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New draft with some answers

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sergi-e 2020-02-28 11:42:03 +01:00 committed by Marc Garcia Puig
parent 5761b6f716
commit f42cbde128
2 changed files with 33 additions and 19 deletions
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26
Docs/ros_launchs.md
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@ -30,11 +30,27 @@ Speed is in __m/s__, steering angle is driving angle (not wheel angle) in __radi
* <font color="80ba10"><b>/carla/ego_vehicle/vehicle_control_cmd</b></font> — [carla_msgs.CarlaEgoVehicleControl](../ros_msgs#carlaegovehiclecontrolmsg)
---------------
##carla_example_ego_vehicle.launch
##carla_ego_vehicle.launch
Spawns an ego vehicle (`role-name="ego_vehicle"`) with the argument `sensor_definition_file` being this the location of a __.json__ file describing sensors attached to the vehicle. The format for this file is explained [here](https://github.com/carla-simulator/ros-bridge/tree/master/carla_ego_vehicle).
To spawn the vehicle at a specific location, publish in: `/carla/ego_vehicle/initialpose` or use __RVIZ__ and select a position with: __2D Pose estimate__.
<!---NODE-->
<h4 style="margin-bottom: 5px"> <u>carla_ego_vehicle_ego_vehicle</u> <small><i>(Node)</i></small> </h4>
Launches a new vehicle with an initial position and waits for world information.
Spawns an ego vehicle with sensors attached and waits for world information.
<p style="margin-bottom:-5px"> <b>Subscribed to:</b> </p>
* <font color="f8815c"><b>/carla/ego_vehicle/initialpose</b></font> — [geometry_msgs/PoseWithCovarianceStamped](http://docs.ros.org/melodic/api/geometry_msgs/html/msg/PoseWithCovarianceStamped.html)
* <font color="f8815c"><b>/carla/world_info</b></font> — [carla_msgs.CarlaWorldInfo](../ros_msgs#carlaworldinfomsg)
---------------
##carla_example_ego_vehicle.launch
As [carla_ego_vehicle.launch](#carla-ego-vehicle-launch), spawns an ego vehicle (`role-name="ego_vehicle"`), only this uses a provided file to pass the sensors attached to the vehicle. Said file can be found in: `share/carla_ego_vehicle/config/sensors.json`.
<!---NODE-->
<h4 style="margin-bottom: 5px"> <u>carla_ego_vehicle_ego_vehicle</u> <small><i>(Node)</i></small> </h4>
Spawns an ego vehicle with sensors attached and waits for world information.
<p style="margin-bottom:-5px"> <b>Subscribed to:</b> </p>
@ -43,14 +59,14 @@ Launches a new vehicle with an initial position and waits for world information.
---------------
##carla_infrastructure.launch
Requires an argument `infrastructure_sensor_definition_file:=<absolute_path>` to run.
Spawns infrastructure sensors and requires the argument `infrastructure_sensor_definition_file` with the location of a __.json__ file describing these sensors.
<!---NODE-->
<h4 style="margin-bottom: 5px"> <u>/carla_infrastructure</u> <small><i>(Node)</i></small> </h4>
Spawns the infrastructure sensors passed as arguments.
<p style="margin-bottom:-5px"> <b>Subscribed to:</b> </p>
<p style="margin-bottom:-5px"> <b>Subscribed to:</b> </p>
* <font color="f8815c"><b>/carla/world_info</b></font> — [carla_msgs.CarlaWorldInfo](../ros_msgs#carlaworldinfomsg)

26
Docs/ros_msgs.md
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@ -21,7 +21,7 @@ The [CarlaActorList.msg](#carlaactorlist) message is a list of these items.
| ----------- | ------ | ----------- |
| `id` | uint32 | The ID of the actor. |
| `parent_id` | uint32 | The ID of the parent actor. `0` if no parent available. |
| `type` | string | ??? | <!---- What is this exactly?>
| `type` | string | The identifier of the blueprint this actor was based on. |
| `rolename` | string | Role assigned to the actor when spawned. |
---------------
@ -143,7 +143,7 @@ Details the current world settings of hte simulation.
| `frame` | uint64 | Current framen umber. |
| `fixed_delta_seconds` | float32 | Simulation time between last and current step. |
| `synchronous_mode` | bool | If true, synchronous mode is enabled. |
| `synchronous_mode_running` | bool | ??? | <!---- What is this exactly?>
| `synchronous_mode_running` | bool | True when the simulation is running. False when it is paused. |
---------------
##CarlaTrafficLightStatus.msg
@ -152,7 +152,7 @@ Contains a constant definition regarding the state of a traffic light.
| Field | Type | Description |
| -------------------------- | ------- | ----------------------------------------- |
| `id` | uint32 | ID of the traffic light actor. ??? | <!---- Contains also pole and group??>
| `id` | uint32 | ID of the traffic light actor. |
| `state` | uint8 | __RED__=0,__YELLOW__=1, __GREEN__=2, __OFF__=3, __UNKNOWN__=4 |
---------------
@ -182,8 +182,8 @@ Information about the current CARLA map (name and OpenDRIVE).
| Field | Type | Description |
| ----------- | ------- | ----------------------------- |
| `map_name` | string | Name of the CARLA map loaded in the current world. ??? | <!---- Is it? Or OpenDRIVE name file?>
| `opendrive` | string | ??? | <!---- Namefile of the OpenDRIVE map, whole map parsed as string or what??>
| `map_name` | string | Name of the CARLA map loaded in the current world. |
| `opendrive` | string | .xodr OpenDRIVE file of the current map as a string. |
---------------
##EgoVehicleControlCurrent.msg
@ -194,7 +194,7 @@ Represents the current time and the speed and acceleration values of the vehicle
| ----------- | -------- | ----------------------------- |
| `time_sec` | float32 | Current time when the controller is applied. |
| `speed` | float32 | Current speed applied by the controller. |
| `speed_abs` | float32 | ??? | <!---- what?>
| `speed_abs` | float32 | Speed as an absolute value. |
| `accel` | float32 | Current acceleration applied by the controller. |
---------------
@ -219,14 +219,13 @@ Represents the maximum values that restrict the controller. It is part of a `Car
| Field | Type | Description |
| -------------------- | -------- | ----------------------------- |
| `max_steering_angle` | float32 | Max. steering angle permitted to the controller. |
| `max_speed` | float32 | Max. speed permitted to the controller. |
| `max_accel` | float32 | Max. acceleration permitted to the controller. |
| `max_decel` | float32 | ??? |<!---- what?>
| `min_accel` | float32 | ??? |<!---- what?>
| `max_steering_angle` | float32 | Max. steering angle for a vehicle. |
| `max_speed` | float32 | Max. speed for a vehicle. |
| `max_accel` | float32 | Max. acceleration for a vehicle. |
| `max_decel` | float32 | Max. deceleration for a vehicle. Default: __8 m/s^2__ |
| `min_accel` | float32 | Min. acceleration for a vehicle. When the Ackermann taget accel. exceeds this value, the input accel. is controlled. |
| `max_pedal` | float32 | ??? |<!---- what?>
---------------
##EgoVehicleControlStatus.msg
@ -243,7 +242,6 @@ Represents the current status of the ego vehicle controller. It is part of a `Ca
| `brake_upper_border` | float32 | ??? Borders for lay off pedal. |<!---- what?>
| `throttle_lower_border` | float32 | ??? Borders for lay off pedal. |<!---- what?>
---------------
##EgoVehicleControlTarget.msg
@ -253,6 +251,6 @@ Represents the target vallues for the variables of the ego vehicle controller. I
| ---------------- | -------- | ----------------------------- |
| `steering_angle` | float32 | Target steering angle for the controller. |
| `speed` | float32 | Target speed for the controller. |
| `speed_abs` | float32 | ??? | <!---- what?>
| `speed_abs` | float32 | Speed as an absolute value. |
| `accel` | float32 | Target acceleration for the controller. |
| `jerk` | float32 | Target jerk for the controller. |