#include <mvsim_node_core.h>
A class to wrap libmvsim as a ROS node
Definition at line 125 of file mvsim_node_core.h.
◆ MVSimNode()
| MVSimNode::MVSimNode |
( |
rclcpp::Node::SharedPtr & |
n | ) |
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◆ ~MVSimNode()
| MVSimNode::~MVSimNode |
( |
| ) |
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◆ initPubSubs()
Initialize all pub/subs required for each vehicle, for the specific vehicle veh
Definition at line 564 of file mvsim_node.cpp.
◆ internalOn() [1/6]
◆ internalOn() [2/6]
◆ internalOn() [3/6]
◆ internalOn() [4/6]
◆ internalOn() [5/6]
◆ internalOn() [6/6]
◆ launch_mvsim_server()
| void MVSimNode::launch_mvsim_server |
( |
| ) |
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◆ loadWorldModel()
| void MVSimNode::loadWorldModel |
( |
const std::string & |
world_xml_file | ) |
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◆ myNow()
◆ myNowSec()
| double MVSimNode::myNowSec |
( |
| ) |
const |
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protected |
◆ notifyROSWorldIsUpdated()
| void MVSimNode::notifyROSWorldIsUpdated |
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| ) |
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protected |
Publish relevant stuff whenever a new world model is loaded (grid maps, etc.)
Definition at line 502 of file mvsim_node.cpp.
◆ onNewObservation()
| void MVSimNode::onNewObservation |
( |
const mvsim::Simulable & |
veh, |
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const mrpt::obs::CObservation::Ptr & |
obs |
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) |
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◆ onROSMsgCmdVel()
◆ publishVehicles()
◆ publishWorldElements()
◆ spin()
Process pending msgs, run real-time simulation, etc.
Definition at line 317 of file mvsim_node.cpp.
◆ spinNotifyROS()
| void MVSimNode::spinNotifyROS |
( |
| ) |
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protected |
Publish everything to be published at each simulation iteration
Definition at line 787 of file mvsim_node.cpp.
◆ terminateSimulation()
| void MVSimNode::terminateSimulation |
( |
| ) |
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◆ thread_update_GUI()
◆ vehVarName()
| std::string MVSimNode::vehVarName |
( |
const std::string & |
sVarName, |
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const mvsim::VehicleBase & |
veh |
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) |
| const |
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protected |
Creates the string "/<VEH_NAME>/<VAR_NAME>" if there're more than one vehicle in the World, or "/<VAR_NAME>" otherwise.
Definition at line 1013 of file mvsim_node.cpp.
◆ base_last_cmd_
◆ base_watchdog_timeout_
◆ clock_
| rclcpp::Clock::SharedPtr MVSimNode::clock_ |
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protected |
◆ do_fake_localization_
| bool MVSimNode::do_fake_localization_ = true |
Default=true. Behaves as navigation/fake_localization for each vehicle without the need to launch additional nodes.
Definition at line 167 of file mvsim_node_core.h.
◆ force_publish_vehicle_namespace_
| bool MVSimNode::force_publish_vehicle_namespace_ = false |
|
protected |
If true, vehicle namespaces will be used even if there is only one vehicle:
Definition at line 313 of file mvsim_node_core.h.
◆ gui_key_events_
◆ gui_refresh_period_ms_
| int MVSimNode::gui_refresh_period_ms_ = 50 |
◆ headless_
| bool MVSimNode::headless_ = false |
◆ lastCmdVelTimestamp_
◆ msg2gui_
| std::string MVSimNode::msg2gui_ |
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protected |
◆ mvsim_world_
The mvsim library simulated world (includes everything: vehicles, obstacles, etc.)
Definition at line 155 of file mvsim_node_core.h.
◆ n_
| rclcpp::Node::SharedPtr MVSimNode::n_ |
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protected |
◆ period_ms_publish_tf_
| double MVSimNode::period_ms_publish_tf_ = 20 |
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protected |
Minimum period between publication of TF transforms & /*/odom topics (In ms)
Definition at line 308 of file mvsim_node_core.h.
◆ period_ms_teleop_refresh_
| double MVSimNode::period_ms_teleop_refresh_ = 100 |
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protected |
Minimum period between update of live info & read of teleop key strokes in GUI (In ms)
Definition at line 317 of file mvsim_node_core.h.
◆ profiler_
| mrpt::system::CTimeLogger MVSimNode::profiler_ {true , "mvsim_node"} |
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protected |
◆ publish_tf_odom2baselink_
| bool MVSimNode::publish_tf_odom2baselink_ = true |
◆ publisher_history_len_
| int MVSimNode::publisher_history_len_ = 50 |
◆ pubsub_vehicles_
◆ pubsub_vehicles_mtx_
| std::mutex MVSimNode::pubsub_vehicles_mtx_ |
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protected |
◆ realtime_factor_
| double MVSimNode::realtime_factor_ = 1.0 |
◆ realtime_tictac_
| mrpt::system::CTicTac MVSimNode::realtime_tictac_ |
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protected |
◆ ros_publisher_workers_
| mrpt::WorkerThreadsPool MVSimNode::ros_publisher_workers_ |
Initial value:{
4 , mrpt::WorkerThreadsPool::POLICY_FIFO}
Definition at line 157 of file mvsim_node_core.h.
◆ t_old_
| double MVSimNode::t_old_ = -1 |
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protected |
◆ teleop_idx_veh_
| size_t MVSimNode::teleop_idx_veh_ = 0 |
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protected |
for teleoperation from the GUI (selects the focused" vehicle)
Definition at line 323 of file mvsim_node_core.h.
◆ tfIdentity_
◆ thGUI_
| std::thread MVSimNode::thGUI_ |
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protected |
◆ thread_params_
◆ tim_publish_tf_
| mrpt::system::CTicTac MVSimNode::tim_publish_tf_ |
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protected |
◆ tim_teleop_refresh_
| mrpt::system::CTicTac MVSimNode::tim_teleop_refresh_ |
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protected |
◆ ts_
| rclcpp::TimeSource MVSimNode::ts_ {n_} |
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protected |
◆ world_init_ok_
| bool MVSimNode::world_init_ok_ = false |
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protected |
◆ worldPubs_
The documentation for this class was generated from the following files: