-
ROS index logo ROS Index
  1. Home
  2. Packages
  3. carla_ackermann_control
 
No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.

carla_ackermann_control package from carla_ros_bridge repo

carla_ackermann_control carla_ego_vehicle carla_infrastructure carla_manual_control carla_msgs carla_ros_bridge carla_waypoint_publisher pcl_recorder rqt_carla_control

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/carla-simulator/ros-bridge.git
VCS Type git
VCS Version 0.9.6
Last Updated 2020-01-29
Dev Status MAINTAINED
CI status Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The carla_ackermann_control package

Additional Links

No additional links.

Maintainers

  • CARLA Simulator Team

Authors

No additional authors.
carla_ackermann_control/README.md

Carla Ackermann Control

ROS Node to convert AckermannDrive messages to CarlaEgoVehicleControl.

  • A PID controller is used to control the acceleration/velocity.
  • Reads the Vehicle Info, required for controlling from Carla (via carla ros bridge)

Prerequisites

#install python simple-pid
pip install --user simple-pid

Configuration

Initial parameters can be set via configuration file.

It is possible to modify the parameters during runtime via ROS dynamic reconfigure.

Available Topics

Topic Type Description
/carla/<ROLE NAME>/ackermann_cmd (subscriber) ackermann_msgs.AckermannDrive Subscriber for stearing commands
/carla/<ROLE NAME>/ackermann_control/control_info carla_ackermann_control.EgoVehicleControlInfo The current values used within the controller (for debugging)

The role name is specified within the configuration.

Test control messages

You can send command to the car using the topic /carla/<ROLE NAME>/ackermann_cmd .

Examples for a ego vehicle with role_name ‘ego_vehicle’:

Forward movements, speed in in meters/sec.

 rostopic pub /carla/ego_vehicle/ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 0.0, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0,
  jerk: 0.0}" -r 10

Forward with steering

 rostopic pub /carla/ego_vehicle/ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 1.22, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0,
  jerk: 0.0}" -r 10

Info: the steering_angle is the driving angle (in radians) not the wheel angle.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ackermann_msgs
rospy
carla_msgs
roslaunch
message_generation
std_msgs
dynamic_reconfigure
catkin
carla_ros_bridge

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

Services

No service files found

Plugins

No plugins found.

Recent questions tagged carla_ackermann_control at Robotics Stack Exchange

No version for distro melodic. Known supported distros are highlighted in the buttons above.