From 5761b6f716c04162962dbbfda649876342526ac4 Mon Sep 17 00:00:00 2001 From: sergi-e Date: Thu, 27 Feb 2020 12:24:39 +0100 Subject: [PATCH] new draft on launchs --- Docs/ros_launchs.md | 58 ++++++++++++++++++++++++++++++++++++--------- 1 file changed, 47 insertions(+), 11 deletions(-) diff --git a/Docs/ros_launchs.md b/Docs/ros_launchs.md index aa8a2ab08..eb781be52 100644 --- a/Docs/ros_launchs.md +++ b/Docs/ros_launchs.md @@ -3,8 +3,17 @@ -------------- ##carla_ackermann_control.launch +Creates a node to manage a vehicle using Ackermann controls instead of the CARLA control messages when these are not ideal to connect an AD stack. The node reads the vehicle info from CARLA and uses it to define the controller. A simple Python PID is used to adjust acceleration/velocity. It can be installed using: +```sh +pip install --user simple-pid +``` +Initial parameters can be set in: `share/carla_ackermann_control/config/settings.yaml`. +It is possible to modify the parameters during runtime via ROS dynamic reconfigure. +

/carla_ackermann_control_ego_vehicle (Node)

+Converts [AckermannDrive messages](http://docs.ros.org/jade/api/ackermann_msgs/html/msg/AckermannDrive.htm) to [CarlaEgoVehicleControl.msg](../ros_msgs#carlaegovehiclemsg). +Speed is in __m/s__, steering angle is driving angle (not wheel angle) in __radians__.

Subscribed to:

@@ -20,6 +29,31 @@ * /carla/ego_vehicle/ackermann_control/parameter_updates — [dynamic_reconfigure/Config](http://wiki.ros.org/dynamic_reconfigure) * /carla/ego_vehicle/vehicle_control_cmd — [carla_msgs.CarlaEgoVehicleControl](../ros_msgs#carlaegovehiclecontrolmsg) +--------------- +##carla_example_ego_vehicle.launch + + +

carla_ego_vehicle_ego_vehicle (Node)

+Launches a new vehicle with an initial position and waits for world information. + +

Subscribed to:

+ +* /carla/ego_vehicle/initialpose — [geometry_msgs/PoseWithCovarianceStamped](http://docs.ros.org/melodic/api/geometry_msgs/html/msg/PoseWithCovarianceStamped.html) +* /carla/world_info — [carla_msgs.CarlaWorldInfo](../ros_msgs#carlaworldinfomsg) + +--------------- +##carla_infrastructure.launch + +Requires an argument `infrastructure_sensor_definition_file:=` to run. + + +

/carla_infrastructure (Node)

+Spawns the infrastructure sensors passed as arguments. + +

Subscribed to:

+* /carla/world_info — [carla_msgs.CarlaWorldInfo](../ros_msgs#carlaworldinfomsg) + + --------------- ##carla_ros_bridge.launch @@ -44,6 +78,8 @@ Receives the debug shapes being drawn, which include: arrows, points, cubes and -------------- ##carla_ros_bridge_with_ackermann_control.launch +Launches two basic nodes, one to retrieve simulation data and another one to control a vehicle using [AckermannDrive messages](http://docs.ros.org/jade/api/ackermann_msgs/html/msg/AckermannDrive.htm). +

carla_ros_bridge (Node)

@@ -117,21 +153,21 @@ Receives the debug shapes being drawn, which include: arrows, points, cubes and

Subscribed to:

-* /carla/ego_vehicle/camera/rgb/view/image_color — [sensor_msgs.Image](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/Image.html) -* /carla/ego_vehicle/collision — [carla_msgs.CarlaCollisionEvent](../ros_msgs#carlacollisioneventmsg) -* /carla/ego_vehicle/gnss/gnss1/fix — [sensor_msgs.NavSatFix](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/NavSatFix.html) -* /carla/ego_vehicle/lane_invasion — [carla_msgs.CarlaLaneInvasionEvent](../ros_msgs#carlalaneinvasioneventmsg) -* /carla/ego_vehicle/vehicle_control_manual_override — [std_msgs.Bool](http://docs.ros.org/melodic/api/std_msgs/html/msg/Bool.html) -* /carla/ego_vehicle/vehicle_info — [carla_msgs.CarlaEgoVehicleInfo](../ros_msgs#carlaegovehicleinfomsg) -* /carla/ego_vehicle/vehicle_status — [carla_msgs.CarlaEgoVehicleStatus](../ros_msgs#carlaegovehiclestatusmsg) -* /carla/status — [carla_msgs.CarlaStatus](../ros_msgs#carlastatusmsg) +* /carla/ego_vehicle/camera/rgb/view/image_color — [sensor_msgs.Image](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/Image.html) +* /carla/ego_vehicle/collision — [carla_msgs.CarlaCollisionEvent](../ros_msgs#carlacollisioneventmsg) +* /carla/ego_vehicle/gnss/gnss1/fix — [sensor_msgs.NavSatFix](http://docs.ros.org/melodic/api/sensor_msgs/html/msg/NavSatFix.html) +* /carla/ego_vehicle/lane_invasion — [carla_msgs.CarlaLaneInvasionEvent](../ros_msgs#carlalaneinvasioneventmsg) +* /carla/ego_vehicle/vehicle_control_manual_override — [std_msgs.Bool](http://docs.ros.org/melodic/api/std_msgs/html/msg/Bool.html) +* /carla/ego_vehicle/vehicle_info — [carla_msgs.CarlaEgoVehicleInfo](../ros_msgs#carlaegovehicleinfomsg) +* /carla/ego_vehicle/vehicle_status — [carla_msgs.CarlaEgoVehicleStatus](../ros_msgs#carlaegovehiclestatusmsg) +* /carla/status — [carla_msgs.CarlaStatus](../ros_msgs#carlastatusmsg)

Publishes in:

-* /carla/ego_vehicle/enable_autopilot — [std_msgs.Bool](http://docs.ros.org/melodic/api/std_msgs/html/msg/Bool.html) -* /carla/ego_vehicle/vehicle_control_cmd_manual — [carla_msgs.CarlaEgoVehicleControl](../ros_msgs#carlaegovehiclecontrolmsg) -* /carla/ego_vehicle/vehicle_control_manual_override — [std_msgs.Bool](http://docs.ros.org/melodic/api/std_msgs/html/msg/Bool.html) +* /carla/ego_vehicle/enable_autopilot — [std_msgs.Bool](http://docs.ros.org/melodic/api/std_msgs/html/msg/Bool.html) +* /carla/ego_vehicle/vehicle_control_cmd_manual — [carla_msgs.CarlaEgoVehicleControl](../ros_msgs#carlaegovehiclecontrolmsg) +* /carla/ego_vehicle/vehicle_control_manual_override — [std_msgs.Bool](http://docs.ros.org/melodic/api/std_msgs/html/msg/Bool.html)

/carla_ego_vehicle_ego_vehicle (Node)