The class responsible for publishing BSM messages. More...

#include <bsm_generator_node.hpp>

Inheritance diagram for bsm_generator::BSMGenerator:

Collaboration diagram for bsm_generator::BSMGenerator:

Public Member Functions
	BSMGenerator (const rclcpp::NodeOptions &)
	BSMGenerator constructor. More...

rcl_interfaces::msg::SetParametersResult	parameter_update_callback (const std::vector< rclcpp::Parameter > &parameters)
	Function callback for dynamic parameter updates. More...

carma_ros2_utils::CallbackReturn	handle_on_configure (const rclcpp_lifecycle::State &)

carma_ros2_utils::CallbackReturn	handle_on_activate (const rclcpp_lifecycle::State &)

Private Member Functions
void	initializeBSM ()
	Function to fill the BSM message with initial default data. More...

void	poseCallback (const geometry_msgs::msg::PoseStamped::UniquePtr msg)
	Callback to populate BSM message with longitude, latitude, and elevation data. More...

void	accelCallback (const automotive_platform_msgs::msg::VelocityAccelCov::UniquePtr msg)
	Callback to populate BSM message with longitudinal acceleration data. More...

void	yawCallback (const sensor_msgs::msg::Imu::UniquePtr msg)
	Callback to populate BSM message with yaw rate data. More...

void	gearCallback (const j2735_v2x_msgs::msg::TransmissionState::UniquePtr msg)
	Callback to populate BSM message with transmission state data. More...

void	speedCallback (const geometry_msgs::msg::TwistStamped::UniquePtr msg)
	Callback to populate BSM message with vehicle speed data. More...

void	steerWheelAngleCallback (const std_msgs::msg::Float64::UniquePtr msg)
	Callback to populate BSM message with vehicle steering wheel angle data. More...

void	brakeCallback (const std_msgs::msg::Float64::UniquePtr msg)
	Callback to populate BSM message with vehicle applied brake status. More...

void	headingCallback (const gps_msgs::msg::GPSFix::UniquePtr msg)
	Callback to populate BSM message with vehicle heading data. More...

void	georeferenceCallback (const std_msgs::msg::String::UniquePtr msg)
	Callback for map projection string to define lat/lon -> map conversion. More...

void	generateBSM ()
	Timer callback, which publishes a BSM. More...

Private Attributes
carma_ros2_utils::SubPtr< geometry_msgs::msg::PoseStamped >	pose_sub_

carma_ros2_utils::SubPtr< automotive_platform_msgs::msg::VelocityAccelCov >	accel_sub_

carma_ros2_utils::SubPtr< sensor_msgs::msg::Imu >	yaw_sub_

carma_ros2_utils::SubPtr< j2735_v2x_msgs::msg::TransmissionState >	gear_sub_

carma_ros2_utils::SubPtr< geometry_msgs::msg::TwistStamped >	speed_sub_

carma_ros2_utils::SubPtr< std_msgs::msg::Float64 >	steer_wheel_angle_sub_

carma_ros2_utils::SubPtr< std_msgs::msg::Float64 >	brake_sub_

carma_ros2_utils::SubPtr< gps_msgs::msg::GPSFix >	heading_sub_

carma_ros2_utils::SubPtr< std_msgs::msg::String >	georeference_sub_

carma_ros2_utils::PubPtr< carma_v2x_msgs::msg::BSM >	bsm_pub_

rclcpp::TimerBase::SharedPtr	timer_

Config	config_

std::shared_ptr< BSMGeneratorWorker >	worker

carma_v2x_msgs::msg::BSM	bsm_

std::string	georeference_ {""}

std::shared_ptr< lanelet::projection::LocalFrameProjector >	map_projector_

std::vector< uint8_t >	bsm_message_id_

Detailed Description

The class responsible for publishing BSM messages.

Definition at line 45 of file bsm_generator_node.hpp.

Constructor & Destructor Documentation

◆ BSMGenerator()

bsm_generator::BSMGenerator::BSMGenerator ( const rclcpp::NodeOptions & options )

explicit

BSMGenerator constructor.

Definition at line 22 of file bsm_generator_node.cpp.

      : carma_ros2_utils::CarmaLifecycleNode(options)
  {
    // Create initial config
    config_ = Config();
 
    // Declare parameters
    config_.bsm_generation_frequency = declare_parameter<double>("bsm_generation_frequency", config_.bsm_generation_frequency);
    config_.bsm_id_change_period = declare_parameter<double>("bsm_id_change_period", config_.bsm_id_change_period);
    config_.bsm_id_rotation_enabled  = declare_parameter<bool>("bsm_id_rotation_enabled", config_.bsm_id_rotation_enabled);
    config_.bsm_message_id           = declare_parameter<int>("bsm_message_id", config_.bsm_message_id);
    config_.vehicle_length           = declare_parameter<double>("vehicle_length", config_.vehicle_length);
    config_.vehicle_width            = declare_parameter<double>("vehicle_width", config_.vehicle_width);
  }

References bsm_generator::Config::bsm_generation_frequency, bsm_generator::Config::bsm_id_change_period, bsm_generator::Config::bsm_id_rotation_enabled, bsm_generator::Config::bsm_message_id, config_, bsm_generator::Config::vehicle_length, and bsm_generator::Config::vehicle_width.

Member Function Documentation

◆ accelCallback()

void bsm_generator::BSMGenerator::accelCallback ( const automotive_platform_msgs::msg::VelocityAccelCov::UniquePtr msg )

private

Callback to populate BSM message with longitudinal acceleration data.

Parameters

msg	Latest acceleration message

Definition at line 154 of file bsm_generator_node.cpp.

  {
    bsm_.core_data.accel_set.longitudinal = worker->getLongAccelInRange(msg->accleration);
    bsm_.core_data.accel_set.presence_vector = bsm_.core_data.accel_set.presence_vector | bsm_.core_data.accel_set.ACCELERATION_AVAILABLE;
  }

References bsm_, and worker.

Referenced by handle_on_configure().

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◆ brakeCallback()

void bsm_generator::BSMGenerator::brakeCallback ( const std_msgs::msg::Float64::UniquePtr msg )

private

Callback to populate BSM message with vehicle applied brake status.

Parameters

msg	Latest brake status message

Definition at line 166 of file bsm_generator_node.cpp.

  {
    bsm_.core_data.brakes.wheel_brakes.brake_applied_status = worker->getBrakeAppliedStatus(msg->data);
  }

References bsm_, and worker.

Referenced by handle_on_configure().

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◆ gearCallback()

void bsm_generator::BSMGenerator::gearCallback ( const j2735_v2x_msgs::msg::TransmissionState::UniquePtr msg )

private

Callback to populate BSM message with transmission state data.

Parameters

msg	Latest transmissio state message

Definition at line 143 of file bsm_generator_node.cpp.

  {
    bsm_.core_data.transmission.transmission_state = msg->transmission_state;
  }

References bsm_.

Referenced by handle_on_configure().

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◆ generateBSM()

void bsm_generator::BSMGenerator::generateBSM ( )

private

Timer callback, which publishes a BSM.

Definition at line 195 of file bsm_generator_node.cpp.

  {
    bsm_.header.stamp = this->now();
    bsm_.core_data.msg_count = worker->getNextMsgCount();
 
    if (config_.bsm_id_rotation_enabled)
      bsm_.core_data.id = worker->getMsgId( this->now(), config_.bsm_id_change_period);
    else
    {
      std::vector<uint8_t> id(4);
      for(int i = 0; i < id.size(); ++i)
      {
        id[i] = config_.bsm_message_id >> (8 * i);
      }
      bsm_.core_data.id = id;
    }
 
    bsm_.core_data.sec_mark = worker->getSecMark( this->now() );
    bsm_.core_data.presence_vector = bsm_.core_data.presence_vector | bsm_.core_data.SEC_MARK_AVAILABLE;
    // currently the accuracy is not available because ndt_matching does not provide accuracy measurement
    bsm_.core_data.accuracy.presence_vector = 0;
    bsm_pub_->publish(bsm_);
  }

References bsm_, bsm_generator::Config::bsm_id_change_period, bsm_generator::Config::bsm_id_rotation_enabled, bsm_generator::Config::bsm_message_id, bsm_pub_, config_, process_bag::i, and worker.

Referenced by handle_on_activate().

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◆ georeferenceCallback()

void bsm_generator::BSMGenerator::georeferenceCallback ( const std_msgs::msg::String::UniquePtr msg )

private

Callback for map projection string to define lat/lon -> map conversion.

Parameters

msg	The proj string defining the projection.

Definition at line 127 of file bsm_generator_node.cpp.

  {
    // Build projector from proj string
    if (georeference_ != msg->data)
    {
      georeference_ = msg->data;
      map_projector_ = std::make_shared<lanelet::projection::LocalFrameProjector>(msg->data.c_str());
    }
  }

References georeference_, and map_projector_.

Referenced by handle_on_configure().

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◆ handle_on_activate()

carma_ros2_utils::CallbackReturn bsm_generator::BSMGenerator::handle_on_activate ( const rclcpp_lifecycle::State & prev_state )

Definition at line 107 of file bsm_generator_node.cpp.

  {
    // Timer setup for generating a BSM
    int bsm_generation_period_ms = (1 / config_.bsm_generation_frequency) * 1000; // Conversion from frequency (Hz) to milliseconds time period
    timer_ = create_timer(get_clock(),
                          std::chrono::milliseconds(bsm_generation_period_ms),
                          std::bind(&BSMGenerator::generateBSM, this));
 
    return CallbackReturn::SUCCESS;
  }

References bsm_generator::Config::bsm_generation_frequency, config_, generateBSM(), and timer_.

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◆ handle_on_configure()

carma_ros2_utils::CallbackReturn bsm_generator::BSMGenerator::handle_on_configure ( const rclcpp_lifecycle::State & )

Definition at line 55 of file bsm_generator_node.cpp.

  {
    RCLCPP_INFO_STREAM(get_logger(), "BSMGenerator trying to configure");
 
    // Reset config
    config_ = Config();
 
    // Load parameters
    get_parameter<double>("bsm_generation_frequency", config_.bsm_generation_frequency);
    get_parameter<double>("bsm_id_change_period", config_.bsm_id_change_period);
    get_parameter<bool>("bsm_id_rotation_enabled", config_.bsm_id_rotation_enabled);
    get_parameter<int>("bsm_message_id", config_.bsm_message_id);
    get_parameter<double>("vehicle_length", config_.vehicle_length);
    get_parameter<double>("vehicle_width", config_.vehicle_width);
 
    RCLCPP_INFO_STREAM(get_logger(), "Loaded params: " << config_);
 
    // Register runtime parameter update callback
    add_on_set_parameters_callback(std::bind(&BSMGenerator::parameter_update_callback, this, std_ph::_1));
 
    // Setup subscribers
    pose_sub_ = create_subscription<geometry_msgs::msg::PoseStamped>("pose", 1,
                                                              std::bind(&BSMGenerator::poseCallback, this, std_ph::_1));
    accel_sub_ = create_subscription<automotive_platform_msgs::msg::VelocityAccelCov>("velocity_accel_cov", 1,
                                                              std::bind(&BSMGenerator::accelCallback, this, std_ph::_1));
    yaw_sub_ = create_subscription<sensor_msgs::msg::Imu>("imu_raw", 1,
                                                              std::bind(&BSMGenerator::yawCallback, this, std_ph::_1));
    gear_sub_ = create_subscription<j2735_v2x_msgs::msg::TransmissionState>("transmission_state", 1,
                                                              std::bind(&BSMGenerator::gearCallback, this, std_ph::_1));
    speed_sub_ = create_subscription<geometry_msgs::msg::TwistStamped>("ekf_twist", 1,
                                                              std::bind(&BSMGenerator::speedCallback, this, std_ph::_1));
    steer_wheel_angle_sub_ = create_subscription<std_msgs::msg::Float64>("steering_wheel_angle", 1,
                                                              std::bind(&BSMGenerator::steerWheelAngleCallback, this, std_ph::_1));
    brake_sub_ = create_subscription<std_msgs::msg::Float64>("brake_position", 1,
                                                              std::bind(&BSMGenerator::brakeCallback, this, std_ph::_1));
    heading_sub_ = create_subscription<gps_msgs::msg::GPSFix>("gnss_fix_fused", 1,
                                                              std::bind(&BSMGenerator::headingCallback, this, std_ph::_1));
    georeference_sub_ = create_subscription<std_msgs::msg::String>("georeference", 1,
                                                              std::bind(&BSMGenerator::georeferenceCallback, this, std_ph::_1));
 
    // Setup publishers
    bsm_pub_ = create_publisher<carma_v2x_msgs::msg::BSM>("bsm_outbound", 5);
 
    // Initialize the generated BSM message
    initializeBSM();
 
    worker = std::make_shared<BSMGeneratorWorker>();
 
    // Return success if everthing initialized successfully
    return CallbackReturn::SUCCESS;
  }

References accel_sub_, accelCallback(), brake_sub_, brakeCallback(), bsm_generator::Config::bsm_generation_frequency, bsm_generator::Config::bsm_id_change_period, bsm_generator::Config::bsm_id_rotation_enabled, bsm_generator::Config::bsm_message_id, bsm_pub_, config_, gear_sub_, gearCallback(), georeference_sub_, georeferenceCallback(), heading_sub_, headingCallback(), initializeBSM(), parameter_update_callback(), pose_sub_, poseCallback(), speed_sub_, speedCallback(), steer_wheel_angle_sub_, steerWheelAngleCallback(), bsm_generator::Config::vehicle_length, bsm_generator::Config::vehicle_width, worker, yaw_sub_, and yawCallback().

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◆ headingCallback()

void bsm_generator::BSMGenerator::headingCallback ( const gps_msgs::msg::GPSFix::UniquePtr msg )

private

Callback to populate BSM message with vehicle heading data.

Parameters

msg	Latest GNSS message

Definition at line 189 of file bsm_generator_node.cpp.

  {
    bsm_.core_data.heading = worker->getHeadingInRange(static_cast<float>(msg->track));
    bsm_.core_data.presence_vector = bsm_.core_data.presence_vector | bsm_.core_data.HEADING_AVAILABLE;
  }

References bsm_, and worker.

Referenced by handle_on_configure().

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◆ initializeBSM()

void bsm_generator::BSMGenerator::initializeBSM ( )

private

Function to fill the BSM message with initial default data.

Definition at line 118 of file bsm_generator_node.cpp.

  {
    bsm_.core_data.presence_vector = 0;
    bsm_.core_data.size.vehicle_width = config_.vehicle_width;
    bsm_.core_data.size.vehicle_length = config_.vehicle_length;
    bsm_.core_data.size.presence_vector = bsm_.core_data.size.presence_vector | bsm_.core_data.size.VEHICLE_LENGTH_AVAILABLE;
    bsm_.core_data.size.presence_vector = bsm_.core_data.size.presence_vector | bsm_.core_data.size.VEHICLE_WIDTH_AVAILABLE;
  }

References bsm_, config_, bsm_generator::Config::vehicle_length, and bsm_generator::Config::vehicle_width.

Referenced by handle_on_configure().

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◆ parameter_update_callback()

rcl_interfaces::msg::SetParametersResult bsm_generator::BSMGenerator::parameter_update_callback ( const std::vector< rclcpp::Parameter > & parameters )

Function callback for dynamic parameter updates.

Definition at line 37 of file bsm_generator_node.cpp.

  {
    auto error = update_params<bool>({{"bsm_id_rotation_enabled", config_.bsm_id_rotation_enabled}}, parameters);
    auto error_2 = update_params<int>({{"bsm_message_id", config_.bsm_message_id}}, parameters);
    auto error_3 = update_params<double>({
        {"bsm_generation_frequency", config_.bsm_generation_frequency},
        {"bsm_id_change_period", config_.bsm_id_change_period},
        {"vehicle_length", config_.vehicle_length},
        {"vehicle_width", config_.vehicle_width}
    }, parameters);
 
    rcl_interfaces::msg::SetParametersResult result;
 
    result.successful = !error && !error_2 && !error_3;
 
    return result;
  }

References bsm_generator::Config::bsm_generation_frequency, bsm_generator::Config::bsm_id_change_period, bsm_generator::Config::bsm_id_rotation_enabled, bsm_generator::Config::bsm_message_id, config_, bsm_generator::Config::vehicle_length, and bsm_generator::Config::vehicle_width.

Referenced by handle_on_configure().

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◆ poseCallback()

void bsm_generator::BSMGenerator::poseCallback ( const geometry_msgs::msg::PoseStamped::UniquePtr msg )

private

Callback to populate BSM message with longitude, latitude, and elevation data.

Parameters

msg	Latest pose message

Definition at line 171 of file bsm_generator_node.cpp.

  {
    // Use pose message as an indicator of new location updates
    if (!map_projector_) {
        RCLCPP_DEBUG_STREAM(get_logger(), "Ignoring pose message as projection string has not been defined");
        return;
    }
       
    lanelet::GPSPoint coord = map_projector_->reverse( { msg->pose.position.x, msg->pose.position.y, msg->pose.position.z } );
     
    bsm_.core_data.longitude = coord.lon;
    bsm_.core_data.latitude = coord.lat;
    bsm_.core_data.elev = coord.ele;
    bsm_.core_data.presence_vector = bsm_.core_data.presence_vector | bsm_.core_data.LONGITUDE_AVAILABLE;
    bsm_.core_data.presence_vector = bsm_.core_data.presence_vector | bsm_.core_data.LATITUDE_AVAILABLE;
    bsm_.core_data.presence_vector = bsm_.core_data.presence_vector | bsm_.core_data.ELEVATION_AVAILABLE;
  }

References bsm_, and map_projector_.

Referenced by handle_on_configure().

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◆ speedCallback()

void bsm_generator::BSMGenerator::speedCallback ( const geometry_msgs::msg::TwistStamped::UniquePtr msg )

private

Callback to populate BSM message with vehicle speed data.

Parameters

msg	Latest speed message

Definition at line 137 of file bsm_generator_node.cpp.

  {
    bsm_.core_data.speed = worker->getSpeedInRange(msg->twist.linear.x);
    bsm_.core_data.presence_vector = bsm_.core_data.presence_vector | bsm_.core_data.SPEED_AVAILABLE;
  }

References bsm_, and worker.

Referenced by handle_on_configure().

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◆ steerWheelAngleCallback()

void bsm_generator::BSMGenerator::steerWheelAngleCallback ( const std_msgs::msg::Float64::UniquePtr msg )

private

Callback to populate BSM message with vehicle steering wheel angle data.

Parameters

msg	Latest steering wheel angle message

Definition at line 148 of file bsm_generator_node.cpp.

  {
    bsm_.core_data.angle = worker->getSteerWheelAngleInRange(msg->data);
    bsm_.core_data.presence_vector = bsm_.core_data.presence_vector | bsm_.core_data.STEER_WHEEL_ANGLE_AVAILABLE;
  }

References bsm_, and worker.

Referenced by handle_on_configure().

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◆ yawCallback()

void bsm_generator::BSMGenerator::yawCallback ( const sensor_msgs::msg::Imu::UniquePtr msg )

private

Callback to populate BSM message with yaw rate data.

Parameters

msg	Latest IMU message

Definition at line 160 of file bsm_generator_node.cpp.

  {
    bsm_.core_data.accel_set.yaw_rate = worker->getYawRateInRange(static_cast<float>(msg->angular_velocity.z));
    bsm_.core_data.accel_set.presence_vector = bsm_.core_data.accel_set.presence_vector | bsm_.core_data.accel_set.YAWRATE_AVAILABLE;
  }

References bsm_, and worker.

Referenced by handle_on_configure().

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Member Data Documentation

◆ accel_sub_

carma_ros2_utils::SubPtr<automotive_platform_msgs::msg::VelocityAccelCov> bsm_generator::BSMGenerator::accel_sub_

private

Definition at line 51 of file bsm_generator_node.hpp.

Referenced by handle_on_configure().

◆ brake_sub_

carma_ros2_utils::SubPtr<std_msgs::msg::Float64> bsm_generator::BSMGenerator::brake_sub_

private

Definition at line 56 of file bsm_generator_node.hpp.

Referenced by handle_on_configure().

◆ bsm_

carma_v2x_msgs::msg::BSM bsm_generator::BSMGenerator::bsm_

private

Definition at line 73 of file bsm_generator_node.hpp.

Referenced by accelCallback(), brakeCallback(), gearCallback(), generateBSM(), headingCallback(), initializeBSM(), poseCallback(), speedCallback(), steerWheelAngleCallback(), and yawCallback().

◆ bsm_message_id_

std::vector<uint8_t> bsm_generator::BSMGenerator::bsm_message_id_

private

Definition at line 78 of file bsm_generator_node.hpp.

◆ bsm_pub_

carma_ros2_utils::PubPtr<carma_v2x_msgs::msg::BSM> bsm_generator::BSMGenerator::bsm_pub_

private

Definition at line 61 of file bsm_generator_node.hpp.

Referenced by generateBSM(), and handle_on_configure().

◆ config_

Config bsm_generator::BSMGenerator::config_

private

Definition at line 67 of file bsm_generator_node.hpp.

Referenced by BSMGenerator(), generateBSM(), handle_on_activate(), handle_on_configure(), initializeBSM(), and parameter_update_callback().

◆ gear_sub_

carma_ros2_utils::SubPtr<j2735_v2x_msgs::msg::TransmissionState> bsm_generator::BSMGenerator::gear_sub_

private

Definition at line 53 of file bsm_generator_node.hpp.

Referenced by handle_on_configure().

◆ georeference_

std::string bsm_generator::BSMGenerator::georeference_ {""}

private

Definition at line 75 of file bsm_generator_node.hpp.

Referenced by georeferenceCallback().

◆ georeference_sub_

carma_ros2_utils::SubPtr<std_msgs::msg::String> bsm_generator::BSMGenerator::georeference_sub_

private

Definition at line 58 of file bsm_generator_node.hpp.

Referenced by handle_on_configure().

◆ heading_sub_

carma_ros2_utils::SubPtr<gps_msgs::msg::GPSFix> bsm_generator::BSMGenerator::heading_sub_

private

Definition at line 57 of file bsm_generator_node.hpp.

Referenced by handle_on_configure().

◆ map_projector_

std::shared_ptr<lanelet::projection::LocalFrameProjector> bsm_generator::BSMGenerator::map_projector_

private

Definition at line 76 of file bsm_generator_node.hpp.

Referenced by georeferenceCallback(), and poseCallback().

◆ pose_sub_

carma_ros2_utils::SubPtr<geometry_msgs::msg::PoseStamped> bsm_generator::BSMGenerator::pose_sub_

private

Definition at line 50 of file bsm_generator_node.hpp.

Referenced by handle_on_configure().

◆ speed_sub_

carma_ros2_utils::SubPtr<geometry_msgs::msg::TwistStamped> bsm_generator::BSMGenerator::speed_sub_

private

Definition at line 54 of file bsm_generator_node.hpp.

Referenced by handle_on_configure().

◆ steer_wheel_angle_sub_

carma_ros2_utils::SubPtr<std_msgs::msg::Float64> bsm_generator::BSMGenerator::steer_wheel_angle_sub_

private

Definition at line 55 of file bsm_generator_node.hpp.

Referenced by handle_on_configure().

◆ timer_

rclcpp::TimerBase::SharedPtr bsm_generator::BSMGenerator::timer_

private

Definition at line 64 of file bsm_generator_node.hpp.

Referenced by handle_on_activate().

◆ worker

std::shared_ptr<BSMGeneratorWorker> bsm_generator::BSMGenerator::worker

private

Definition at line 70 of file bsm_generator_node.hpp.

Referenced by accelCallback(), brakeCallback(), generateBSM(), handle_on_configure(), headingCallback(), speedCallback(), steerWheelAngleCallback(), and yawCallback().

◆ yaw_sub_

carma_ros2_utils::SubPtr<sensor_msgs::msg::Imu> bsm_generator::BSMGenerator::yaw_sub_

private

Definition at line 52 of file bsm_generator_node.hpp.

Referenced by handle_on_configure().

The documentation for this class was generated from the following files:

bsm_generator/include/bsm_generator/bsm_generator_node.hpp
bsm_generator/src/bsm_generator_node.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BSMGenerator()

Member Function Documentation

◆ accelCallback()

◆ brakeCallback()

◆ gearCallback()

◆ generateBSM()

◆ georeferenceCallback()

◆ handle_on_activate()

◆ handle_on_configure()

◆ headingCallback()

◆ initializeBSM()

◆ parameter_update_callback()

◆ poseCallback()

◆ speedCallback()

◆ steerWheelAngleCallback()

◆ yawCallback()

Member Data Documentation

◆ accel_sub_

◆ brake_sub_

◆ bsm_

◆ bsm_message_id_

◆ bsm_pub_

◆ config_

◆ gear_sub_

◆ georeference_

◆ georeference_sub_

◆ heading_sub_

◆ map_projector_

◆ pose_sub_

◆ speed_sub_

◆ steer_wheel_angle_sub_

◆ timer_

◆ worker

◆ yaw_sub_