lgsvl_interface::LgsvlInterface Class Reference
#include <lgsvl_interface.hpp>
Inheritance diagram for lgsvl_interface::LgsvlInterface:
Collaboration diagram for lgsvl_interface::LgsvlInterface:
Public Member Functions | |
| LgsvlInterface (rclcpp::Node &node, const std::string &sim_cmd_topic, const std::string &sim_state_cmd_topic, const std::string &sim_state_report_topic, const std::string &sim_nav_odom_topic, const std::string &sim_veh_odom_topic, const std::string &kinematic_state_topic, const std::string &sim_odom_child_frame, Table1D &&throttle_table, Table1D &&brake_table, Table1D &&steer_table, bool publish_tf=NO_PUBLISH, bool publish_pose=PUBLISH) | |
| ~LgsvlInterface () noexcept override=default | |
| bool | update (std::chrono::nanoseconds timeout) override |
| bool | send_state_command (const autoware_auto_msgs::msg::VehicleStateCommand &msg) override |
| bool | send_control_command (const autoware_auto_msgs::msg::VehicleControlCommand &msg) override |
| Send control command data with whatever state data came along last. More... | |
| bool | send_control_command (const autoware_auto_msgs::msg::RawControlCommand &msg) override |
| bool | handle_mode_change_request (autoware_auto_msgs::srv::AutonomyModeChange_Request::SharedPtr request) override |
| Respond to request for changing autonomy mode. For LGSVL, this means nothing. More... | |
 Public Member Functions inherited from autoware::drivers::vehicle_interface::PlatformInterface | |
| PlatformInterface ()=default | |
| Constructor. More... | |
| virtual | ~PlatformInterface ()=default |
| Destructor. More... | |
| virtual bool8_t | send_state_command (const VehicleStateCommand &msg)=0 |
| virtual bool8_t | send_control_command (const VehicleControlCommand &msg)=0 |
| virtual bool8_t | send_control_command (const RawControlCommand &msg)=0 |
| virtual bool8_t | handle_mode_change_request (ModeChangeRequest::SharedPtr request)=0 |
| const VehicleStateReport & | get_state_report () const noexcept |
| const VehicleOdometry & | get_odometry () const noexcept |
Additional Inherited Members | |
| Protected Member Functions inherited from autoware::drivers::vehicle_interface::PlatformInterface | |
| VehicleStateReport & | state_report () noexcept |
| Get the underlying state report for modification. More... | |
| VehicleOdometry & | odometry () noexcept |
| Get the underlying odometry for modification. More... | |
Detailed Description
Platform interface implementation for LGSVL. Bridges data to and from the simulator where custom logic is required to get simulator data to adhere to ROS conventions. For a full list of behaviors, see LGSVL simulator
Constructor & Destructor Documentation
◆ LgsvlInterface()
| lgsvl_interface::LgsvlInterface::LgsvlInterface | ( | rclcpp::Node & | node, |
| const std::string & | sim_cmd_topic, | ||
| const std::string & | sim_state_cmd_topic, | ||
| const std::string & | sim_state_report_topic, | ||
| const std::string & | sim_nav_odom_topic, | ||
| const std::string & | sim_veh_odom_topic, | ||
| const std::string & | kinematic_state_topic, | ||
| const std::string & | sim_odom_child_frame, | ||
| Table1D && | throttle_table, | ||
| Table1D && | brake_table, | ||
| Table1D && | steer_table, | ||
| bool | publish_tf = NO_PUBLISH, |
||
| bool | publish_pose = PUBLISH |
||
| ) |
◆ ~LgsvlInterface()
|
overridedefaultnoexcept |
Member Function Documentation
◆ handle_mode_change_request()
|
override |
Respond to request for changing autonomy mode. For LGSVL, this means nothing.
◆ send_control_command() [1/2]
|
override |
Send control command data with whatever state data came along last.
◆ send_control_command() [2/2]
|
override |
Send control data with whatever state data came along last; applies scaling here too. If both brake and throttle is nonzero, decide based on config
◆ send_state_command()
|
override |
Queues up data to be sent along with the next control command. Only gear shifting between drive and reverse is supported at this time.
◆ update()
|
overridevirtual |
Receives data from ROS 2 subscriber, and updates output messages. Not yet implemented
Implements autoware::drivers::vehicle_interface::PlatformInterface.
The documentation for this class was generated from the following files: