#include <mvsim_node_core.h>

Classes
struct	TPubSubPerVehicle

struct	TThreadParams

Public Member Functions
void	launch_mvsim_server ()

void	loadWorldModel (const std::string &world_xml_file)

	MVSimNode (rclcpp::Node::SharedPtr &n)

void	onNewObservation (const mvsim::Simulable &veh, const mrpt::obs::CObservation::Ptr &obs)

void	spin ()
	Process pending msgs, run real-time simulation, etc. More...

void	terminateSimulation ()

	~MVSimNode ()

Public Attributes
bool	do_fake_localization_ = true

int	gui_refresh_period_ms_ = 50

bool	headless_ = false

std::shared_ptr< mvsim::World >	mvsim_world_

int	publisher_history_len_ = 50
	(Default=0.1) Time tolerance for published TFs More...

double	realtime_factor_ = 1.0
	(Defaul=1.0) >1: speed-up, <1: slow-down More...

mrpt::WorkerThreadsPool	ros_publisher_workers_

double	transform_tolerance_ = 0.1

Protected Member Functions
void	initPubSubs (TPubSubPerVehicle &out_pubsubs, mvsim::VehicleBase *veh)

void	internalOn (const mvsim::VehicleBase &veh, const mrpt::obs::CObservation2DRangeScan &obs)

void	internalOn (const mvsim::VehicleBase &veh, const mrpt::obs::CObservationImage &obs)

void	internalOn (const mvsim::VehicleBase &veh, const mrpt::obs::CObservation3DRangeScan &obs)

void	internalOn (const mvsim::VehicleBase &veh, const mrpt::obs::CObservationPointCloud &obs)

void	internalOn (const mvsim::VehicleBase &veh, const mrpt::obs::CObservationIMU &obs)

rclcpp::Time	myNow () const

void	notifyROSWorldIsUpdated ()

void	onROSMsgCmdVel (const geometry_msgs::msg::Twist::ConstSharedPtr &cmd, mvsim::VehicleBase *veh)

void	publishVehicles (mvsim::VehicleBase &veh)

void	publishWorldElements (mvsim::WorldElementBase &obj)

void	sendStaticTF (const std::string &frame_id, const std::string &child_frame_id, const tf2::Transform &tx, const rclcpp::Time &stamp)

void	spinNotifyROS ()

std::string	vehVarName (const std::string &sVarName, const mvsim::VehicleBase &veh) const

Static Protected Member Functions
static void	thread_update_GUI (TThreadParams &thread_params)

Protected Attributes
rclcpp::Time	base_last_cmd_
	received a vel_cmd (for watchdog) More...

rclcpp::Duration	base_watchdog_timeout_ = std::chrono::seconds(1)

rclcpp::Clock::SharedPtr	clock_

mvsim::World::TGUIKeyEvent	gui_key_events_

std::string	msg2gui_

std::shared_ptr< mvsim::Server >	mvsim_server_

rclcpp::Node::SharedPtr	n_

double	period_ms_publish_tf_ = 20

double	period_ms_teleop_refresh_ = 100

mrpt::system::CTimeLogger	profiler_ {true , "mvsim_node"}

rclcpp::Publisher< nav_msgs::msg::MapMetaData >::SharedPtr	pub_map_metadata_

rclcpp::Publisher< nav_msgs::msg::OccupancyGrid >::SharedPtr	pub_map_ros_
	used for simul_map publication More...

std::vector< TPubSubPerVehicle >	pubsub_vehicles_

std::mutex	pubsub_vehicles_mtx_

mrpt::system::CTicTac	realtime_tictac_

tf2_ros::StaticTransformBroadcaster	static_tf_br_ {n_}

double	t_old_ = -1

size_t	teleop_idx_veh_ = 0
	for teleoperation from the GUI (selects the focused" vehicle) More...

tf2_ros::TransformBroadcaster	tf_br_ {n_}
	Use to send data to TF. More...

const tf2::Transform	tfIdentity_ = tf2::Transform::getIdentity()
	Unit transform (const, once) More...

std::thread	thGUI_

TThreadParams	thread_params_

mrpt::system::CTicTac	tim_publish_tf_

mrpt::system::CTicTac	tim_teleop_refresh_

rclcpp::TimeSource	ts_ {n_}

bool	world_init_ok_ = false
	will be true after a success call to loadWorldModel() More...

Detailed Description

A class to wrap libmvsim as a ROS node

Definition at line 61 of file mvsim_node_core.h.

Constructor & Destructor Documentation

◆ MVSimNode()

MVSimNode::MVSimNode ( rclcpp::Node::SharedPtr & n )

Constructor.

Definition at line 102 of file mvsim_node.cpp.

◆ ~MVSimNode()

MVSimNode::~MVSimNode ( )

Destructor.

Definition at line 270 of file mvsim_node.cpp.

Member Function Documentation

◆ initPubSubs()

void MVSimNode::initPubSubs	(	TPubSubPerVehicle &	pubsubs,
		mvsim::VehicleBase *	veh
	)

protected

Initialize all pub/subs required for each vehicle, for the specific vehicle veh

Definition at line 566 of file mvsim_node.cpp.

◆ internalOn() [1/5]

void MVSimNode::internalOn	(	const mvsim::VehicleBase &	veh,
		const mrpt::obs::CObservation2DRangeScan &	obs
	)

protected

Definition at line 1084 of file mvsim_node.cpp.

◆ internalOn() [2/5]

void MVSimNode::internalOn	(	const mvsim::VehicleBase &	veh,
		const mrpt::obs::CObservationImage &	obs
	)

protected

Definition at line 1225 of file mvsim_node.cpp.

◆ internalOn() [3/5]

void MVSimNode::internalOn	(	const mvsim::VehicleBase &	veh,
		const mrpt::obs::CObservation3DRangeScan &	obs
	)

protected

Definition at line 1293 of file mvsim_node.cpp.

◆ internalOn() [4/5]

void MVSimNode::internalOn	(	const mvsim::VehicleBase &	veh,
		const mrpt::obs::CObservationPointCloud &	obs
	)

protected

Definition at line 1432 of file mvsim_node.cpp.

◆ internalOn() [5/5]

void MVSimNode::internalOn	(	const mvsim::VehicleBase &	veh,
		const mrpt::obs::CObservationIMU &	obs
	)

protected

Definition at line 1154 of file mvsim_node.cpp.

◆ launch_mvsim_server()

void MVSimNode::launch_mvsim_server ( )

Definition at line 230 of file mvsim_node.cpp.

◆ loadWorldModel()

void MVSimNode::loadWorldModel ( const std::string & world_xml_file )

Definition at line 249 of file mvsim_node.cpp.

◆ myNow()

rclcpp::Time MVSimNode::myNow ( ) const

protected

Definition at line 543 of file mvsim_node.cpp.

◆ notifyROSWorldIsUpdated()

void MVSimNode::notifyROSWorldIsUpdated ( )

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,
		const mrpt::obs::CObservation::Ptr &	obs
	)

Definition at line 992 of file mvsim_node.cpp.

◆ onROSMsgCmdVel()

void MVSimNode::onROSMsgCmdVel	(	const geometry_msgs::msg::Twist::ConstSharedPtr &	cmd,
		mvsim::VehicleBase *	veh
	)

protected

Definition at line 762 of file mvsim_node.cpp.

◆ publishVehicles()

void MVSimNode::publishVehicles ( mvsim::VehicleBase & veh )

protected

Definition at line 455 of file mvsim_node.cpp.

◆ publishWorldElements()

void MVSimNode::publishWorldElements ( mvsim::WorldElementBase & obj )

protected

Definition at line 462 of file mvsim_node.cpp.

◆ sendStaticTF()

void MVSimNode::sendStaticTF	(	const std::string &	frame_id,
		const std::string &	child_frame_id,
		const tf2::Transform &	tx,
		const rclcpp::Time &	stamp
	)

protected

Definition at line 546 of file mvsim_node.cpp.

◆ spin()

void MVSimNode::spin ( )

Process pending msgs, run real-time simulation, etc.

Definition at line 308 of file mvsim_node.cpp.

◆ spinNotifyROS()

void MVSimNode::spinNotifyROS ( )

protected

Publish everything to be published at each simulation iteration

Definition at line 792 of file mvsim_node.cpp.

◆ terminateSimulation()

void MVSimNode::terminateSimulation ( )

Definition at line 272 of file mvsim_node.cpp.

◆ thread_update_GUI()

void MVSimNode::thread_update_GUI ( TThreadParams & thread_params )

staticprotected

Definition at line 408 of file mvsim_node.cpp.

◆ vehVarName()

std::string MVSimNode::vehVarName	(	const std::string &	sVarName,
		const mvsim::VehicleBase &	veh
	)		const

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 1069 of file mvsim_node.cpp.

Member Data Documentation

◆ base_last_cmd_

rclcpp::Time MVSimNode::base_last_cmd_

protected

received a vel_cmd (for watchdog)

Definition at line 215 of file mvsim_node_core.h.

◆ base_watchdog_timeout_

rclcpp::Duration MVSimNode::base_watchdog_timeout_ = std::chrono::seconds(1)

protected

Definition at line 216 of file mvsim_node_core.h.

◆ clock_

rclcpp::Clock::SharedPtr MVSimNode::clock_

protected

Definition at line 131 of file mvsim_node_core.h.

◆ 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 105 of file mvsim_node_core.h.

◆ gui_key_events_

mvsim::World::TGUIKeyEvent MVSimNode::gui_key_events_

protected

Definition at line 250 of file mvsim_node_core.h.

◆ gui_refresh_period_ms_

int MVSimNode::gui_refresh_period_ms_ = 50

Definition at line 100 of file mvsim_node_core.h.

◆ headless_

bool MVSimNode::headless_ = false

Definition at line 101 of file mvsim_node_core.h.

◆ msg2gui_

std::string MVSimNode::msg2gui_

protected

Definition at line 251 of file mvsim_node_core.h.

◆ mvsim_server_

std::shared_ptr<mvsim::Server> MVSimNode::mvsim_server_

protected

Definition at line 113 of file mvsim_node_core.h.

◆ mvsim_world_

std::shared_ptr<mvsim::World> MVSimNode::mvsim_world_

Initial value:

=

std::make_shared<mvsim::World>()

The mvsim library simulated world (includes everything: vehicles, obstacles, etc.)

Definition at line 92 of file mvsim_node_core.h.

◆ n_

rclcpp::Node::SharedPtr MVSimNode::n_

protected

Definition at line 119 of file mvsim_node_core.h.

◆ period_ms_publish_tf_

double MVSimNode::period_ms_publish_tf_ = 20

protected

Minimum period between publication of TF transforms & /*/odom topics (In ms)

Definition at line 239 of file mvsim_node_core.h.

◆ period_ms_teleop_refresh_

double MVSimNode::period_ms_teleop_refresh_ = 100

protected

Minimum period between update of live info & read of teleop key strokes in GUI (In ms)

Definition at line 245 of file mvsim_node_core.h.

◆ profiler_

mrpt::system::CTimeLogger MVSimNode::profiler_ {true , "mvsim_node"}

protected

Definition at line 284 of file mvsim_node_core.h.

◆ pub_map_metadata_

rclcpp::Publisher<nav_msgs::msg::MapMetaData>::SharedPtr MVSimNode::pub_map_metadata_

protected

Definition at line 129 of file mvsim_node_core.h.

◆ pub_map_ros_

rclcpp::Publisher<nav_msgs::msg::OccupancyGrid>::SharedPtr MVSimNode::pub_map_ros_

protected

used for simul_map publication

Definition at line 128 of file mvsim_node_core.h.

◆ publisher_history_len_

int MVSimNode::publisher_history_len_ = 50

(Default=0.1) Time tolerance for published TFs

Definition at line 107 of file mvsim_node_core.h.

◆ pubsub_vehicles_

std::vector<TPubSubPerVehicle> MVSimNode::pubsub_vehicles_

protected

Pubs/Subs for each vehicle. Initialized by initPubSubs(), called from notifyROSWorldIsUpdated()

Definition at line 189 of file mvsim_node_core.h.

◆ pubsub_vehicles_mtx_

std::mutex MVSimNode::pubsub_vehicles_mtx_

protected

Definition at line 190 of file mvsim_node_core.h.

◆ realtime_factor_

double MVSimNode::realtime_factor_ = 1.0

(Defaul=1.0) >1: speed-up, <1: slow-down

Definition at line 99 of file mvsim_node_core.h.

◆ realtime_tictac_

mrpt::system::CTicTac MVSimNode::realtime_tictac_

protected

Definition at line 230 of file mvsim_node_core.h.

◆ ros_publisher_workers_

mrpt::WorkerThreadsPool MVSimNode::ros_publisher_workers_

Initial value:

{

4 , mrpt::WorkerThreadsPool::POLICY_FIFO}

Definition at line 95 of file mvsim_node_core.h.

◆ static_tf_br_

tf2_ros::StaticTransformBroadcaster MVSimNode::static_tf_br_ {n_}

protected

Definition at line 139 of file mvsim_node_core.h.

◆ t_old_

double MVSimNode::t_old_ = -1

protected

Definition at line 232 of file mvsim_node_core.h.

◆ teleop_idx_veh_

size_t MVSimNode::teleop_idx_veh_ = 0

protected

for teleoperation from the GUI (selects the focused" vehicle)

Definition at line 249 of file mvsim_node_core.h.

◆ tf_br_

tf2_ros::TransformBroadcaster MVSimNode::tf_br_ {n_}

protected

Use to send data to TF.

Definition at line 138 of file mvsim_node_core.h.

◆ tfIdentity_

const tf2::Transform MVSimNode::tfIdentity_ = tf2::Transform::getIdentity()

protected

Unit transform (const, once)

Definition at line 220 of file mvsim_node_core.h.

◆ thGUI_

std::thread MVSimNode::thGUI_

protected

Definition at line 253 of file mvsim_node_core.h.

◆ thread_params_

TThreadParams MVSimNode::thread_params_

protected

Definition at line 229 of file mvsim_node_core.h.

◆ tim_publish_tf_

mrpt::system::CTicTac MVSimNode::tim_publish_tf_

protected

Definition at line 241 of file mvsim_node_core.h.

◆ tim_teleop_refresh_

mrpt::system::CTicTac MVSimNode::tim_teleop_refresh_

protected

Definition at line 246 of file mvsim_node_core.h.

◆ transform_tolerance_

double MVSimNode::transform_tolerance_ = 0.1

Definition at line 110 of file mvsim_node_core.h.

◆ ts_

rclcpp::TimeSource MVSimNode::ts_ {n_}

protected

Definition at line 130 of file mvsim_node_core.h.

◆ world_init_ok_

bool MVSimNode::world_init_ok_ = false

protected

will be true after a success call to loadWorldModel()

Definition at line 235 of file mvsim_node_core.h.

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

Classes

Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MVSimNode()

◆ ~MVSimNode()

Member Function Documentation

◆ initPubSubs()

◆ internalOn() [1/5]

◆ internalOn() [2/5]

◆ internalOn() [3/5]

◆ internalOn() [4/5]

◆ internalOn() [5/5]

◆ launch_mvsim_server()

◆ loadWorldModel()

◆ myNow()

◆ notifyROSWorldIsUpdated()

◆ onNewObservation()

◆ onROSMsgCmdVel()

◆ publishVehicles()

◆ publishWorldElements()

◆ sendStaticTF()

◆ spin()

◆ spinNotifyROS()

◆ terminateSimulation()

◆ thread_update_GUI()

◆ vehVarName()

Member Data Documentation

◆ base_last_cmd_

◆ base_watchdog_timeout_

◆ clock_

◆ do_fake_localization_

◆ gui_key_events_

◆ gui_refresh_period_ms_

◆ headless_

◆ msg2gui_

◆ mvsim_server_

◆ mvsim_world_

◆ n_

◆ period_ms_publish_tf_

◆ period_ms_teleop_refresh_

◆ profiler_

◆ pub_map_metadata_

◆ pub_map_ros_

◆ publisher_history_len_

◆ pubsub_vehicles_

◆ pubsub_vehicles_mtx_

◆ realtime_factor_

◆ realtime_tictac_

◆ ros_publisher_workers_

◆ static_tf_br_

◆ t_old_

◆ teleop_idx_veh_

◆ tf_br_

◆ tfIdentity_

◆ thGUI_

◆ thread_params_

◆ tim_publish_tf_

◆ tim_teleop_refresh_

◆ transform_tolerance_

◆ ts_

◆ world_init_ok_