art_common Documentation

art_common: ART vehicle common headers

Common headers and utilities for the Austin Robot Technology automomous vehicle.

• Homepage: http://ros.org/wiki/art_common

Headers and libraries used by the Austin Robot Technology (ART) autonomous vehicle.

Programming API

• <art/DARPA_rules.hh> DARPA Urban Challenge rules description
• <art/vehicle.hh> Constants for the dimensions of the ART autonomous vehicle.

Command-line tools

Vehicle static transforms

This node broadcasts static transforms from various devices to the /vehicle frame of reference. Some ROS components require that to be done about once every 10 seconds.

Usage

  rosrun art_common vehicle_static_tf

ROS API

Node name: vehicle_static_tf

Publishes transforms:

• from /front_sick to /vehicle frame
• from /rear_sick to /vehicle frame
• from /velodyne to /vehicle frame