def __init__(self, node):
self.node = node
self.speed = 0
self.target_speed = 0
self.lateral_error = 0
self.cmd = Control_Command()
self.cmd.steer_angle = 0
self.cmd.throttle = 0
self.trajectory = Trajectory()
self.sum_error_longi = 0
self.node.create_reader("/chassis", Chassis, self.chassiscallback)
self.node.create_reader("/control_reference", Control_Reference,
self.speedrefcallback)
# /planning/trajectory\
# /planning/control_trajectory
self.node.create_reader("/perception/road_mean_point", Trajectory,
self.trajectorycallback)
self.writer = self.node.create_writer("/control", Control_Command)
signal.signal(signal.SIGINT, self.sigint_handler)
signal.signal(signal.SIGHUP, self.sigint_handler)
signal.signal(signal.SIGTERM, self.sigint_handler)
self.is_sigint_up = False
while True:
time.sleep(0.05)
self.lateral_controller(self.trajectory, self.lateral_error)
self.longitude_controller(self.target_speed, self.speed)
self.writer.write(self.cmd)
if self.is_sigint_up:
print("Exit")
self.is_sigint_up = False
return
def __init__(self, node):
self.node = node
self.speed = 0
self.target_speed = 0
self.lateral_error = 0
self.cmd = Control_Command()
self.trajectory = Trajectory()
self.node.create_reader("/chassis", Chassis, self.chassiscallback)
self.node.create_reader("/control_reference", Control_Reference,
self.speedrefcallback)
self.node.create_reader("/planning/dwa_trajectory", Trajectory,
self.trajectorycallback)
self.writer = self.node.create_writer("/control", Control_Command)
signal.signal(signal.SIGINT, self.sigint_handler)
signal.signal(signal.SIGHUP, self.sigint_handler)
signal.signal(signal.SIGTERM, self.sigint_handler)
self.is_sigint_up = False
while True:
try:
time.sleep(0.05)
self.lateral_controller(self.trajectory, self.lateral_error)
self.longitude_controller(self.target_speed, self.speed)
self.writer.write(self.cmd)
if self.is_sigint_up:
print("Exit")
self.is_sigint_up = False
return
except Exception:
break
def __init__(self, node):
self.msg = Control_Command()
# create writer
self.writer = node.create_writer(
"/control", Control_Command)
# keyboard event listen non blocking fashion
listener= keyboard.Listener(on_press = self.onpress_w,
on_release = self.onrelease_w)
listener.start()
self.loop()
def __init__(self, node):
self.msg = Control_Command()
# TODO 2 create writer
self.writer = node.create_writer("/control", Control_Command)
self.loop()