Make AD stack drive

EgoVehicleControlInfo.msg - Split data into junks - Add control output - Ego vehicle always sends out this message Control behavior: - Fix steering angle sign - On speed target of zero, brake maximal (support fast emergency brake) - Introduce max_pedal value to make range of acceleration and deceleration pedal area more comparable as the pid control parameters have to work for both - Default PID values for pedal: increased proportional part to allow faster adaptions - Introduce min_accel border to disable (slow adatping) speed control if high accelerations are required (support more exact stopping) Others: - Split rqt perspectives into AckermannControl and AckermannPlot - Cleanup of launch files - bridge.py is more verbose on publisher exceptions - child.py get_param() forward default parameter to parent (fix) - fix pitch angle sign (pitch has to be negative if the vehicle is driving uphils) -> the above results in ad stack able to drive including appropiate stopping/starting uphils and downhils
carla-simulator · Dec 17, 2018 · 8b74f0e · 8b74f0e
1 parent 3fdb842
commit 8b74f0e
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Showing 16 changed files with 886 additions and 218 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -14,7 +14,11 @@ catkin_python_setup()
 add_message_files(
   FILES
   CarlaVehicleControl.msg
+  EgoVehicleControlCurrent.msg
   EgoVehicleControlInfo.msg
+  EgoVehicleControlMaxima.msg
+  EgoVehicleControlState.msg
+  EgoVehicleControlTarget.msg
 )
 
 generate_messages(

diff --git a/client_with_rqt.launch b/client_with_rqt.launch
@@ -1,5 +1,4 @@
 <launch>
 <include file="$(find carla_ros_bridge)/client.launch"  pass_all_args="True"/>
-<param name ="/use_sim_time" value="true"/>
 <node pkg="rqt_gui" type="rqt_gui" name="rqt_gui" args="--perspective-file $(find carla_ros_bridge)/config/EgoVehicleControlInfo.perspective"/>
 </launch>
diff --git a/config/EgoVehicleControlInfo.perspective → config/AckermannControl.perspective b/config/EgoVehicleControlInfo.perspective → config/AckermannControl.perspective
@@ -5,7 +5,7 @@
       "keys": {
         "running-plugins": {
           "type": "repr",
-          "repr": "{u'rqt_reconfigure/Param': [1], u'rqt_plot/Plot': [3, 2, 1], u'rqt_topic/TopicPlugin': [1], u'rqt_publisher/Publisher': [1]}"
+          "repr": "{u'rqt_reconfigure/Param': [1], u'rqt_topic/TopicPlugin': [1], u'rqt_publisher/Publisher': [1]}"
         }
       },
       "groups": {
@@ -150,7 +150,7 @@
                 },
                 "topics": {
                   "type": "repr",
-                  "repr": "[u'/carla/ego_vehicle/ego_vehicle_control_info/target_speed_abs', u'/carla/ego_vehicle/ego_vehicle_control_info/current_speed_abs']"
+                  "repr": "u''"
                 },
                 "y_limits": {
                   "type": "repr",
@@ -197,7 +197,7 @@
                 },
                 "topics": {
                   "type": "repr",
-                  "repr": "[u'/carla/ego_vehicle/ego_vehicle_control_info/speed_control_accel_delta', u'/carla/ego_vehicle/ego_vehicle_control_info/speed_control_accel_target', u'/carla/ego_vehicle/ego_vehicle_control_info/current_accel']"
+                  "repr": "u''"
                 },
                 "y_limits": {
                   "type": "repr",
@@ -244,7 +244,7 @@
                 },
                 "topics": {
                   "type": "repr",
-                  "repr": "[u'/carla/ego_vehicle/ego_vehicle_control_info/accel_control_pedal_delta', u'/carla/ego_vehicle/ego_vehicle_control_info/throttle_lower_border', u'/carla/ego_vehicle/ego_vehicle_control_info/brake_upper_border', u'/carla/ego_vehicle/ego_vehicle_control_info/accel_control_pedal_target']"
+                  "repr": "u''"
                 },
                 "y_limits": {
                   "type": "repr",
@@ -354,7 +354,7 @@
               "keys": {
                 "publishers": {
                   "type": "repr",
-                  "repr": "u\"[{'topic_name': '/carla/ego_vehicle/ackermann_cmd', 'type_name': 'ackermann_msgs/AckermannDrive', 'enabled': False, 'rate': 1.0, 'expressions': {u'/carla/ego_vehicle/ackermann_cmd/speed': '1'}, 'publisher_id': 0, 'counter': 0}]\""
+                  "repr": "u\"[{'type_name': 'ackermann_msgs/AckermannDrive', 'topic_name': '/carla/ego_vehicle/ackermann_cmd', 'enabled': False, 'rate': 1.0, 'expressions': {u'/carla/ego_vehicle/ackermann_cmd/speed': '1'}, 'publisher_id': 0, 'counter': 0}]\""
                 }
               },
               "groups": {}
@@ -368,8 +368,8 @@
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@@ -457,8 +457,8 @@
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