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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) imu (sensor_msgs/Imu) odom (nav_msgs/Odometry) brake/state (art_msgs/BrakeState) shifter/state (art_msgs/Shifter) steering/state (art_msgs/SteeringState) throttle/state (art_msgs/ThrottleState)

Published Topics

pilot/state (art_msgs/PilotState) brake/cmd (art_msgs/BrakeCommand) shifter/cmd (art_msgs/Shifter) steering/cmd (art_msgs/SteeringCommand) throttle/cmd (art_msgs/ThrottleCommand)

Parameters

Dynamically Reconfigurable Parameters
See the dynamic_reconfigure package for details on dynamically reconfigurable parameters. ~acceleration_controller (int, default: 0) ~brake_hold (double, default: 0.7) ~human_steering (bool, default: False) ~limit_forward (double, default: 14.0) ~limit_reverse (double, default: 3.0) ~timeout (double, default: 0.5) ~brake_kp (double, default: -0.2) ~brake_ki (double, default: -0.0002) ~brake_kd (double, default: -1.6) ~throttle_kp (double, default: 0.12) ~throttle_ki (double, default: 0.001) ~throttle_kd (double, default: 0.54)

Examples

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

rosrun art_pilot pilot


2019-11-09 12:30