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carla_ackermann_control package from carla_ros_bridge repocarla_ackermann_control carla_ego_vehicle carla_infrastructure carla_manual_control carla_msgs carla_ros_bridge carla_waypoint_publisher pcl_recorder rqt_carla_control |
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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
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
- launch/carla_ros_bridge_with_ackermann_control.launch
-
- host [default: localhost]
- port [default: 2000]
- launch/carla_ackermann_control.launch
-
- role_name [default: ego_vehicle]
Messages
Services
No service files found
Plugins
No plugins found.
Recent questions tagged carla_ackermann_control at Robotics Stack Exchange
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