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Carla Ackermann Control

ROS Node to convert AckermannDrive messages to CarlaEgoVehicleControl.

  • A PID controller is used to control the acceleration/velocity.
  • Reads the Vehicle Info, required for controlling from Carla (via carla ros bridge)

Prerequisites

#install python simple-pid
pip install --user simple-pid

Configuration

Initial parameters can be set via configuration file.

It is possible to modify the parameters during runtime via ROS dynamic reconfigure.

Available Topics

Topic Type Description
/carla/<ROLE NAME>/ackermann_cmd (subscriber) ackermann_msgs.AckermannDrive Subscriber for stearing commands
/carla/<ROLE NAME>/ackermann_control/control_info carla_ackermann_control.EgoVehicleControlInfo The current values used within the controller (for debugging)

The role name is specified within the configuration.

Test control messages

You can send command to the car using the topic /carla/<ROLE NAME>/ackermann_cmd.

Examples for a ego vehicle with role_name 'ego_vehicle':

Forward movements, speed in in meters/sec.

 rostopic pub /carla/ego_vehicle/ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 0.0, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0,
  jerk: 0.0}" -r 10

Forward with steering

 rostopic pub /carla/ego_vehicle/ackermann_cmd ackermann_msgs/AckermannDrive "{steering_angle: 1.22, steering_angle_velocity: 0.0, speed: 10, acceleration: 0.0,
  jerk: 0.0}" -r 10

Info: the steering_angle is the driving angle (in radians) not the wheel angle.