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| LgsvlInterface (rclcpp::Node &node, const std::string &sim_cmd_topic, const std::string &sim_state_cmd_topic, const std::string &sim_state_report_topic, const std::string &sim_nav_odom_topic, const std::string &sim_veh_odom_topic, const std::string &kinematic_state_topic, const std::string &sim_odom_child_frame, Table1D &&throttle_table, Table1D &&brake_table, Table1D &&steer_table, bool publish_tf=NO_PUBLISH, bool publish_pose=PUBLISH) |
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| ~LgsvlInterface () noexcept override=default |
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bool | update (std::chrono::nanoseconds timeout) override |
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bool | send_state_command (const autoware_auto_vehicle_msgs::msg::VehicleStateCommand &msg) override |
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bool | send_control_command (const autoware_auto_vehicle_msgs::msg::VehicleControlCommand &msg) override |
| Send control command data with whatever state data came along last. More...
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bool | send_control_command (const autoware_auto_control_msgs::msg::AckermannControlCommand &msg) override |
| Send control command data with whatever state data came along last. More...
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bool | send_control_command (const autoware_auto_vehicle_msgs::msg::RawControlCommand &msg) override |
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bool | handle_mode_change_request (autoware_auto_vehicle_msgs::srv::AutonomyModeChange_Request::SharedPtr request) override |
| Respond to request for changing autonomy mode. For LGSVL, this means nothing. More...
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void | send_gear_command (const autoware_auto_vehicle_msgs::msg::GearCommand &msg) override |
| Send gear command data. More...
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void | send_headlights_command (const autoware_auto_vehicle_msgs::msg::HeadlightsCommand &msg) override |
| Send headlights command data. More...
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void | send_horn_command (const autoware_auto_vehicle_msgs::msg::HornCommand &msg) override |
| Send horn command data. More...
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void | send_wipers_command (const autoware_auto_vehicle_msgs::msg::WipersCommand &msg) override |
| Send wipers command data. More...
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| PlatformInterface ()=default |
| Constructor. More...
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virtual | ~PlatformInterface ()=default |
| Destructor. More...
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virtual bool8_t | send_state_command (const VehicleStateCommand &msg)=0 |
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virtual bool8_t | send_control_command (const VehicleControlCommand &msg)=0 |
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virtual bool8_t | send_control_command (const AckermannControlCommand &msg)=0 |
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virtual bool8_t | send_control_command (const RawControlCommand &msg)=0 |
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virtual bool8_t | handle_mode_change_request (ModeChangeRequest::SharedPtr request)=0 |
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const VehicleStateReport & | get_state_report () const noexcept |
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const VehicleOdometry & | get_odometry () const noexcept |
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const HeadlightsReport & | get_headlights_report () const noexcept |
| Get the most recent state of the headlights feature. More...
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const HornReport & | get_horn_report () const noexcept |
| Get the most recent state of the horn feature. More...
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const WipersReport & | get_wipers_report () const noexcept |
| Get the most recent state of the wipers feature. More...
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const GearReport & | get_gear_report () const noexcept |
| Get the most recent state of the gear feature. More...
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virtual void | send_gear_command (const GearCommand &msg) |
| Send the gear control command to the vehicle platform. If this is not implemented for a specific vehicle but is called, a runtime error will be thrown. More...
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virtual void | send_hand_brake_command (const HandBrakeCommand &msg) |
| Send the hand_brake control command to the vehicle platform. If this is not implemented for a specific vehicle but is called, a runtime error will be thrown. More...
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virtual void | send_headlights_command (const HeadlightsCommand &msg) |
| Send the headlight control command to the vehicle platform. If this is not implemented for a specific vehicle but is called, a runtime error will be thrown. More...
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virtual void | send_horn_command (const HornCommand &msg) |
| Send the horn control command to the vehicle platform. If this is not implemented for a specific vehicle but is called, a runtime error will be thrown. More...
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virtual void | send_wipers_command (const WipersCommand &msg) |
| Send the wipers control command to the vehicle platform. If this is not implemented for a specific vehicle but is called, a runtime error will be thrown. More...
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virtual void | send_hazard_lights_command (const HazardLightsCommand &msg) |
| Send the hazard lights control command to the vehicle platform. If this is not implemented for a specific vehicle but is called, a runtime error will be thrown. More...
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Platform interface implementation for LGSVL. Bridges data to and from the simulator where custom logic is required to get simulator data to adhere to ROS conventions. For a full list of behaviors, see SVL simulator