def load_car_models(self):
"""
Loads all car models from car_models.csv.
Returns
-------
None.
"""
cast = Cast("Car Model")
self.car_models = dict()
csv_helper = CSVHelper("data", "car_models.csv")
for row in csv_helper.data:
uid = cast.to_positive_int(row[0], "Uid")
cast.uid = uid
car_model_name = str(row[1]).strip(" ").strip('"')
car_consumption = cast.to_positive_float(row[2], "Car consumption")
drag_coeff = cast.to_positive_float(row[3], "Drag coeff")
frontal_area = cast.to_positive_float(row[4], "Frontal area")
mass = cast.to_positive_float(row[5], "Mass")
battery_capacity \
= cast.to_positive_float(row[6], "Battery capacity")
charger_capacity \
= cast.to_positive_float(row[7], "Charger capacity")
cm = CarModel(uid, car_model_name, car_consumption, drag_coeff,
frontal_area, mass, battery_capacity,
charger_capacity)
self.car_models[uid] = cm
def __init__(self):
rospy.init_node('car_sim')
rospy.Subscriber('twist2d', Twist, self.update_command)
dt = rospy.get_param('~dt', default=0.05)
noisy = rospy.get_param('~noisy', default=False)
self.rate = rospy.Rate(1. / dt)
self.car = CarModel(dt=dt)
self.speed, self.steering = 0, 0
self.last_time = rospy.Time.now()
self.pose_pub = rospy.Publisher('car_pose', Pose2D, queue_size=1)
def __init__(self, car_model, N=2000, delta_bn=15, delta_s=0.5, T_prop=0.5):
super(Simulation, self).__init__(car_model, N, delta_bn, delta_s, T_prop)
self.car = CarModel()
self.steer_pub = rp.Publisher('/steering', Steering, queue_size=10)
try:
rp.init_node('simulation')
rp.Rate(50)
iterations = rp.get_param('~iterations')
delta_bn = rp.get_param('~delta_bn')
delta_s = rp.get_param('~delta_s')
T_prop = rp.get_param('~T_prop')
L = rp.get_param('~mid_fronwheel_dist')
max_steering_angle = rp.get_param('~max_steering_angle')
max_lin_vel = rp.get_param('~max_lin_vel')
max_ang_vel_wheel = rp.get_param('~max_ang_vel_wheel')
max_x_coord = rp.get_param('~max_x_coord')
max_y_coord = rp.get_param('~max_y_coord')
car = CarModel(max_x_coord, max_y_coord, L, max_steering_angle, max_lin_vel, max_ang_vel_wheel)
sim = Simulation(car, iterations, delta_bn, delta_s, T_prop)
G = sim.sst_planning()
controls, route = sim.get_route(G)
i = 0
prev_time = rp.Time.now().to_sec()
while not rp.is_shutdown():
sim.publish_route(route, all_points=True)
sim.publish_control(controls[i][0])
time = rp.Time.now().to_sec()
delta_t = time - prev_time
