sim_test_node

Simulation Test Node

This node is provided to test the installation of the AVT-341 package by subscribing to and publishing the appropriate messages. However, the simulation test node does not perform any simulation. The algorithms must still be coupled to a UGV simulator like the MAVS.

Subuscribed Topics

• avt_341/cmd_vel (geometry_msgs/Twist) Input driving command.
  • throttle = cmd_vel.linear.x
  • braking = cmd_vel.linear.y
  • steering = cmd_vel.angular.z

Published Topics

• avt_341/odometry (nav_msgs/Odometry) Vehicle odometry from real-time-kinematic or other localization sensor.
• avt_341/points (sensor_msgs/PointCloud2) Point cloud from lidar sensor or stereo camera.

Parameters

• waypoints_x ([double]) X-coordinates of the waypoints list, in local ENU coordinates.
• waypoints_y ([double]) Y-coordinates of the waypoints list, in local ENU coordinates.
• ~goal_dist (double, default: 3.0) The minimum distance from the final goal the vehicle must reach to complete the simulation, in meters.