id = '/map'
center.type = center.CUBE
center.action = center.ADD
center.pose.position.x = self.state.x + 0.5 * self.model.config['wheelbase'] * sin(radians(self.state.yaw))
center.pose.position.y = grid_map.max_y * grid_map.resolution - (self.state.y + 0.5 * self.model.config['wheelbase'] * cos(radians(self.state.yaw)))
center.pose.position.z = -0.05
center.scale.x = 0.1
center.scale.y = 0.1
center.scale.z = 0.1
center.color.g = 1.0
center.color.a = 1.0
# Build marker for vehicle.
vehicle = Marker()
vehicle.id = 2
vehicle.header.frame_id = '/map'
vehicle.type = vehicle.CUBE
vehicle.action = vehicle.ADD
vehicle.pose.position.x = self.state.x + 0.5 * self.model.config['wheelbase'] * sin(radians(self.state.yaw))
vehicle.pose.position.y = grid_map.max_y * grid_map.resolution - (self.state.y + 0.5 * self.model.config['wheelbase'] * cos(radians(self.state.yaw)))
vehicle.pose.position.z = 0.005
tmp_qua = Quaternion(axis=[1, 0, 0], angle=radians(self.state.yaw))
vehicle.pose.orientation.x = tmp_qua[0]
vehicle.pose.orientation.y = tmp_qua[1]
vehicle.pose.orientation.z = tmp_qua[2]
vehicle.pose.orientation.w = tmp_qua[3]
vehicle.scale.x = self.model.config['width']
vehicle.scale.y = self.model.config['length']
vehicle.scale.z = 0.01
vehicle.color.b = 1.0
vehicle.color.a = 1.0
# Build message for state.
msg = MarkerArray()
msg.markers.append(center_rear)
msg.markers.append(center)
msg.markers.append(vehicle)
pub.publish(msg)
def pub_vehicle_state(self, topic_name):
pub = rospy.Publisher(topic_name, Float64MultiArray, queue_size=10)
vehicle_state_msg = Float64MultiArray()
vehicle_state_msg.data.append(self.state.x)
vehicle_state_msg.data.append(self.state.y)
vehicle_state_msg.data.append(self.state.yaw)
vehicle_state_msg.data.append(self.state.v)
vehicle_state_msg.data.append(self.state.steer)
pub.publish(vehicle_state_msg)