ROS Node to for Platooning Strategic Plugin IHP2 variant. It includes all the service clients, publishers and subscribers. More...

#include <platoon_strategic_plugin_node_ihp.h>

Inheritance diagram for platoon_strategic_ihp::Node:

Collaboration diagram for platoon_strategic_ihp::Node:

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

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

void	plan_maneuvers_callback (std::shared_ptr< rmw_request_id_t >, carma_planning_msgs::srv::PlanManeuvers::Request::SharedPtr req, carma_planning_msgs::srv::PlanManeuvers::Response::SharedPtr resp) override
	Extending class provided callback which should return a planned trajectory based on the provided trajectory planning request. More...

bool	get_availability () override
	Get the availability status of this plugin based on the current operating environment. Method must be overriden by extending classes. More...

std::string	get_version_id () override
	Returns the version id of this plugin. More...

carma_ros2_utils::CallbackReturn	on_configure_plugin ()
	This method should be used to load parameters and will be called on the configure state transition. More...

carma_ros2_utils::CallbackReturn	on_cleanup_plugin ()
	Method which is triggered when this plugin is moved from the INACTIVE to UNCONFIGURED states. This method should be used to fully reset the plugin such that a future call to on_configure_plugin would leave the plugin in a fresh state as though just launched. More...

Public Member Functions inherited from carma_guidance_plugins::StrategicPlugin
	StrategicPlugin (const rclcpp::NodeOptions &)
	StrategicPlugin constructor. More...

virtual	~StrategicPlugin ()=default
	Virtual destructor for safe deletion. More...

virtual void	plan_maneuvers_callback (std::shared_ptr< rmw_request_id_t > srv_header, carma_planning_msgs::srv::PlanManeuvers::Request::SharedPtr req, carma_planning_msgs::srv::PlanManeuvers::Response::SharedPtr resp)=0
	Extending class provided callback which should return a planned trajectory based on the provided trajectory planning request. More...

std::string	get_capability () override
	Get the capability string representing this plugins capabilities Method must be overriden by extending classes. Expectation is that abstract plugin type parent classes will provide a default implementation. More...

uint8_t	get_type () override final
	Returns the type of this plugin according to the carma_planning_msgs::Plugin type enum. Extending classes for the specific type should override this method. More...

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

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

carma_ros2_utils::CallbackReturn	handle_on_deactivate (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_cleanup (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_shutdown (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_error (const rclcpp_lifecycle::State &, const std::string &exception_string) override final

Public Member Functions inherited from carma_guidance_plugins::PluginBaseNode
	PluginBaseNode (const rclcpp::NodeOptions &)
	PluginBaseNode constructor. More...

virtual	~PluginBaseNode ()=default
	Virtual destructor for safe deletion. More...

virtual std::shared_ptr< carma_wm::WMListener >	get_world_model_listener () final
	Method to return the default world model listener provided as a convience by this base class If this method or get_world_model() are not called then the world model remains uninitialized and will not create unnecessary subscriptions. More...

virtual carma_wm::WorldModelConstPtr	get_world_model () final
	Method to return the default world model provided as a convience by this base class If this method or get_world_model_listener() are not called then the world model remains uninitialized and will not create unnecessary subscriptions. More...

virtual bool	get_activation_status () final
	Returns the activation status of this plugin. The plugins API callbacks will only be triggered when this method returns true. More...

virtual uint8_t	get_type ()
	Returns the type of this plugin according to the carma_planning_msgs::Plugin type enum. Extending classes for the specific type should override this method. More...

std::string	get_plugin_name_and_ns () const
	Return the name of this plugin with namespace. NOTE: If only the name of the plugin is required, use get_plugin_name() More...

std::string	get_plugin_name () const
	Return the name of this plugin. More...

virtual bool	get_availability ()=0
	Get the availability status of this plugin based on the current operating environment. Method must be overriden by extending classes. More...

virtual std::string	get_capability ()=0
	Get the capability string representing this plugins capabilities Method must be overriden by extending classes. Expectation is that abstract plugin type parent classes will provide a default implementation. More...

virtual std::string	get_version_id ()=0
	Returns the version id of this plugin. More...

virtual carma_ros2_utils::CallbackReturn	on_configure_plugin ()=0
	Method which is triggered when this plugin is moved from the UNCONFIGURED to INACTIVE states. This method should be used to load parameters and is required to be implemented. More...

virtual carma_ros2_utils::CallbackReturn	on_activate_plugin ()
	Method which is triggered when this plugin is moved from the INACTIVE to ACTIVE states. This method should be used to prepare for future callbacks for plugin's capabilites. More...

virtual carma_ros2_utils::CallbackReturn	on_deactivate_plugin ()
	Method which is triggered when this plugin is moved from the ACTIVE to INACTIVE states. This method should be used to disable any functionality which should cease execution when plugin is inactive. More...

virtual carma_ros2_utils::CallbackReturn	on_cleanup_plugin ()
	Method which is triggered when this plugin is moved from the INACTIVE to UNCONFIGURED states. This method should be used to fully reset the plugin such that a future call to on_configure_plugin would leave the plugin in a fresh state as though just launched. More...

virtual carma_ros2_utils::CallbackReturn	on_shutdown_plugin ()
	Method which is triggered when this plugin is moved from any state to FINALIZED This method should be used to generate any shutdown logs or final cleanup. More...

virtual carma_ros2_utils::CallbackReturn	on_error_plugin (const std::string &exception_string)
	Method which is triggered when an unhandled exception occurs in this plugin This method should be used to cleanup such that the plugin could be moved to UNCONFIGURED state if possible. More...

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

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

carma_ros2_utils::CallbackReturn	handle_on_deactivate (const rclcpp_lifecycle::State &) override

carma_ros2_utils::CallbackReturn	handle_on_cleanup (const rclcpp_lifecycle::State &) override

carma_ros2_utils::CallbackReturn	handle_on_shutdown (const rclcpp_lifecycle::State &) override

carma_ros2_utils::CallbackReturn	handle_on_error (const rclcpp_lifecycle::State &, const std::string &exception_string) override

	FRIEND_TEST (carma_guidance_plugins_test, connections_test)

Private Attributes
carma_ros2_utils::PubPtr< carma_planning_msgs::msg::PlatooningInfo >	platoon_info_pub

carma_ros2_utils::PubPtr< carma_v2x_msgs::msg::MobilityResponse >	mob_response_pub

carma_ros2_utils::PubPtr< carma_v2x_msgs::msg::MobilityRequest >	mob_request_pub

carma_ros2_utils::PubPtr< carma_v2x_msgs::msg::MobilityOperation >	mob_operation_pub

carma_ros2_utils::SubPtr< carma_v2x_msgs::msg::MobilityRequest >	mob_request_sub

carma_ros2_utils::SubPtr< carma_v2x_msgs::msg::MobilityResponse >	mob_response_sub

carma_ros2_utils::SubPtr< carma_v2x_msgs::msg::MobilityOperation >	mob_operation_sub

carma_ros2_utils::SubPtr< geometry_msgs::msg::PoseStamped >	current_pose_sub

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

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

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

rclcpp::TimerBase::SharedPtr	loop_timer_

PlatoonPluginConfig	config_

std::shared_ptr< PlatoonStrategicIHPPlugin >	worker_

Detailed Description

ROS Node to for Platooning Strategic Plugin IHP2 variant. It includes all the service clients, publishers and subscribers.

Definition at line 51 of file platoon_strategic_plugin_node_ihp.h.

Constructor & Destructor Documentation

◆ Node()

platoon_strategic_ihp::Node::Node ( const rclcpp::NodeOptions & options )

explicit

Node constructor.

Definition at line 24 of file platoon_strategic_ihp_node.cpp.

      : carma_guidance_plugins::StrategicPlugin(options)
  {
    // Create initial config
    config_ = PlatoonPluginConfig();
 
    // Declare parameters
 
    declare_parameter<bool>("allowCutinJoin", config_.allowCutinJoin);
    declare_parameter<bool>("test_cutin_join", config_.test_cutin_join);
    declare_parameter<bool>("test_front_join", config_.test_front_join);
 
    declare_parameter<int>("maxPlatoonSize", config_.maxPlatoonSize);
    declare_parameter<int>("algorithmType", config_.algorithmType);
    declare_parameter<int>("statusMessageInterval", config_.statusMessageInterval);
    declare_parameter<int>("infoMessageInterval", config_.infoMessageInterval);
    declare_parameter<int>("join_index", config_.join_index);
 
    declare_parameter<double>("timeHeadway", config_.timeHeadway);
    declare_parameter<double>("standStillHeadway", config_.standStillHeadway);
    declare_parameter<double>("maxAllowedJoinTimeGap", config_.maxAllowedJoinTimeGap);
    declare_parameter<double>("maxAllowedJoinGap", config_.maxAllowedJoinGap);
    declare_parameter<double>("minAllowedJoinGap", config_.minAllowedJoinGap);
    declare_parameter<double>("desiredJoinTimeGap", config_.desiredJoinTimeGap);
    declare_parameter<double>("desiredJoinGap", config_.desiredJoinGap);
    declare_parameter<double>("waitingStateTimeout", config_.waitingStateTimeout);
    declare_parameter<double>("cmdSpeedMaxAdjustment", config_.cmdSpeedMaxAdjustment);
    declare_parameter<double>("minAllowableHeadaway", config_.minAllowableHeadaway);
    declare_parameter<double>("maxAllowableHeadaway", config_.maxAllowableHeadaway);
    declare_parameter<double>("headawayStableLowerBond", config_.headawayStableLowerBond);
    declare_parameter<double>("headawayStableUpperBond", config_.headawayStableUpperBond);
    declare_parameter<double>("minCutinGap", config_.minCutinGap);
    declare_parameter<double>("maxCutinGap", config_.maxCutinGap);
    declare_parameter<double>("maxCrosstrackError", config_.maxCrosstrackError);
    declare_parameter<double>("minPlatooningSpeed", config_.minPlatooningSpeed);
    declare_parameter<double>("significantDTDchange", config_.significantDTDchange);
    declare_parameter<double>("longitudinalCheckThresold", config_.longitudinalCheckThresold);
    declare_parameter<double>("vehicle_length", config_.vehicleLength);
    declare_parameter<std::string>("vehicle_id", config_.vehicleID);
  }

Member Function Documentation

◆ get_availability()

bool platoon_strategic_ihp::Node::get_availability ( )

overridevirtual

Get the availability status of this plugin based on the current operating environment. Method must be overriden by extending classes.

Returns: This method should return true if the plugin's current understanding of the world means it would be capable of planning or executing its capability.

Implements carma_guidance_plugins::PluginBaseNode.

Definition at line 228 of file platoon_strategic_ihp_node.cpp.

                              {
    return true;
  }

◆ get_version_id()

std::string platoon_strategic_ihp::Node::get_version_id ( )

overridevirtual

Returns the version id of this plugin.

Returns: The version id represented as a string

Implements carma_guidance_plugins::PluginBaseNode.

Definition at line 232 of file platoon_strategic_ihp_node.cpp.

                                 {
    return "v4.0";
  }

◆ on_cleanup_plugin()

carma_ros2_utils::CallbackReturn platoon_strategic_ihp::Node::on_cleanup_plugin ( )

virtual

Method which is triggered when this plugin is moved from the INACTIVE to UNCONFIGURED states. This method should be used to fully reset the plugin such that a future call to on_configure_plugin would leave the plugin in a fresh state as though just launched.

Returns: SUCCESS, FAILURE, or ERROR. Transition to UNCONFIGURED will only complete on SUCCESS.

Reimplemented from carma_guidance_plugins::PluginBaseNode.

Definition at line 204 of file platoon_strategic_ihp_node.cpp.

  {
    // Ensure subscribers are disconnected incase cleanup is called, we don't want to keep driving the worker
    mob_response_sub.reset();
    mob_operation_sub.reset();
    current_pose_sub.reset();
    current_twist_sub.reset();
    cmd_sub.reset();
    georeference_sub.reset();
    worker_.reset();
 
    return CallbackReturn::SUCCESS;
  }

References cmd_sub, current_pose_sub, current_twist_sub, georeference_sub, mob_operation_sub, mob_response_sub, and worker_.

◆ on_configure_plugin()

carma_ros2_utils::CallbackReturn platoon_strategic_ihp::Node::on_configure_plugin ( )

virtual

This method should be used to load parameters and will be called on the configure state transition.

Implements carma_guidance_plugins::PluginBaseNode.

Definition at line 118 of file platoon_strategic_ihp_node.cpp.

  {
    // Reset config
    config_ = PlatoonPluginConfig();
 
    // Load parameters
    get_parameter<bool>("test_front_join", config_.test_front_join);
    get_parameter<bool>("allowCutinJoin", config_.allowCutinJoin);
    get_parameter<bool>("test_cutin_join", config_.test_cutin_join);
 
    get_parameter<int>("maxPlatoonSize", config_.maxPlatoonSize);
    get_parameter<int>("algorithmType", config_.algorithmType);
    get_parameter<int>("statusMessageInterval", config_.statusMessageInterval);
    get_parameter<int>("infoMessageInterval", config_.infoMessageInterval);
    get_parameter<int>("join_index", config_.join_index);
 
    get_parameter<double>("timeHeadway", config_.timeHeadway);
    get_parameter<double>("standStillHeadway", config_.standStillHeadway);
    get_parameter<double>("maxAllowedJoinTimeGap", config_.maxAllowedJoinTimeGap);
    get_parameter<double>("maxAllowedJoinGap", config_.maxAllowedJoinGap);
    get_parameter<double>("minAllowedJoinGap", config_.minAllowedJoinGap);
    get_parameter<double>("desiredJoinTimeGap", config_.desiredJoinTimeGap);
    get_parameter<double>("desiredJoinGap", config_.desiredJoinGap);
    get_parameter<double>("waitingStateTimeout", config_.waitingStateTimeout);
    get_parameter<double>("cmdSpeedMaxAdjustment", config_.cmdSpeedMaxAdjustment);
    get_parameter<double>("minAllowableHeadaway", config_.minAllowableHeadaway);
    get_parameter<double>("maxAllowableHeadaway", config_.maxAllowableHeadaway);
    get_parameter<double>("headawayStableLowerBond", config_.headawayStableLowerBond);
    get_parameter<double>("headawayStableUpperBond", config_.headawayStableUpperBond);
    get_parameter<double>("minCutinGap", config_.minCutinGap);
    get_parameter<double>("maxCutinGap", config_.maxCutinGap);
    get_parameter<double>("maxCrosstrackError", config_.maxCrosstrackError);
    get_parameter<double>("minPlatooningSpeed", config_.minPlatooningSpeed);
    get_parameter<double>("significantDTDchange", config_.significantDTDchange);
    get_parameter<double>("longitudinalCheckThresold", config_.longitudinalCheckThresold);
    get_parameter<double>("vehicle_length", config_.vehicleLength);
    get_parameter<std::string>("vehicle_id", config_.vehicleID);
 
    // Register runtime parameter update callback
    add_on_set_parameters_callback(std::bind(&Node::parameter_update_callback, this, std_ph::_1));
 
    // Setup publishers
    mob_response_pub = create_publisher<carma_v2x_msgs::msg::MobilityResponse>("outgoing_mobility_response", 5);
    mob_request_pub = create_publisher<carma_v2x_msgs::msg::MobilityRequest>("outgoing_mobility_request", 5);
    mob_operation_pub = create_publisher<carma_v2x_msgs::msg::MobilityOperation>("outgoing_mobility_operation", 5);
    platoon_info_pub = create_publisher<carma_planning_msgs::msg::PlatooningInfo>("platoon_info", 1);
 
    // Build worker
 
    worker_ = std::make_shared<PlatoonStrategicIHPPlugin>(get_world_model(), config_, [this](auto msg) { this->mob_response_pub->publish(msg); },
                                    [this](auto msg) { this->mob_request_pub->publish(msg); }, [this](auto msg) { this->mob_operation_pub->publish(msg); },
                                    [this](auto msg) { this->platoon_info_pub->publish(msg); },
                                    std::make_shared<carma_ros2_utils::timers::ROSTimerFactory>(shared_from_this()));
 
 
    // Setup subscribers
    mob_request_sub = create_subscription<carma_v2x_msgs::msg::MobilityRequest>("incoming_mobility_request", 10,
                                                              std::bind(&PlatoonStrategicIHPPlugin::mob_req_cb,  worker_.get(), std_ph::_1));
 
    mob_response_sub = create_subscription<carma_v2x_msgs::msg::MobilityResponse>("incoming_mobility_response", 10,
                                                              std::bind(&PlatoonStrategicIHPPlugin::mob_resp_cb, worker_.get(), std_ph::_1));
 
    mob_operation_sub = create_subscription<carma_v2x_msgs::msg::MobilityOperation>("incoming_mobility_operation", 10,
                                                              std::bind(&PlatoonStrategicIHPPlugin::mob_op_cb, worker_.get(), std_ph::_1));
 
    current_pose_sub = create_subscription<geometry_msgs::msg::PoseStamped>("current_pose", 10,
                                                              std::bind(&PlatoonStrategicIHPPlugin::pose_cb, worker_.get(), std_ph::_1));
 
    current_twist_sub = create_subscription<geometry_msgs::msg::TwistStamped>("current_velocity", 10,
                                                              std::bind(&PlatoonStrategicIHPPlugin::twist_cb, worker_.get(), std_ph::_1));
 
    cmd_sub = create_subscription<geometry_msgs::msg::TwistStamped>("twist_raw", 10,
                                                              std::bind(&PlatoonStrategicIHPPlugin::cmd_cb, worker_.get(), std_ph::_1));
 
    georeference_sub = create_subscription<std_msgs::msg::String>("georeference", 10,
                                                              std::bind(&PlatoonStrategicIHPPlugin::georeference_cb, worker_.get(), std_ph::_1));
 
    loop_timer_ = create_timer(
        get_clock(),
        std::chrono::milliseconds(100), // 10 Hz frequency
        std::bind(&PlatoonStrategicIHPPlugin::onSpin, worker_.get()));
 
    // Return success if everything initialized successfully
    return CallbackReturn::SUCCESS;
  }

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◆ parameter_update_callback()

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

Callback for dynamic parameter updates.

Definition at line 65 of file platoon_strategic_ihp_node.cpp.

  {
 
    auto error = update_params<bool>({
      {"test_front_join", config_.test_front_join},
      {"allowCutinJoin", config_.allowCutinJoin},
      {"test_cutin_join", config_.test_cutin_join}
    }, parameters);
    
    auto error2 = update_params<int>({
      {"maxPlatoonSize", config_.maxPlatoonSize},
      {"algorithmType", config_.algorithmType},
      {"statusMessageInterval", config_.statusMessageInterval},
      {"infoMessageInterval", config_.infoMessageInterval},
      {"join_index", config_.join_index}
    }, parameters);
 
    auto error3 = update_params<double>({
      {"timeHeadway", config_.timeHeadway},
      {"standStillHeadway", config_.standStillHeadway},
      {"maxAllowedJoinTimeGap", config_.maxAllowedJoinTimeGap},
      {"maxAllowedJoinGap", config_.maxAllowedJoinGap},
      {"minAllowedJoinGap", config_.minAllowedJoinGap},
      {"desiredJoinTimeGap", config_.desiredJoinTimeGap},
      {"desiredJoinGap", config_.desiredJoinGap},
      {"waitingStateTimeout", config_.waitingStateTimeout},
      {"cmdSpeedMaxAdjustment", config_.cmdSpeedMaxAdjustment},
      {"minAllowableHeadaway", config_.minAllowableHeadaway},
      {"maxAllowableHeadaway", config_.maxAllowableHeadaway},
      {"headawayStableLowerBond", config_.headawayStableLowerBond},
      {"headawayStableUpperBond", config_.headawayStableUpperBond},
      {"minCutinGap", config_.minCutinGap},
      {"maxCutinGap", config_.maxCutinGap},
      {"maxCrosstrackError", config_.maxCrosstrackError},
      {"minPlatooningSpeed", config_.minPlatooningSpeed},
      {"significantDTDchange", config_.significantDTDchange},
      {"longitudinalCheckThresold", config_.longitudinalCheckThresold}
      // vehicle_length and id excluded since they should not be updated at runtime
    }, parameters);
 
 
    rcl_interfaces::msg::SetParametersResult result;
 
    result.successful = !error && !error2 && !error3;
 
    if (result.successful && worker_)
    {
      worker_->setConfig(config_);
    }
 
    return result;
  }

Referenced by on_configure_plugin().

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◆ plan_maneuvers_callback()

void platoon_strategic_ihp::Node::plan_maneuvers_callback	(	std::shared_ptr< rmw_request_id_t >	srv_header,
		carma_planning_msgs::srv::PlanManeuvers::Request::SharedPtr	req,
		carma_planning_msgs::srv::PlanManeuvers::Response::SharedPtr	resp
	)

overridevirtual

Extending class provided callback which should return a planned trajectory based on the provided trajectory planning request.

Parameters

srv_header	RCL header for services calls. Can usually be ignored by implementers.
req	The service request containing the previously planned maneuvers and vehicle state
resp	The response containing the additional maneuvers generated by this plugin

Implements carma_guidance_plugins::StrategicPlugin.

Definition at line 219 of file platoon_strategic_ihp_node.cpp.

  {
    if (worker_)
      worker_->plan_maneuver_cb(*req, *resp);
  }

References worker_.

Member Data Documentation

◆ cmd_sub

carma_ros2_utils::SubPtr<geometry_msgs::msg::TwistStamped> platoon_strategic_ihp::Node::cmd_sub

private

Definition at line 68 of file platoon_strategic_plugin_node_ihp.h.

Referenced by on_cleanup_plugin(), and on_configure_plugin().

◆ config_

PlatoonPluginConfig platoon_strategic_ihp::Node::config_

private

Definition at line 75 of file platoon_strategic_plugin_node_ihp.h.

Referenced by Node(), on_configure_plugin(), and parameter_update_callback().

◆ current_pose_sub

carma_ros2_utils::SubPtr<geometry_msgs::msg::PoseStamped> platoon_strategic_ihp::Node::current_pose_sub

private

Definition at line 66 of file platoon_strategic_plugin_node_ihp.h.

Referenced by on_cleanup_plugin(), and on_configure_plugin().

◆ current_twist_sub

carma_ros2_utils::SubPtr<geometry_msgs::msg::TwistStamped> platoon_strategic_ihp::Node::current_twist_sub

private

Definition at line 67 of file platoon_strategic_plugin_node_ihp.h.

Referenced by on_cleanup_plugin(), and on_configure_plugin().

◆ georeference_sub

carma_ros2_utils::SubPtr<std_msgs::msg::String> platoon_strategic_ihp::Node::georeference_sub

private

Definition at line 69 of file platoon_strategic_plugin_node_ihp.h.

Referenced by on_cleanup_plugin(), and on_configure_plugin().

◆ loop_timer_

rclcpp::TimerBase::SharedPtr platoon_strategic_ihp::Node::loop_timer_

private

Definition at line 72 of file platoon_strategic_plugin_node_ihp.h.

Referenced by on_configure_plugin().

◆ mob_operation_pub

carma_ros2_utils::PubPtr<carma_v2x_msgs::msg::MobilityOperation> platoon_strategic_ihp::Node::mob_operation_pub

private

Definition at line 60 of file platoon_strategic_plugin_node_ihp.h.

Referenced by on_configure_plugin().

◆ mob_operation_sub

carma_ros2_utils::SubPtr<carma_v2x_msgs::msg::MobilityOperation> platoon_strategic_ihp::Node::mob_operation_sub

private

Definition at line 65 of file platoon_strategic_plugin_node_ihp.h.

Referenced by on_cleanup_plugin(), and on_configure_plugin().

◆ mob_request_pub

carma_ros2_utils::PubPtr<carma_v2x_msgs::msg::MobilityRequest> platoon_strategic_ihp::Node::mob_request_pub

private

Definition at line 59 of file platoon_strategic_plugin_node_ihp.h.

Referenced by on_configure_plugin().

◆ mob_request_sub

carma_ros2_utils::SubPtr<carma_v2x_msgs::msg::MobilityRequest> platoon_strategic_ihp::Node::mob_request_sub

private

Definition at line 63 of file platoon_strategic_plugin_node_ihp.h.

Referenced by on_configure_plugin().

◆ mob_response_pub

carma_ros2_utils::PubPtr<carma_v2x_msgs::msg::MobilityResponse> platoon_strategic_ihp::Node::mob_response_pub

private

Definition at line 58 of file platoon_strategic_plugin_node_ihp.h.

Referenced by on_configure_plugin().

◆ mob_response_sub

carma_ros2_utils::SubPtr<carma_v2x_msgs::msg::MobilityResponse> platoon_strategic_ihp::Node::mob_response_sub

private

Definition at line 64 of file platoon_strategic_plugin_node_ihp.h.

Referenced by on_cleanup_plugin(), and on_configure_plugin().

◆ platoon_info_pub

carma_ros2_utils::PubPtr<carma_planning_msgs::msg::PlatooningInfo> platoon_strategic_ihp::Node::platoon_info_pub

private

Definition at line 57 of file platoon_strategic_plugin_node_ihp.h.

Referenced by on_configure_plugin().

◆ worker_

std::shared_ptr<PlatoonStrategicIHPPlugin> platoon_strategic_ihp::Node::worker_

private

Definition at line 78 of file platoon_strategic_plugin_node_ihp.h.

Referenced by on_cleanup_plugin(), on_configure_plugin(), parameter_update_callback(), and plan_maneuvers_callback().

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

platooning_strategic_IHP/include/platoon_strategic_ihp/platoon_strategic_plugin_node_ihp.h
platooning_strategic_IHP/src/platoon_strategic_ihp_node.cpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Node()

Member Function Documentation

◆ get_availability()

◆ get_version_id()

◆ on_cleanup_plugin()

◆ on_configure_plugin()

◆ parameter_update_callback()

◆ plan_maneuvers_callback()

Member Data Documentation

◆ cmd_sub

◆ config_

◆ current_pose_sub

◆ current_twist_sub

◆ georeference_sub

◆ loop_timer_

◆ mob_operation_pub

◆ mob_operation_sub

◆ mob_request_pub

◆ mob_request_sub

◆ mob_response_pub

◆ mob_response_sub

◆ platoon_info_pub

◆ worker_