Only released in EOL distros:  

art_vehicle: applanix | art_common | art_image | art_map | art_msgs | art_nav | art_pilot | art_run | art_servo | art_teleop | simulator_art

Package Summary

Servo coordination for the ART autonomous vehicle.

art_vehicle: applanix | art_common | art_image | art_map | art_msgs | art_nav | art_observers | art_pilot | art_run | art_servo | art_teleop | simulator_art

Package Summary

Servo coordination for the ART autonomous vehicle.

art_vehicle: applanix | art_common | art_image | art_map | art_msgs | art_nav | art_observers | art_pilot | art_run | art_servo | art_teleop | simulator_art

Package Summary

Servo coordination for the ART autonomous vehicle.

art_vehicle: applanix | art_common | art_image | art_map | art_msgs | art_nav | art_observers | art_pilot | art_run | art_servo | art_teleop | simulator_art

Package Summary

Servo coordination for the ART autonomous vehicle.

ROS Nodes

This package contains a ROS node for controlling ART autonomous vehicle servo interfaces, including brake, shifter, steering and throttle.

pilot

Servo device control for the ART vehicle.

Subscribed Topics

pilot/drive (art_msgs/CarDriveStamped)
  • driving command
imu (sensor_msgs/Imu)
  • estimate of vehicle accelerations
odom (nav_msgs/Odometry)
  • estimate of vehicle position and velocity
brake/state (art_msgs/BrakeState)
  • brake status information
shifter/state (art_msgs/Shifter)
  • shifter status: current gear, relay values
steering/state (art_msgs/SteeringState)
  • steering status information, including wheel angle
throttle/state (art_msgs/ThrottleState)
  • throttle status information

Published Topics

pilot/state (art_msgs/PilotState)
  • pilot node status information
brake/cmd (art_msgs/BrakeCommand)
  • brake commands
shifter/cmd (art_msgs/Shifter)
  • gear shift requests
steering/cmd (art_msgs/SteeringCommand)
  • steering requests
throttle/cmd (art_msgs/ThrottleCommand)
  • throttle requests

Parameters

Dynamically Reconfigurable Parameters
See the dynamic_reconfigure package for details on dynamically reconfigurable parameters.
~acceleration_controller (int, default: 0)
  • Acceleration controller. Possible values are: Accel_Plan (0): Plan-based controller, Accel_Example (1): Acceleration control example, Speed_PID (2): Speed control PID, Speed_Matrix (3): Speed control matrix, Speed_Learned (4): Learned speed control
~brake_hold (double, default: 0.7)
  • Brake hold command when stopped. Range: 0.0 to 1.0
~human_steering (bool, default: False)
  • Allow human driver to steer (otherwise pilot steers the car).
~limit_forward (double, default: 14.0)
  • Speed limit going forward (m/s). Range: 0.0 to 25.0
~limit_reverse (double, default: 3.0)
  • Speed limit going in reverse (m/s). Range: 0.0 to 4.0
~timeout (double, default: 0.5)
  • Device message timeout (s). Range: 0.0 to 1.0
~brake_kp (double, default: -0.2)
  • Brake PID proportional gain (Kp). Range: -10.0 to 0.0
~brake_ki (double, default: -0.0002)
  • Brake PID integral gain (Ki). Range: -10.0 to 0.0
~brake_kd (double, default: -1.6)
  • Brake PID derivative gain (Kd). Range: -10.0 to 0.0
~throttle_kp (double, default: 0.12)
  • Throttle PID proportional gain (Kp). Range: 0.0 to 10.0
~throttle_ki (double, default: 0.001)
  • Throttle PID integral gain (Ki). Range: 0.0 to 10.0
~throttle_kd (double, default: 0.54)
  • Throttle PID derivative gain (Kd). Range: 0.0 to 10.0

Examples

Run the ART pilot node, accepting pilot/drive messages.

rosrun art_pilot pilot

Wiki: art_pilot (last edited 2011-05-11 00:53:23 by JackOQuin)