def publish(self, throttle, brake, steer): tcmd = ThrottleCmd() tcmd.enable = True tcmd.pedal_cmd_type = ThrottleCmd.CMD_PERCENT tcmd.pedal_cmd = throttle self.throttle_pub.publish(tcmd) scmd = SteeringCmd() scmd.enable = True scmd.steering_wheel_angle_cmd = steer self.steer_pub.publish(scmd) bcmd = BrakeCmd() bcmd.enable = True bcmd.pedal_cmd_type = BrakeCmd.CMD_TORQUE bcmd.pedal_cmd = brake self.brake_pub.publish(bcmd)
def publish(self, throttle, brake, steer): #rospy.logwarn('I am coming here publish') tcmd = ThrottleCmd() tcmd.enable = True tcmd.pedal_cmd_type = ThrottleCmd.CMD_PERCENT tcmd.pedal_cmd = throttle self.throttle_pub.publish(tcmd) scmd = SteeringCmd() scmd.enable = True scmd.steering_wheel_angle_cmd = steer self.steer_pub.publish(scmd) bcmd = BrakeCmd() bcmd.enable = True bcmd.pedal_cmd_type = BrakeCmd.CMD_TORQUE bcmd.pedal_cmd = brake self.brake_pub.publish(bcmd)
def publish(self, throttle, brake, steer): tcmd = ThrottleCmd() tcmd.enable = True tcmd.pedal_cmd_type = ThrottleCmd.CMD_PERCENT tcmd.pedal_cmd = throttle self.throttle_pub.publish(tcmd) scmd = SteeringCmd() scmd.enable = True #scmd.steering_wheel_angle_cmd_type = SteeringCmd.CMD_RAD scmd.steering_wheel_angle_cmd = steer self.steer_pub.publish(scmd) bcmd = BrakeCmd() bcmd.enable = True bcmd.pedal_cmd_type = BrakeCmd.CMD_TORQUE bcmd.pedal_cmd = brake self.brake_pub.publish(bcmd)
def publish(self, throttle, brake, steer): rospy.loginfo("Publishing Throttle : {0} , Brake : {1} , Steering : {2}".format(throttle, brake , steer)) tcmd = ThrottleCmd() tcmd.enable = True tcmd.pedal_cmd_type = ThrottleCmd.CMD_PERCENT tcmd.pedal_cmd = throttle self.throttle_pub.publish(tcmd) scmd = SteeringCmd() scmd.enable = True scmd.steering_wheel_angle_cmd = steer self.steer_pub.publish(scmd) bcmd = BrakeCmd() bcmd.enable = True bcmd.pedal_cmd_type = BrakeCmd.CMD_TORQUE bcmd.pedal_cmd = brake self.brake_pub.publish(bcmd)
def make_brake_msg(brake_value=0.0): brake_command_object = BrakeCmd() brake_command_object.pedal_cmd = brake_value brake_command_object.pedal_cmd_type = 2 brake_command_object.boo_cmd = False brake_command_object.enable = False brake_command_object.ignore = False brake_command_object.count = 0 return brake_command_object
def publishBrakeCmd(self, pedalVal): msg = BrakeCmd() msg.pedal_cmd = pedalVal msg.pedal_cmd_type = 2 ''' pedal_cmd_type=1: Unitless, range 0.15 to 0.50 =2: Percent of maximum torque, range 0 to 1 =3: Torque (unit: N.m), range 0 to 3250 ''' msg.boo_cmd = False msg.enable = True msg.clear = False msg.ignore = False msg.count = 0 self.brake_pub.publish(msg)
def publish(self, throttle, brake, steer): tcmd = ThrottleCmd() tcmd.enable = True tcmd.pedal_cmd_type = ThrottleCmd.CMD_PERCENT tcmd.pedal_cmd = throttle self.throttle_pub.publish(tcmd) scmd = SteeringCmd() scmd.enable = True scmd.steering_wheel_angle_cmd = steer self.steer_pub.publish(scmd) bcmd = BrakeCmd() bcmd.pedal_cmd_type = BrakeCmd.CMD_TORQUE # We want to command the brake in torque Nm # If the requested torque is over the threshold power on the breake lights bcmd.enable = brake > BrakeCmd.TORQUE_BOO bcmd.pedal_cmd = brake # Set the brake value self.brake_pub.publish(bcmd)
def publish(self, throttle, brake, steer): tcmd = ThrottleCmd() tcmd.enable = True tcmd.pedal_cmd_type = ThrottleCmd.CMD_PERCENT tcmd.pedal_cmd = throttle self.throttle_pub.publish(tcmd) scmd = SteeringCmd() scmd.enable = True # If steering is not set, do not update steering if steer is not None: scmd.steering_wheel_angle_cmd = steer self.steer_pub.publish(scmd) bcmd = BrakeCmd() bcmd.enable = True bcmd.pedal_cmd_type = BrakeCmd.CMD_TORQUE bcmd.pedal_cmd = brake self.brake_pub.publish(bcmd)
def publish(self, throttle, brake, steer): # print('throttle:{0}, brake:{1}, steer{2}'.format(throttle, brake, steer)) tcmd = ThrottleCmd() tcmd.enable = True tcmd.pedal_cmd_type = ThrottleCmd.CMD_PERCENT tcmd.pedal_cmd = throttle self.throttle_pub.publish(tcmd) scmd = SteeringCmd() scmd.enable = True scmd.steering_wheel_angle_cmd = steer self.steer_pub.publish(scmd) bcmd = BrakeCmd() bcmd.enable = True bcmd.pedal_cmd_type = BrakeCmd.CMD_TORQUE bcmd.pedal_cmd = brake self.brake_pub.publish(bcmd)
def publish(self, throttle, brake, steer): # rospy.loginfo("throttle: {0}, brake {1}, steer {2}, linear {3}, angular {4}".format(throttle, brake, steer, self.linear_vel, self.angular_vel)) tcmd = ThrottleCmd() tcmd.enable = True tcmd.pedal_cmd_type = ThrottleCmd.CMD_PERCENT tcmd.pedal_cmd = throttle self.throttle_pub.publish(tcmd) scmd = SteeringCmd() scmd.enable = True scmd.steering_wheel_angle_cmd = steer self.steer_pub.publish(scmd) bcmd = BrakeCmd() bcmd.enable = True bcmd.pedal_cmd_type = BrakeCmd.CMD_TORQUE bcmd.pedal_cmd = brake self.brake_pub.publish(bcmd)
def publish(self,throttle,brake,steer): throttle_cmd=ThrottleCmd() throttle_cmd.enable=True throttle_cmd.pedal_cmd_type=ThrottleCmd.CMD_PERCENT throttle_cmd.pedal_cmd=throttle self.throttle_pub.publish(throttle_cmd) steer_cmd=SteeringCmd() steer_cmd.enable=True steer_cmd.steering_wheel_angle_cmd=steer self.steer_pub.publish(steer_cmd) brake_cmd=BrakeCmd() brake_cmd.enable=True brake_cmd.pedal_cmd_type=BrakeCmd.CMD_TORQUE brake_cmd.pedal_cmd=brake self.brake_pub.publish(brake_cmd) pass
def publish(self, throttle, brake, steer): # The numerical issue is taken care by brake_deadband if brake > 0: bcmd = BrakeCmd() bcmd.enable = True bcmd.pedal_cmd_type = BrakeCmd.CMD_PERCENT bcmd.pedal_cmd = brake self.brake_pub.publish(bcmd) else: tcmd = ThrottleCmd() tcmd.enable = True tcmd.pedal_cmd_type = ThrottleCmd.CMD_PERCENT tcmd.pedal_cmd = throttle self.throttle_pub.publish(tcmd) scmd = SteeringCmd() scmd.enable = True scmd.steering_wheel_angle_cmd = steer self.steer_pub.publish(scmd)
def publish(self, throttle, brake, steer): rospy.logdebug('publish with values throttle=%s, steer=%s , brake=,%s', throttle, steer, brake) tcmd = ThrottleCmd() tcmd.enable = True tcmd.pedal_cmd_type = ThrottleCmd.CMD_PERCENT tcmd.pedal_cmd = throttle self.throttle_pub.publish(tcmd) scmd = SteeringCmd() scmd.enable = True scmd.steering_wheel_angle_cmd = steer self.steer_pub.publish(scmd) bcmd = BrakeCmd() bcmd.enable = True bcmd.pedal_cmd_type = BrakeCmd.CMD_TORQUE bcmd.pedal_cmd = brake self.brake_pub.publish(bcmd)
def publish(self, throttle, brake, steer): tcmd = ThrottleCmd() tcmd.enable = True tcmd.pedal_cmd_type = ThrottleCmd.CMD_PERCENT tcmd.pedal_cmd = throttle # check #rospy.logwarn("Target throttle: {0}".format(tcmd.pedal_cmd)) self.throttle_pub.publish(tcmd) scmd = SteeringCmd() scmd.enable = True scmd.steering_wheel_angle_cmd = steer self.steer_pub.publish(scmd) bcmd = BrakeCmd() bcmd.enable = True bcmd.pedal_cmd_type = BrakeCmd.CMD_TORQUE bcmd.pedal_cmd = brake self.brake_pub.publish(bcmd)
def publish(self, throttle, brake, steer): # Make sure not so brake and throttle at the same time if brake > 0.0: bcmd = BrakeCmd() bcmd.enable = True bcmd.pedal_cmd_type = BrakeCmd.CMD_TORQUE bcmd.pedal_cmd = brake self.brake_pub.publish(bcmd) else: tcmd = ThrottleCmd() tcmd.enable = True tcmd.pedal_cmd_type = ThrottleCmd.CMD_PERCENT tcmd.pedal_cmd = throttle self.throttle_pub.publish(tcmd) scmd = SteeringCmd() scmd.enable = True scmd.steering_wheel_angle_cmd = steer self.steer_pub.publish(scmd)
def publish(self, throttle, brake, steer): rospy.loginfo("publishing throttle %f, brake %f, steer %f", throttle, brake, steer) tcmd = ThrottleCmd() tcmd.enable = True tcmd.pedal_cmd_type = ThrottleCmd.CMD_PERCENT tcmd.pedal_cmd = throttle self.throttle_pub.publish(tcmd) scmd = SteeringCmd() scmd.enable = True scmd.steering_wheel_angle_cmd = steer self.steer_pub.publish(scmd) bcmd = BrakeCmd() bcmd.enable = True bcmd.pedal_cmd_type = BrakeCmd.CMD_TORQUE bcmd.pedal_cmd = brake self.brake_pub.publish(bcmd)
def publish(self, throttle, brake, steer): rospy.loginfo("THROTTLE: {}, BRAKE: {}, STEER: {}\n".format( throttle, brake, steer)) tcmd = ThrottleCmd() tcmd.enable = True tcmd.pedal_cmd_type = ThrottleCmd.CMD_PERCENT tcmd.pedal_cmd = throttle self.throttle_pub.publish(tcmd) scmd = SteeringCmd() scmd.enable = True scmd.steering_wheel_angle_cmd = steer self.steer_pub.publish(scmd) bcmd = BrakeCmd() bcmd.enable = True bcmd.pedal_cmd_type = BrakeCmd.CMD_TORQUE bcmd.pedal_cmd = brake self.brake_pub.publish(bcmd)
def publish(self, throttle, brake, steer): # rospy.logdebug('MM - DBWNode.publish(...)') tcmd = ThrottleCmd() tcmd.enable = True tcmd.pedal_cmd_type = ThrottleCmd.CMD_PERCENT tcmd.pedal_cmd = throttle self.throttle_pub.publish(tcmd) bcmd = BrakeCmd() bcmd.enable = True bcmd.pedal_cmd_type = BrakeCmd.CMD_TORQUE bcmd.pedal_cmd = brake self.brake_pub.publish(bcmd) scmd = SteeringCmd() scmd.enable = True scmd.steering_wheel_angle_cmd = steer self.steer_pub.publish(scmd)
def __init__(self): self._CMD_NONE = 0 self._CMD_PEDAL = 1 # Unitless, range 0.15 to 0.50 self._CMD_PERCENT = 2 # Percent of maximum torque, range 0 to 1 self._CMD_TORQUE = 3 # Nm, range 0 to 3412, open-loop self._CMD_TORQUE_RQ = 4 # Nm, range 0 to 3412, closed-loop self._CMD_DECEL = 6 # m/s^2, range 0 to 10 self._TORQUE_BOO = 520.0 # Nm, brake lights threshold self._TORQUE_MAX = 3412.0 # Nm, maximum torque self._msg = BrakeCmd()
def publish(self, throttle, brake, steer): tcmd = ThrottleCmd() tcmd.enable = True tcmd.pedal_cmd_type = ThrottleCmd.CMD_PERCENT tcmd.pedal_cmd = throttle self.throttle_pub.publish(tcmd) scmd = SteeringCmd() scmd.enable = True scmd.steering_wheel_angle_cmd = steer self.steer_pub.publish(scmd) # do not send brake command unless required if brake > 0.001: bcmd = BrakeCmd() bcmd.enable = True bcmd.pedal_cmd_type = BrakeCmd.CMD_TORQUE bcmd.pedal_cmd = brake self.brake_pub.publish(bcmd)
def publish(self, throttle, brake, steer): rospy.loginfo( 'DBWNode: Publisher started with: throttle -> %.2f brake -> %.2f steer -> %.2f', throttle, brake, steer) tcmd = ThrottleCmd() tcmd.enable = True tcmd.pedal_cmd_type = ThrottleCmd.CMD_PERCENT tcmd.pedal_cmd = throttle self.throttle_pub.publish(tcmd) scmd = SteeringCmd() scmd.enable = True scmd.steering_wheel_angle_cmd = steer self.steer_pub.publish(scmd) bcmd = BrakeCmd() bcmd.enable = True bcmd.pedal_cmd_type = BrakeCmd.CMD_TORQUE bcmd.pedal_cmd = brake self.brake_pub.publish(bcmd)
def publish(self, throttle, brake, steer): # Loggging ... rospy.loginfo("CRTL T : %.2f, B : %.2f, S : %.2f", throttle, brake, steer) tcmd = ThrottleCmd() tcmd.enable = True tcmd.pedal_cmd_type = ThrottleCmd.CMD_PERCENT tcmd.pedal_cmd = throttle self.throttle_pub.publish(tcmd) scmd = SteeringCmd() scmd.enable = True scmd.steering_wheel_angle_cmd = steer self.steer_pub.publish(scmd) bcmd = BrakeCmd() bcmd.enable = True bcmd.pedal_cmd_type = BrakeCmd.CMD_TORQUE bcmd.pedal_cmd = brake self.brake_pub.publish(bcmd)
def publish(self, throttle, brake, steer): tcmd = ThrottleCmd() tcmd.enable = True tcmd.pedal_cmd_type = ThrottleCmd.CMD_PERCENT tcmd.pedal_cmd = throttle #rospy.loginfo('Published throttle command: %f'%(throttle)) self.throttle_pub.publish(tcmd) scmd = SteeringCmd() scmd.enable = True scmd.steering_wheel_angle_cmd = steer #rospy.logwarn('Published steering command: %f'%(steer)) self.steer_pub.publish(scmd) bcmd = BrakeCmd() bcmd.enable = True bcmd.pedal_cmd_type = BrakeCmd.CMD_TORQUE bcmd.pedal_cmd = brake #rospy.logerr('Published brake command: %f'%(brake)) self.brake_pub.publish(bcmd)
def publish(self, throttle, brake, steer): # Throttle values passed to publish are in the range 0 to 1. # A throttle of 1 means the vehicle throttle will be fully engaged. tcmd = ThrottleCmd() tcmd.enable = True tcmd.pedal_cmd_type = ThrottleCmd.CMD_PERCENT tcmd.pedal_cmd = throttle self.throttle_pub.publish(tcmd) scmd = SteeringCmd() scmd.enable = True scmd.steering_wheel_angle_cmd = steer self.steer_pub.publish(scmd) # Brake values passed to publish are in units of torque (N*m). See twist_controller for the math. bcmd = BrakeCmd() bcmd.enable = True bcmd.pedal_cmd_type = BrakeCmd.CMD_TORQUE bcmd.pedal_cmd = brake self.brake_pub.publish(bcmd)
def publish(self, throttle, brake, steer): # This function publishes throttle, brake, and steering # Throttle values passed to publish should be in the range 0 to 1 # Brake values passed to publish should be in units of torque (N*m) tcmd = ThrottleCmd() tcmd.enable = True tcmd.pedal_cmd_type = ThrottleCmd.CMD_PERCENT tcmd.pedal_cmd = throttle self.throttle_pub.publish(tcmd) scmd = SteeringCmd() scmd.enable = True scmd.steering_wheel_angle_cmd = steer self.steer_pub.publish(scmd) bcmd = BrakeCmd() bcmd.enable = True bcmd.pedal_cmd_type = BrakeCmd.CMD_TORQUE bcmd.pedal_cmd = brake self.brake_pub.publish(bcmd)
def publish(self, throttle, brake, steer, filtered, curr_vel): tcmd = ThrottleCmd() tcmd.enable = True tcmd.pedal_cmd_type = ThrottleCmd.CMD_PERCENT tcmd.pedal_cmd = throttle self.throttle_pub.publish(tcmd) scmd = SteeringCmd() scmd.enable = True scmd.steering_wheel_angle_cmd = steer self.steer_pub.publish(scmd) bcmd = BrakeCmd() bcmd.enable = True bcmd.pedal_cmd_type = BrakeCmd.CMD_TORQUE bcmd.pedal_cmd = brake self.brake_pub.publish(bcmd) self.custom_pub.publish(filtered) self.custom_pub2.publish(curr_vel)
def publish(self, throttle, brake, steer): #if (throttle > 0.0): tcmd = ThrottleCmd() tcmd.enable = True tcmd.pedal_cmd_type = ThrottleCmd.CMD_PERCENT tcmd.pedal_cmd = throttle self.throttle_pub.publish(tcmd) scmd = SteeringCmd() scmd.enable = True scmd.steering_wheel_angle_cmd = steer self.steer_pub.publish(scmd) #if (brake > 0.0): bcmd = BrakeCmd() bcmd.enable = True bcmd.pedal_cmd_type = BrakeCmd.CMD_PERCENT bcmd.pedal_cmd = brake self.brake_pub.publish(bcmd)
def publish(self, throttle, brake, steer): """ Publish the throttle, brake, and steer command to the car while the DBW system is enabled """ tcmd = ThrottleCmd() tcmd.enable = True tcmd.pedal_cmd_type = ThrottleCmd.CMD_PERCENT tcmd.pedal_cmd = throttle self.throttle_pub.publish(tcmd) scmd = SteeringCmd() scmd.enable = True scmd.steering_wheel_angle_cmd = steer self.steer_pub.publish(scmd) bcmd = BrakeCmd() bcmd.enable = True bcmd.pedal_cmd_type = BrakeCmd.CMD_TORQUE bcmd.pedal_cmd = brake self.brake_pub.publish(bcmd)
def publish(self, throttle, brake, steer): ''' Function to convert values from controller to ROS messages ''' tcmd = ThrottleCmd() tcmd.enable = True tcmd.pedal_cmd_type = ThrottleCmd.CMD_PERCENT tcmd.pedal_cmd = throttle self.throttle_pub.publish(tcmd) scmd = SteeringCmd() scmd.enable = True scmd.steering_wheel_angle_cmd = steer self.steer_pub.publish(scmd) bcmd = BrakeCmd() bcmd.enable = True bcmd.pedal_cmd_type = BrakeCmd.CMD_TORQUE bcmd.pedal_cmd = brake self.brake_pub.publish(bcmd)
def publish(self, throttle, brake, steer): tcmd = ThrottleCmd() tcmd.enable = True tcmd.pedal_cmd_type = ThrottleCmd.CMD_PERCENT tcmd.pedal_cmd = throttle self.throttle_pub.publish(tcmd) scmd = SteeringCmd() scmd.enable = True scmd.steering_wheel_angle_cmd = steer self.steer_pub.publish(scmd) bcmd = BrakeCmd() bcmd.enable = True bcmd.pedal_cmd_type = BrakeCmd.CMD_TORQUE bcmd.pedal_cmd = brake self.brake_pub.publish(bcmd) rospy.loginfo("Velocity error: %s", self.target_long_vel - self.cur_long_vel)
def publish(self, throttle, brake, steer): tcmd = ThrottleCmd() tcmd.enable = True tcmd.pedal_cmd_type = ThrottleCmd.CMD_PERCENT tcmd.pedal_cmd = throttle rospy.logdebug('Throttle: {}'.format(throttle)) self.throttle_pub.publish(tcmd) scmd = SteeringCmd() scmd.enable = True scmd.steering_wheel_angle_cmd = steer rospy.logdebug('Steer: {}'.format(steer)) self.steer_pub.publish(scmd) bcmd = BrakeCmd() bcmd.enable = True bcmd.pedal_cmd_type = BrakeCmd.CMD_TORQUE bcmd.pedal_cmd = brake rospy.logdebug('Brake: {}'.format(brake)) self.brake_pub.publish(bcmd)