trajectory_follower_wrapper::TrajectoryFollowerWrapperNode Class Reference

#include <trajectory_follower_wrapper_node.hpp>

Inheritance diagram for trajectory_follower_wrapper::TrajectoryFollowerWrapperNode:

Collaboration diagram for trajectory_follower_wrapper::TrajectoryFollowerWrapperNode:

Public Member Functions
	TrajectoryFollowerWrapperNode (const rclcpp::NodeOptions &options)
	Node constructor. More...
rcl_interfaces::msg::SetParametersResult	parameter_update_callback (const std::vector< rclcpp::Parameter > &parameters)
	Callback for dynamic parameter updates. More...
void	autoware_info_timer_callback ()
	Timer callback to spin at 30 hz and frequently publish autoware kinematic state and trajectory. More...
void	ackermann_control_cb (const autoware_auto_msgs::msg::AckermannControlCommand::SharedPtr msg)
	autoware's control subscription callback More...
bool	isControlCommandOld (const autoware_auto_msgs::msg::AckermannControlCommand &cmd) const
	Check to see if the received control command recent or old. More...
autoware_auto_msgs::msg::VehicleKinematicState	convert_state (const geometry_msgs::msg::PoseStamped &pose, const geometry_msgs::msg::TwistStamped &twist) const
	convert vehicle's pose and twist messages to autoware kinematic state More...
autoware_msgs::msg::ControlCommandStamped	convert_cmd (const autoware_auto_msgs::msg::AckermannControlCommand &cmd) const
	convert autoware Ackermann control command to autoware stamped control command More...
double	get_wheel_angle_rad_from_twist (const geometry_msgs::msg::TwistStamped &twist) const
	calculate wheel angle in rad from angular velocity in twist message More...
autoware_msgs::msg::ControlCommandStamped	generate_command () override
	Extending class provided method which should generate a command message which will be published to the required topic by the base class. 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 () override
	This method should be used to load parameters and will be called on the configure state transition. More...
	FRIEND_TEST (TesttrajectoryFollowerWrapper, TestControlCallback)
	FRIEND_TEST (TesttrajectoryFollowerWrapper, TestThreshold)
Public Member Functions inherited from carma_guidance_plugins::ControlPlugin
	ControlPlugin (const rclcpp::NodeOptions &)
	ControlPlugin constructor. More...
virtual	~ControlPlugin ()=default
	Virtual destructor for safe deletion. More...
virtual autoware_msgs::msg::ControlCommandStamped	generate_command ()=0
	Extending class provided method which should generate a command message which will be published to the required topic by the base class. 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)

Public Attributes
TrajectoryFollowerWrapperConfig	config_

Private Attributes
carma_ros2_utils::SubPtr< autoware_auto_msgs::msg::AckermannControlCommand >	control_cmd_sub_
carma_ros2_utils::PubPtr< autoware_auto_msgs::msg::Trajectory >	autoware_traj_pub_
carma_ros2_utils::PubPtr< autoware_auto_msgs::msg::VehicleKinematicState >	autoware_state_pub_
rclcpp::TimerBase::SharedPtr	autoware_info_timer_
std::optional< autoware_auto_msgs::msg::AckermannControlCommand >	received_ctrl_command_

Additional Inherited Members
Protected Member Functions inherited from carma_guidance_plugins::ControlPlugin
void	current_pose_callback (geometry_msgs::msg::PoseStamped::UniquePtr msg)
void	current_twist_callback (geometry_msgs::msg::TwistStamped::UniquePtr msg)
virtual void	current_trajectory_callback (carma_planning_msgs::msg::TrajectoryPlan::UniquePtr msg)
	Extending class provided method which can optionally handle trajectory plan callbacks. More...
Protected Attributes inherited from carma_guidance_plugins::ControlPlugin
boost::optional< geometry_msgs::msg::PoseStamped >	current_pose_
	The most recent pose message received by this node. More...
boost::optional< geometry_msgs::msg::TwistStamped >	current_twist_
	The most recent velocity message received by this node. More...
boost::optional< carma_planning_msgs::msg::TrajectoryPlan >	current_trajectory_
	The most recent trajectory received by this plugin. More...

Detailed Description

Definition at line 37 of file trajectory_follower_wrapper_node.hpp.

Constructor & Destructor Documentation

TrajectoryFollowerWrapperNode()

trajectory_follower_wrapper::TrajectoryFollowerWrapperNode::TrajectoryFollowerWrapperNode ( const rclcpp::NodeOptions &  options )

explicit

Node constructor.

Definition at line 23 of file trajectory_follower_wrapper_node.cpp.

      : carma_guidance_plugins::ControlPlugin(options)
  {
    basic_autonomy::set_logger(get_logger().get_child("basic_autonomy"));
    // Create initial config
    config_ = TrajectoryFollowerWrapperConfig();
    config_.vehicle_response_lag = declare_parameter<double>("vehicle_response_lag", config_.vehicle_response_lag);
    config_.vehicle_wheel_base = declare_parameter<double>("vehicle_wheel_base", config_.vehicle_wheel_base);
    config_.incoming_cmd_time_threshold = declare_parameter<double>("incoming_cmd_time_threshold", config_.incoming_cmd_time_threshold);
 
  }

References config_, basic_autonomy::get_logger(), trajectory_follower_wrapper::TrajectoryFollowerWrapperConfig::incoming_cmd_time_threshold, basic_autonomy::set_logger(), trajectory_follower_wrapper::TrajectoryFollowerWrapperConfig::vehicle_response_lag, and trajectory_follower_wrapper::TrajectoryFollowerWrapperConfig::vehicle_wheel_base.

Here is the call graph for this function:

Member Function Documentation

ackermann_control_cb()

void trajectory_follower_wrapper::TrajectoryFollowerWrapperNode::ackermann_control_cb

(

const autoware_auto_msgs::msg::AckermannControlCommand::SharedPtr

msg

)

autoware's control subscription callback

Definition at line 121 of file trajectory_follower_wrapper_node.cpp.

  {
    RCLCPP_DEBUG_STREAM(rclcpp::get_logger("trajectory_follower_wrapper"), "In ackermann control callback");
    received_ctrl_command_ = *msg;
  }

References basic_autonomy::get_logger(), and received_ctrl_command_.

Referenced by on_configure_plugin().

Here is the call graph for this function:

Here is the caller graph for this function:

autoware_info_timer_callback()

void trajectory_follower_wrapper::TrajectoryFollowerWrapperNode::autoware_info_timer_callback

(

)

Timer callback to spin at 30 hz and frequently publish autoware kinematic state and trajectory.

Definition at line 90 of file trajectory_follower_wrapper_node.cpp.

  {
    RCLCPP_DEBUG_STREAM(rclcpp::get_logger("trajectory_follower_wrapper"), "In autoware info timer callback");
 
    if (current_trajectory_ && current_pose_ && current_twist_)
    {
      // generate and publish autoware kinematic state
      auto autoware_state = convert_state(current_pose_.get(), current_twist_.get());
      autoware_state_pub_->publish(autoware_state);
 
      // generate and publish autoware trajectory
      current_trajectory_.get().header.frame_id = autoware_state.header.frame_id;
      auto autoware_traj_plan = basic_autonomy::waypoint_generation::process_trajectory_plan(current_trajectory_.get(), config_.vehicle_response_lag);
 
      autoware_traj_pub_->publish(autoware_traj_plan);
 
    }
  }

References autoware_state_pub_, autoware_traj_pub_, config_, convert_state(), carma_guidance_plugins::ControlPlugin::current_pose_, carma_guidance_plugins::ControlPlugin::current_trajectory_, carma_guidance_plugins::ControlPlugin::current_twist_, basic_autonomy::get_logger(), basic_autonomy::waypoint_generation::process_trajectory_plan(), and trajectory_follower_wrapper::TrajectoryFollowerWrapperConfig::vehicle_response_lag.

Referenced by on_configure_plugin().

Here is the call graph for this function:

Here is the caller graph for this function:

convert_cmd()

autoware_msgs::msg::ControlCommandStamped trajectory_follower_wrapper::TrajectoryFollowerWrapperNode::convert_cmd

(

const autoware_auto_msgs::msg::AckermannControlCommand &

cmd

)

const

convert autoware Ackermann control command to autoware stamped control command

Definition at line 149 of file trajectory_follower_wrapper_node.cpp.

  {
    autoware_msgs::msg::ControlCommandStamped return_cmd;
    return_cmd.header.stamp = cmd.stamp;
 
    return_cmd.cmd.linear_acceleration = cmd.longitudinal.acceleration;
    return_cmd.cmd.linear_velocity = cmd.longitudinal.speed;
    return_cmd.cmd.steering_angle = cmd.lateral.steering_tire_angle;
 
    RCLCPP_DEBUG_STREAM(rclcpp::get_logger("trajectory_follower_wrapper"), "generated command cmd.stamp: " << std::to_string(rclcpp::Time(cmd.stamp).seconds()));
    RCLCPP_DEBUG_STREAM(rclcpp::get_logger("trajectory_follower_wrapper"), "generated command cmd.longitudinal.acceleration: " << cmd.longitudinal.acceleration);
    RCLCPP_DEBUG_STREAM(rclcpp::get_logger("trajectory_follower_wrapper"), "generated command cmd.longitudinal.speed: " << cmd.longitudinal.speed);
    RCLCPP_DEBUG_STREAM(rclcpp::get_logger("trajectory_follower_wrapper"), "generated command cmd.lateral.steering_tire_angle: " << cmd.lateral.steering_tire_angle);
    RCLCPP_DEBUG_STREAM(rclcpp::get_logger("trajectory_follower_wrapper"), "generated command cmd.lateral.steering_tire_rotation_rate: " << cmd.lateral.steering_tire_rotation_rate);
 
    return return_cmd;
  }

References basic_autonomy::get_logger(), and carma_cooperative_perception::to_string().

Referenced by generate_command().

Here is the call graph for this function:

Here is the caller graph for this function:

convert_state()

autoware_auto_msgs::msg::VehicleKinematicState trajectory_follower_wrapper::TrajectoryFollowerWrapperNode::convert_state	(	const geometry_msgs::msg::PoseStamped &	pose,
		const geometry_msgs::msg::TwistStamped &	twist
	)		const

convert vehicle's pose and twist messages to autoware kinematic state

Definition at line 128 of file trajectory_follower_wrapper_node.cpp.

  {
    autoware_auto_msgs::msg::VehicleKinematicState state;
    state.header = pose.header;
    state.header.frame_id = "map";
    state.state.x = pose.pose.position.x;
    state.state.y = pose.pose.position.y;
    state.state.z = pose.pose.position.z;
    state.state.heading.real = pose.pose.orientation.w;
    state.state.heading.imag = pose.pose.orientation.z;
 
    state.state.front_wheel_angle_rad = get_wheel_angle_rad_from_twist(twist);
    state.state.longitudinal_velocity_mps = twist.twist.linear.x;
    state.state.lateral_velocity_mps = twist.twist.linear.y;
    RCLCPP_DEBUG_STREAM(rclcpp::get_logger("trajectory_follower_wrapper"), "front_wheel_angle_rad: " << state.state.front_wheel_angle_rad);
 
 
 
    return state;
  }

References basic_autonomy::get_logger(), and get_wheel_angle_rad_from_twist().

Referenced by autoware_info_timer_callback().

Here is the call graph for this function:

Here is the caller graph for this function:

FRIEND_TEST() [1/2]

trajectory_follower_wrapper::TrajectoryFollowerWrapperNode::FRIEND_TEST	(	TesttrajectoryFollowerWrapper	,
		TestControlCallback
	)

FRIEND_TEST() [2/2]

trajectory_follower_wrapper::TrajectoryFollowerWrapperNode::FRIEND_TEST	(	TesttrajectoryFollowerWrapper	,
		TestThreshold
	)

generate_command()

autoware_msgs::msg::ControlCommandStamped trajectory_follower_wrapper::TrajectoryFollowerWrapperNode::generate_command ( )

overridevirtual

Extending class provided method which should generate a command message which will be published to the required topic by the base class.

NOTE: Implementer can determine if trajectory has changed based on current_trajectory_->trajectory_id

Returns

The command message to publish

Implements carma_guidance_plugins::ControlPlugin.

Definition at line 167 of file trajectory_follower_wrapper_node.cpp.

  {
    // process and save the trajectory
    autoware_msgs::msg::ControlCommandStamped converted_cmd;
 
    if (!current_trajectory_ || !current_pose_ || !current_twist_ || !received_ctrl_command_.has_value())
    {
      RCLCPP_DEBUG_STREAM(rclcpp::get_logger("trajectory_follower_wrapper"), "Insufficient data, empty control command generated");
      return converted_cmd;
    }
 
 
    if (isControlCommandOld(received_ctrl_command_.value()))
    {
      RCLCPP_DEBUG_STREAM(rclcpp::get_logger("trajectory_follower_wrapper"), "Control Command is old, empty control command generated");
      return converted_cmd;
    }
 
    converted_cmd = convert_cmd(received_ctrl_command_.value());
 
    return converted_cmd;
  }

References convert_cmd(), carma_guidance_plugins::ControlPlugin::current_pose_, carma_guidance_plugins::ControlPlugin::current_trajectory_, carma_guidance_plugins::ControlPlugin::current_twist_, basic_autonomy::get_logger(), isControlCommandOld(), and received_ctrl_command_.

Here is the call graph for this function:

get_availability()

bool trajectory_follower_wrapper::TrajectoryFollowerWrapperNode::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 202 of file trajectory_follower_wrapper_node.cpp.

  {
    return true;
  }

get_version_id()

std::string trajectory_follower_wrapper::TrajectoryFollowerWrapperNode::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 207 of file trajectory_follower_wrapper_node.cpp.

  {
    return "1.0";
  }

get_wheel_angle_rad_from_twist()

double trajectory_follower_wrapper::TrajectoryFollowerWrapperNode::get_wheel_angle_rad_from_twist

(

const geometry_msgs::msg::TwistStamped &

twist

)

const

calculate wheel angle in rad from angular velocity in twist message

Definition at line 109 of file trajectory_follower_wrapper_node.cpp.

  {
 
    if (std::abs(twist.twist.linear.x) < EPSILON )
    {
      return 0.0;
    }
 
    double steering_angle = std::atan2(twist.twist.angular.z * config_.vehicle_wheel_base, twist.twist.linear.x);
    return steering_angle;
  }

References config_, EPSILON, and trajectory_follower_wrapper::TrajectoryFollowerWrapperConfig::vehicle_wheel_base.

Referenced by convert_state().

Here is the caller graph for this function:

isControlCommandOld()

bool trajectory_follower_wrapper::TrajectoryFollowerWrapperNode::isControlCommandOld

(

const autoware_auto_msgs::msg::AckermannControlCommand &

cmd

)

const

Check to see if the received control command recent or old.

Definition at line 190 of file trajectory_follower_wrapper_node.cpp.

  {
    double difference = std::abs(this->now().seconds() - rclcpp::Time(cmd.stamp).seconds());
 
    if (difference >= config_.incoming_cmd_time_threshold)
    {
      return true;
    }
 
    return false;
  }

References config_, and trajectory_follower_wrapper::TrajectoryFollowerWrapperConfig::incoming_cmd_time_threshold.

Referenced by generate_command().

Here is the caller graph for this function:

on_configure_plugin()

carma_ros2_utils::CallbackReturn trajectory_follower_wrapper::TrajectoryFollowerWrapperNode::on_configure_plugin ( )

overridevirtual

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 50 of file trajectory_follower_wrapper_node.cpp.

  {
    // Reset config
    config_ = TrajectoryFollowerWrapperConfig();
 
    // Load parameters
    get_parameter<double>("vehicle_response_lag", config_.vehicle_response_lag);
    get_parameter<double>("vehicle_wheel_base", config_.vehicle_wheel_base);
    get_parameter<double>("incoming_cmd_time_threshold", config_.incoming_cmd_time_threshold);
 
    RCLCPP_INFO_STREAM(rclcpp::get_logger("trajectory_follower_wrapper"), "Loaded Params: " << config_);
    // Register runtime parameter update callback
    add_on_set_parameters_callback(std::bind(&TrajectoryFollowerWrapperNode::parameter_update_callback, this, std_ph::_1));
 
    // NOTE: Currently, intra-process comms must be disabled for the following subscriber that is transient_local: https://github.com/ros2/rclcpp/issues/1753
 
    rclcpp::SubscriptionOptions intra_proc_disabled;
    intra_proc_disabled.use_intra_process_comm = rclcpp::IntraProcessSetting::Disable;
 
    auto sub_qos_transient_local = rclcpp::QoS(rclcpp::KeepAll()); // A subscriber with this QoS will store all messages that it has sent on the topic
    sub_qos_transient_local.transient_local();
    // Setup subscriber
    control_cmd_sub_ = create_subscription<autoware_auto_msgs::msg::AckermannControlCommand>("trajectory_follower/control_cmd", sub_qos_transient_local,
      std::bind(&TrajectoryFollowerWrapperNode::ackermann_control_cb, this, std::placeholders::_1),intra_proc_disabled);
 
    // Setup publishers
    autoware_traj_pub_ = create_publisher<autoware_auto_msgs::msg::Trajectory>("trajectory_follower/reference_trajectory", 10);
    autoware_state_pub_ = create_publisher<autoware_auto_msgs::msg::VehicleKinematicState>("trajectory_follower/current_kinematic_state", 10);
 
    // Setup timers to publish autoware compatible info (trajectory and state)
    autoware_info_timer_ = create_timer(
        get_clock(),
        std::chrono::milliseconds(33), // Spin at 30 Hz per plugin API
        std::bind(&TrajectoryFollowerWrapperNode::autoware_info_timer_callback, this));
 
    // Return success if everthing initialized successfully
    return CallbackReturn::SUCCESS;
  }

References ackermann_control_cb(), autoware_info_timer_, autoware_info_timer_callback(), autoware_state_pub_, autoware_traj_pub_, config_, control_cmd_sub_, basic_autonomy::get_logger(), trajectory_follower_wrapper::TrajectoryFollowerWrapperConfig::incoming_cmd_time_threshold, parameter_update_callback(), trajectory_follower_wrapper::TrajectoryFollowerWrapperConfig::vehicle_response_lag, and trajectory_follower_wrapper::TrajectoryFollowerWrapperConfig::vehicle_wheel_base.

Here is the call graph for this function:

parameter_update_callback()

rcl_interfaces::msg::SetParametersResult trajectory_follower_wrapper::TrajectoryFollowerWrapperNode::parameter_update_callback

(

const std::vector< rclcpp::Parameter > &

parameters

)

Callback for dynamic parameter updates.

Definition at line 35 of file trajectory_follower_wrapper_node.cpp.

  {
    auto error_double = update_params<double>({
      {"vehicle_response_lag", config_.vehicle_response_lag},
      {"vehicle_wheel_base", config_.vehicle_wheel_base},
      {"incoming_cmd_time_threshold", config_.incoming_cmd_time_threshold}
      }, parameters);
 
    rcl_interfaces::msg::SetParametersResult result;
 
    result.successful = !error_double;
 
    return result;
  }

References config_, trajectory_follower_wrapper::TrajectoryFollowerWrapperConfig::incoming_cmd_time_threshold, trajectory_follower_wrapper::TrajectoryFollowerWrapperConfig::vehicle_response_lag, and trajectory_follower_wrapper::TrajectoryFollowerWrapperConfig::vehicle_wheel_base.

Referenced by on_configure_plugin().

Here is the caller graph for this function:

Member Data Documentation

autoware_info_timer_

rclcpp::TimerBase::SharedPtr trajectory_follower_wrapper::TrajectoryFollowerWrapperNode::autoware_info_timer_

private

Definition at line 49 of file trajectory_follower_wrapper_node.hpp.

Referenced by on_configure_plugin().

autoware_state_pub_

carma_ros2_utils::PubPtr<autoware_auto_msgs::msg::VehicleKinematicState> trajectory_follower_wrapper::TrajectoryFollowerWrapperNode::autoware_state_pub_

private

Definition at line 46 of file trajectory_follower_wrapper_node.hpp.

Referenced by autoware_info_timer_callback(), and on_configure_plugin().

autoware_traj_pub_

carma_ros2_utils::PubPtr<autoware_auto_msgs::msg::Trajectory> trajectory_follower_wrapper::TrajectoryFollowerWrapperNode::autoware_traj_pub_

private

Definition at line 45 of file trajectory_follower_wrapper_node.hpp.

Referenced by autoware_info_timer_callback(), and on_configure_plugin().

config_

TrajectoryFollowerWrapperConfig trajectory_follower_wrapper::TrajectoryFollowerWrapperNode::config_

Definition at line 83 of file trajectory_follower_wrapper_node.hpp.

Referenced by TrajectoryFollowerWrapperNode(), autoware_info_timer_callback(), get_wheel_angle_rad_from_twist(), isControlCommandOld(), on_configure_plugin(), and parameter_update_callback().

control_cmd_sub_

carma_ros2_utils::SubPtr<autoware_auto_msgs::msg::AckermannControlCommand> trajectory_follower_wrapper::TrajectoryFollowerWrapperNode::control_cmd_sub_

private

Definition at line 42 of file trajectory_follower_wrapper_node.hpp.

Referenced by on_configure_plugin().

received_ctrl_command_

std::optional<autoware_auto_msgs::msg::AckermannControlCommand> trajectory_follower_wrapper::TrajectoryFollowerWrapperNode::received_ctrl_command_

private

Definition at line 52 of file trajectory_follower_wrapper_node.hpp.

Referenced by ackermann_control_cb(), and generate_command().

---

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

• trajectory_follower_wrapper/include/trajectory_follower_wrapper/trajectory_follower_wrapper_node.hpp
• trajectory_follower_wrapper/src/trajectory_follower_wrapper_node.cpp