def __init__(self, role_name, width, height, node):
self.role_name = role_name
self.dim = (width, height)
self.node = node
font = pygame.font.Font(pygame.font.get_default_font(), 20)
fonts = [x for x in pygame.font.get_fonts() if 'mono' in x]
default_font = 'ubuntumono'
mono = default_font if default_font in fonts else fonts[0]
mono = pygame.font.match_font(mono)
self._font_mono = pygame.font.Font(mono, 14)
self._notifications = FadingText(font, (width, 40), (0, height - 40))
self.help = HelpText(pygame.font.Font(mono, 24), width, height)
self._show_info = True
self._info_text = []
self.vehicle_status = CarlaEgoVehicleStatus()
self.vehicle_status_subscriber = node.new_subscription(
CarlaEgoVehicleStatus,
"/carla/{}/vehicle_status".format(self.role_name),
self.vehicle_status_updated,
qos_profile=10)
self.vehicle_info = CarlaEgoVehicleInfo()
self.vehicle_info_subscriber = node.new_subscription(
CarlaEgoVehicleInfo,
"/carla/{}/vehicle_info".format(self.role_name),
self.vehicle_info_updated,
qos_profile=QoSProfile(
depth=10, durability=DurabilityPolicy.TRANSIENT_LOCAL))
self.x, self.y, self.z = 0, 0, 0
self.yaw = 0
self.latitude = 0
self.longitude = 0
self.manual_control = False
self.gnss_subscriber = node.new_subscription(NavSatFix,
"/carla/{}/gnss".format(
self.role_name),
self.gnss_updated,
qos_profile=10)
self.odometry_subscriber = node.new_subscription(
Odometry,
"/carla/{}/odometry".format(self.role_name),
self.odometry_updated,
qos_profile=10)
self.manual_control_subscriber = node.new_subscription(
Bool,
"/carla/{}/vehicle_control_manual_override".format(self.role_name),
self.manual_control_override_updated,
qos_profile=10)
self.carla_status = CarlaStatus()
self.status_subscriber = node.new_subscription(
CarlaStatus,
"/carla/status",
self.carla_status_updated,
qos_profile=10)
def __init__(self, role_name, width, height):
self.role_name = role_name
self.dim = (width, height)
font = pygame.font.Font(pygame.font.get_default_font(), 20)
fonts = [x for x in pygame.font.get_fonts() if 'mono' in x]
default_font = 'ubuntumono'
mono = default_font if default_font in fonts else fonts[0]
mono = pygame.font.match_font(mono)
self._font_mono = pygame.font.Font(mono, 14)
self._notifications = FadingText(font, (width, 40), (0, height - 40))
self.help = HelpText(pygame.font.Font(mono, 24), width, height)
self._show_info = True
self._info_text = []
self.vehicle_status = CarlaEgoVehicleStatus()
self.tf_listener = tf.TransformListener()
self.vehicle_status_subscriber = rospy.Subscriber(
"/carla/{}/vehicle_status".format(self.role_name),
CarlaEgoVehicleStatus, self.vehicle_status_updated)
self.vehicle_info = CarlaEgoVehicleInfo()
self.vehicle_info_subscriber = rospy.Subscriber(
"/carla/{}/vehicle_info".format(self.role_name),
CarlaEgoVehicleInfo, self.vehicle_info_updated)
self.latitude = 0
self.longitude = 0
self.manual_control = False
self.gnss_subscriber = rospy.Subscriber(
"/carla/{}/gnss/gnss1/fix".format(self.role_name), NavSatFix,
self.gnss_updated)
self.manual_control_subscriber = rospy.Subscriber(
"/carla/{}/vehicle_control_manual_override".format(self.role_name),
Bool, self.manual_control_override_updated)
self.carla_status = CarlaStatus()
self.status_subscriber = rospy.Subscriber("/carla/status", CarlaStatus,
self.carla_status_updated)
def publish_can(self, sensor_id, data):
"""
publish can data
"""
if not self.vehicle_info_publisher:
self.vehicle_info_publisher = rospy.Publisher(
'/carla/ego_vehicle/vehicle_info',
CarlaEgoVehicleInfo,
queue_size=1,
latch=True)
info_msg = CarlaEgoVehicleInfo()
for wheel in data['wheels']:
wheel_info = CarlaEgoVehicleInfoWheel()
wheel_info.tire_friction = wheel['tire_friction']
wheel_info.damping_rate = wheel['damping_rate']
wheel_info.steer_angle = wheel['steer_angle']
wheel_info.disable_steering = wheel['disable_steering']
info_msg.wheels.append(wheel_info)
info_msg.max_rpm = data['max_rpm']
info_msg.moi = data['moi']
info_msg.damping_rate_full_throttle = data[
'damping_rate_full_throttle']
info_msg.damping_rate_zero_throttle_clutch_engaged
info_msg.damping_rate_zero_throttle_clutch_disengaged = data[
'damping_rate_zero_throttle_clutch_disengaged']
info_msg.use_gear_autobox = data['use_gear_autobox']
info_msg.clutch_strength = data['clutch_strength']
info_msg.mass = data['mass']
info_msg.drag_coefficient = data['drag_coefficient']
info_msg.center_of_mass.x = data['center_of_mass']['x']
info_msg.center_of_mass.y = data['center_of_mass']['y']
info_msg.center_of_mass.z = data['center_of_mass']['z']
self.vehicle_info_publisher.publish(info_msg)
msg = CarlaEgoVehicleStatus()
msg.header = self.get_header()
msg.velocity = data['speed']
self.speed = data['speed']
#todo msg.acceleration
msg.control.throttle = self.current_control.throttle
msg.control.steer = self.current_control.steer
msg.control.brake = self.current_control.brake
msg.control.hand_brake = self.current_control.hand_brake
msg.control.reverse = self.current_control.reverse
msg.control.gear = self.current_control.gear
msg.control.manual_gear_shift = self.current_control.manual_gear_shift
self.vehicle_status_publisher.publish(msg)
def __init__(self, role_name, width, height, node):
self.role_name = role_name
self.dim = (width, height)
self.node = node
font = pygame.font.Font(pygame.font.get_default_font(), 20)
fonts = [x for x in pygame.font.get_fonts() if 'mono' in x]
default_font = 'ubuntumono'
mono = default_font if default_font in fonts else fonts[0]
mono = pygame.font.match_font(mono)
self._font_mono = pygame.font.Font(mono, 14)
self._notifications = FadingText(font, (width, 40), (0, height - 40))
self.help = HelpText(pygame.font.Font(mono, 24), width, height)
self._show_info = True
self._info_text = []
self.vehicle_status = CarlaEgoVehicleStatus()
if ROS_VERSION == 1:
self.tf_listener = tf.TransformListener()
self.callback_group = None
elif ROS_VERSION == 2:
self.tf_buffer = tf2_ros.Buffer()
self.tf_listener = tf2_ros.TransformListener(self.tf_buffer, node=self.node)
self.callback_group = ReentrantCallbackGroup()
self.vehicle_status_subscriber = node.create_subscriber(
CarlaEgoVehicleStatus, "/carla/{}/vehicle_status".format(self.role_name),
self.vehicle_status_updated, callback_group=self.callback_group)
self.vehicle_info = CarlaEgoVehicleInfo()
self.vehicle_info_subscriber = node.create_subscriber(
CarlaEgoVehicleInfo, "/carla/{}/vehicle_info".format(self.role_name),
self.vehicle_info_updated, callback_group=self.callback_group, qos_profile=QoSProfile(depth=10, durability=latch_on))
self.latitude = 0
self.longitude = 0
self.manual_control = False
self.gnss_subscriber = node.create_subscriber(
NavSatFix, "/carla/{}/gnss".format(self.role_name), self.gnss_updated,
callback_group=self.callback_group)
self.manual_control_subscriber = node.create_subscriber(
Bool, "/carla/{}/vehicle_control_manual_override".format(self.role_name),
self.manual_control_override_updated, callback_group=self.callback_group)
self.carla_status = CarlaStatus()
self.status_subscriber = node.create_subscriber(CarlaStatus, "/carla/status",
self.carla_status_updated,
callback_group=self.callback_group)
def send_vehicle_msgs(self):
"""
send messages related to vehicle status
:return:
"""
vehicle_status = CarlaEgoVehicleStatus(
header=self.get_msg_header("map"))
vehicle_status.velocity = self.get_vehicle_speed_abs(self.carla_actor)
vehicle_status.acceleration.linear = self.get_current_ros_accel(
).linear
vehicle_status.orientation = self.get_current_ros_pose().orientation
vehicle_status.control.throttle = self.carla_actor.get_control(
).throttle
vehicle_status.control.steer = self.carla_actor.get_control().steer
vehicle_status.control.brake = self.carla_actor.get_control().brake
vehicle_status.control.hand_brake = self.carla_actor.get_control(
).hand_brake
vehicle_status.control.reverse = self.carla_actor.get_control().reverse
vehicle_status.control.gear = self.carla_actor.get_control().gear
vehicle_status.control.manual_gear_shift = self.carla_actor.get_control(
).manual_gear_shift
self.vehicle_status_publisher.publish(vehicle_status)
# only send vehicle once (in latched-mode)
if not self.vehicle_info_published:
self.vehicle_info_published = True
vehicle_info = CarlaEgoVehicleInfo()
vehicle_info.id = self.carla_actor.id
vehicle_info.type = self.carla_actor.type_id
vehicle_info.rolename = self.carla_actor.attributes.get(
'role_name')
vehicle_physics = self.carla_actor.get_physics_control()
for wheel in vehicle_physics.wheels:
wheel_info = CarlaEgoVehicleInfoWheel()
wheel_info.tire_friction = wheel.tire_friction
wheel_info.damping_rate = wheel.damping_rate
wheel_info.max_steer_angle = math.radians(
wheel.max_steer_angle)
wheel_info.radius = wheel.radius
wheel_info.max_brake_torque = wheel.max_brake_torque
wheel_info.max_handbrake_torque = wheel.max_handbrake_torque
wheel_info.position.x = (wheel.position.x/100.0) - \
self.carla_actor.get_transform().location.x
wheel_info.position.y = -(
(wheel.position.y / 100.0) -
self.carla_actor.get_transform().location.y)
wheel_info.position.z = (wheel.position.z/100.0) - \
self.carla_actor.get_transform().location.z
vehicle_info.wheels.append(wheel_info)
vehicle_info.max_rpm = vehicle_physics.max_rpm
vehicle_info.max_rpm = vehicle_physics.max_rpm
vehicle_info.moi = vehicle_physics.moi
vehicle_info.damping_rate_full_throttle = vehicle_physics.damping_rate_full_throttle
vehicle_info.damping_rate_zero_throttle_clutch_engaged = \
vehicle_physics.damping_rate_zero_throttle_clutch_engaged
vehicle_info.damping_rate_zero_throttle_clutch_disengaged = \
vehicle_physics.damping_rate_zero_throttle_clutch_disengaged
vehicle_info.use_gear_autobox = vehicle_physics.use_gear_autobox
vehicle_info.gear_switch_time = vehicle_physics.gear_switch_time
vehicle_info.clutch_strength = vehicle_physics.clutch_strength
vehicle_info.mass = vehicle_physics.mass
vehicle_info.drag_coefficient = vehicle_physics.drag_coefficient
vehicle_info.center_of_mass.x = vehicle_physics.center_of_mass.x
vehicle_info.center_of_mass.y = vehicle_physics.center_of_mass.y
vehicle_info.center_of_mass.z = vehicle_physics.center_of_mass.z
self.vehicle_info_publisher.publish(vehicle_info)
def send_vehicle_msgs(self):
"""
Function (override) to send odometry message of the ego vehicle
instead of an object message.
The ego vehicle doesn't send its information as part of the object list.
A nav_msgs.msg.Odometry is prepared to be published
:return:
"""
vehicle_status = CarlaEgoVehicleStatus()
vehicle_status.header.stamp = self.get_current_ros_time()
vehicle_status.velocity = self.get_vehicle_speed_abs(self.carla_actor)
vehicle_status.acceleration = self.get_vehicle_acceleration_abs(
self.carla_actor)
vehicle_status.orientation = self.get_current_ros_pose().orientation
vehicle_status.control.throttle = self.carla_actor.get_control(
).throttle
vehicle_status.control.steer = self.carla_actor.get_control().steer
vehicle_status.control.brake = self.carla_actor.get_control().brake
vehicle_status.control.hand_brake = self.carla_actor.get_control(
).hand_brake
vehicle_status.control.reverse = self.carla_actor.get_control().reverse
vehicle_status.control.gear = self.carla_actor.get_control().gear
vehicle_status.control.manual_gear_shift = self.carla_actor.get_control(
).manual_gear_shift
self.publish_ros_message(self.topic_name() + "/vehicle_status",
vehicle_status)
if not self.vehicle_info_published:
self.vehicle_info_published = True
vehicle_info = CarlaEgoVehicleInfo()
vehicle_info.id = self.carla_actor.id
vehicle_info.type = self.carla_actor.type_id
vehicle_info.rolename = self.carla_actor.attributes.get(
'role_name')
vehicle_physics = self.carla_actor.get_physics_control()
for wheel in vehicle_physics.wheels:
wheel_info = CarlaEgoVehicleInfoWheel()
wheel_info.tire_friction = wheel.tire_friction
wheel_info.damping_rate = wheel.damping_rate
wheel_info.steer_angle = math.radians(wheel.steer_angle)
wheel_info.disable_steering = wheel.disable_steering
vehicle_info.wheels.append(wheel_info)
vehicle_info.max_rpm = vehicle_physics.max_rpm
vehicle_info.max_rpm = vehicle_physics.max_rpm
vehicle_info.moi = vehicle_physics.moi
vehicle_info.damping_rate_full_throttle = vehicle_physics.damping_rate_full_throttle
vehicle_info.damping_rate_zero_throttle_clutch_engaged = \
vehicle_physics.damping_rate_zero_throttle_clutch_engaged
vehicle_info.damping_rate_zero_throttle_clutch_disengaged = \
vehicle_physics.damping_rate_zero_throttle_clutch_disengaged
vehicle_info.use_gear_autobox = vehicle_physics.use_gear_autobox
vehicle_info.gear_switch_time = vehicle_physics.gear_switch_time
vehicle_info.clutch_strength = vehicle_physics.clutch_strength
vehicle_info.mass = vehicle_physics.mass
vehicle_info.drag_coefficient = vehicle_physics.drag_coefficient
vehicle_info.center_of_mass.x = vehicle_physics.center_of_mass.x
vehicle_info.center_of_mass.y = vehicle_physics.center_of_mass.y
vehicle_info.center_of_mass.z = vehicle_physics.center_of_mass.z
self.publish_ros_message(self.topic_name() + "/vehicle_info",
vehicle_info, True)
# @todo: do we still need this?
odometry = Odometry(header=self.get_msg_header())
odometry.child_frame_id = self.get_frame_id()
odometry.pose.pose = self.get_current_ros_pose()
odometry.twist.twist = self.get_current_ros_twist()
self.publish_ros_message(self.topic_name() + "/odometry", odometry)
def __init__(self):
"""
Constructor
"""
super(CarlaAckermannControl, self).__init__("carla_ackermann_control")
# PID controller
# the controller has to run with the simulation time, not with real-time
#
# To prevent "float division by zero" within PID controller initialize it with
# a previous point in time (the error happens because the time doesn't
# change between initialization and first call, therefore dt is 0)
sys.modules['simple_pid.PID']._current_time = ( # pylint: disable=protected-access
lambda: self.get_time() - 0.1)
# we might want to use a PID controller to reach the final target speed
self.speed_controller = PID(Kp=self.get_param("speed_Kp",
alternative_value=0.05),
Ki=self.get_param("speed_Ki",
alternative_value=0.),
Kd=self.get_param("speed_Kd",
alternative_value=0.5),
sample_time=0.05,
output_limits=(-1., 1.))
self.accel_controller = PID(Kp=self.get_param("accel_Kp",
alternative_value=0.05),
Ki=self.get_param("accel_Ki",
alternative_value=0.),
Kd=self.get_param("accel_Kd",
alternative_value=0.05),
sample_time=0.05,
output_limits=(-1, 1))
# use the correct time for further calculations
sys.modules['simple_pid.PID']._current_time = ( # pylint: disable=protected-access
lambda: self.get_time())
if ROS_VERSION == 1:
self.reconfigure_server = Server(
EgoVehicleControlParameterConfig,
namespace="",
callback=self.reconfigure_pid_parameters,
)
if ROS_VERSION == 2:
self.add_on_set_parameters_callback(
self.reconfigure_pid_parameters)
self.control_loop_rate = self.get_param("control_loop_rate", 0.05)
self.last_ackermann_msg_received_sec = self.get_time()
self.vehicle_status = CarlaEgoVehicleStatus()
self.vehicle_info = CarlaEgoVehicleInfo()
self.role_name = self.get_param('role_name', 'ego_vehicle')
# control info
self.info = EgoVehicleControlInfo()
# set initial maximum values
self.vehicle_info_updated(self.vehicle_info)
# target values
self.info.target.steering_angle = 0.
self.info.target.speed = 0.
self.info.target.speed_abs = 0.
self.info.target.accel = 0.
self.info.target.jerk = 0.
# current values
self.info.current.time_sec = self.get_time()
self.info.current.speed = 0.
self.info.current.speed_abs = 0.
self.info.current.accel = 0.
# control values
self.info.status.status = 'n/a'
self.info.status.speed_control_activation_count = 0
self.info.status.speed_control_accel_delta = 0.
self.info.status.speed_control_accel_target = 0.
self.info.status.accel_control_pedal_delta = 0.
self.info.status.accel_control_pedal_target = 0.
self.info.status.brake_upper_border = 0.
self.info.status.throttle_lower_border = 0.
# control output
self.info.output.throttle = 0.
self.info.output.brake = 1.0
self.info.output.steer = 0.
self.info.output.reverse = False
self.info.output.hand_brake = True
# ackermann drive commands
self.control_subscriber = self.new_subscription(
AckermannDrive,
"/carla/" + self.role_name + "/ackermann_cmd",
self.ackermann_command_updated,
qos_profile=10)
# current status of the vehicle
self.vehicle_status_subscriber = self.new_subscription(
CarlaEgoVehicleStatus,
"/carla/" + self.role_name + "/vehicle_status",
self.vehicle_status_updated,
qos_profile=10)
# vehicle info
self.vehicle_info_subscriber = self.new_subscription(
CarlaEgoVehicleInfo,
"/carla/" + self.role_name + "/vehicle_info",
self.vehicle_info_updated,
qos_profile=10)
# to send command to carla
self.carla_control_publisher = self.new_publisher(
CarlaEgoVehicleControl,
"/carla/" + self.role_name + "/vehicle_control_cmd",
qos_profile=1)
# report controller info
self.control_info_publisher = self.new_publisher(
EgoVehicleControlInfo,
"/carla/" + self.role_name + "/ackermann_control/control_info",
qos_profile=1)
def __init__(self):
"""
Constructor
"""
self.control_loop_rate = rospy.Rate(10) # 10Hz
self.lastAckermannMsgReceived = datetime.datetime(
datetime.MINYEAR, 1, 1)
self.vehicle_status = CarlaEgoVehicleStatus()
self.vehicle_info = CarlaEgoVehicleInfo()
self.role_name = rospy.get_param('/carla/ackermann_control/role_name')
# control info
self.info = EgoVehicleControlInfo()
# set initial maximum values
self.vehicle_info_updated(self.vehicle_info)
# target values
self.info.target.steering_angle = 0.
self.info.target.speed = 0.
self.info.target.speed_abs = 0.
self.info.target.accel = 0.
self.info.target.jerk = 0.
# current values
self.info.current.time_sec = rospy.get_rostime().to_sec()
self.info.current.speed = 0.
self.info.current.speed_abs = 0.
self.info.current.accel = 0.
# control values
self.info.status.status = 'n/a'
self.info.status.speed_control_activation_count = 0
self.info.status.speed_control_accel_delta = 0.
self.info.status.speed_control_accel_target = 0.
self.info.status.accel_control_pedal_delta = 0.
self.info.status.accel_control_pedal_target = 0.
self.info.status.brake_upper_border = 0.
self.info.status.throttle_lower_border = 0.
# control output
self.info.output.throttle = 0.
self.info.output.brake = 1.0
self.info.output.steer = 0.
self.info.output.reverse = False
self.info.output.hand_brake = True
# PID controller
# the controller has to run with the simulation time, not with real-time
#
# To prevent "float division by zero" within PID controller initialize it with
# a previous point in time (the error happens because the time doesn't
# change between initialization and first call, therefore dt is 0)
sys.modules['simple_pid.PID']._current_time = ( # pylint: disable=protected-access
lambda: rospy.get_rostime().to_sec() - 0.1)
# we might want to use a PID controller to reach the final target speed
self.speed_controller = PID(Kp=0.0,
Ki=0.0,
Kd=0.0,
sample_time=0.05,
output_limits=(-1., 1.))
self.accel_controller = PID(Kp=0.0,
Ki=0.0,
Kd=0.0,
sample_time=0.05,
output_limits=(-1, 1))
# use the correct time for further calculations
sys.modules['simple_pid.PID']._current_time = ( # pylint: disable=protected-access
lambda: rospy.get_rostime().to_sec())
self.reconfigure_server = Server(
EgoVehicleControlParameterConfig,
namespace="/carla/" + self.role_name + "/ackermann_control",
callback=(lambda config, level: CarlaAckermannControl.
reconfigure_pid_parameters(self, config, level)))
# ackermann drive commands
self.control_subscriber = rospy.Subscriber(
"/carla/" + self.role_name + "/ackermann_cmd", AckermannDrive,
self.ackermann_command_updated)
# current status of the vehicle
self.vehicle_status_subscriber = rospy.Subscriber(
"/carla/" + self.role_name + "/vehicle_status",
CarlaEgoVehicleStatus, self.vehicle_status_updated)
# vehicle info
self.vehicle_info_subscriber = rospy.Subscriber(
"/carla/" + self.role_name + "/vehicle_info", CarlaEgoVehicleInfo,
self.vehicle_info_updated)
# to send command to carla
self.carla_control_publisher = rospy.Publisher(
"/carla/" + self.role_name + "/vehicle_control_cmd",
CarlaEgoVehicleControl,
queue_size=1)
# report controller info
self.control_info_publisher = rospy.Publisher(
"/carla/" + self.role_name + "/ackermann_control/control_info",
EgoVehicleControlInfo,
queue_size=1)
def send_vehicle_msgs(self):
"""
send messages related to vehicle status
:return:
"""
vehicle_status = CarlaEgoVehicleStatus(
header=self.get_msg_header("map"))
vehicle_status.velocity = self.get_vehicle_speed_abs(self.carla_actor)
vehicle_status.acceleration.linear = transforms.carla_vector_to_ros_vector_rotated(
self.carla_actor.get_acceleration(),
self.carla_actor.get_transform().rotation)
vehicle_status.orientation = self.get_current_ros_pose().orientation
vehicle_status.control.throttle = self.carla_actor.get_control(
).throttle
vehicle_status.control.steer = self.carla_actor.get_control().steer
vehicle_status.control.brake = self.carla_actor.get_control().brake
vehicle_status.control.hand_brake = self.carla_actor.get_control(
).hand_brake
vehicle_status.control.reverse = self.carla_actor.get_control().reverse
vehicle_status.control.gear = self.carla_actor.get_control().gear
vehicle_status.control.manual_gear_shift = self.carla_actor.get_control(
).manual_gear_shift
self.publish_message(self.get_topic_prefix() + "/vehicle_status",
vehicle_status)
# only send vehicle once (in latched-mode)
if not self.vehicle_info_published:
self.vehicle_info_published = True
vehicle_info = CarlaEgoVehicleInfo()
vehicle_info.id = self.carla_actor.id
vehicle_info.type = self.carla_actor.type_id
vehicle_info.rolename = self.carla_actor.attributes.get(
'role_name')
vehicle_physics = self.carla_actor.get_physics_control()
for wheel in vehicle_physics.wheels:
wheel_info = CarlaEgoVehicleInfoWheel()
wheel_info.tire_friction = wheel.tire_friction
wheel_info.damping_rate = wheel.damping_rate
wheel_info.max_steer_angle = math.radians(
wheel.max_steer_angle)
vehicle_info.wheels.append(wheel_info)
vehicle_info.max_rpm = vehicle_physics.max_rpm
vehicle_info.max_rpm = vehicle_physics.max_rpm
vehicle_info.moi = vehicle_physics.moi
vehicle_info.damping_rate_full_throttle = vehicle_physics.damping_rate_full_throttle
vehicle_info.damping_rate_zero_throttle_clutch_engaged = \
vehicle_physics.damping_rate_zero_throttle_clutch_engaged
vehicle_info.damping_rate_zero_throttle_clutch_disengaged = \
vehicle_physics.damping_rate_zero_throttle_clutch_disengaged
vehicle_info.use_gear_autobox = vehicle_physics.use_gear_autobox
vehicle_info.gear_switch_time = vehicle_physics.gear_switch_time
vehicle_info.clutch_strength = vehicle_physics.clutch_strength
vehicle_info.mass = vehicle_physics.mass
vehicle_info.drag_coefficient = vehicle_physics.drag_coefficient
vehicle_info.center_of_mass.x = vehicle_physics.center_of_mass.x
vehicle_info.center_of_mass.y = vehicle_physics.center_of_mass.y
vehicle_info.center_of_mass.z = vehicle_physics.center_of_mass.z
self.publish_message(self.get_topic_prefix() + "/vehicle_info",
vehicle_info, True)
# @todo: do we still need this?
odometry = Odometry(header=self.get_msg_header("map"))
odometry.child_frame_id = self.get_prefix()
odometry.pose.pose = self.get_current_ros_pose()
odometry.twist.twist = self.get_current_ros_twist()
self.publish_message(self.get_topic_prefix() + "/odometry", odometry)