Only released in EOL distros:   electric fuerte groovy

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