sim_sample_perception_ros_tool

Sample perception module for a vehicle in the simulation framework.

Consists of two sensors:

exact_localization_sensor

• publishes the exact vehicle's MotionState (exact as received from the localization management)
• publishes regularly the vehicle's BasicSafetyMessage
• pose is received from the localization management, velocity and acceleration are calculated using difference quotient if possible

abstract_object_sensor

• publishes all other vehicle's ObjectStates (exact as received from the localization management)
• the objects poses are received from the localization management, velocity and acceleration are calculated using difference quotient if possible

Installation

• this package is part of the simulation framework
• see coincarsim_getting_started for installation and more details

Usage

• started within the a vehicle launchfile of the simulation_initialization_ros_tool

Parameters

• parameters that need to be passed to the launchfile sample_perception.launch:
  • vehicle_id: Id of the vehicle, needs to be unique within the framework
  • vehicle_ns: Namespace of the vehicle, needs to be unique within the framework
  • objects_ground_truth_topic_with_ns: Topic under which the ground truth states of the objects are received
  • perc_pred_obj_topic: Topic for the perceived objects
  • perc_egomotion_topic: Topic for the perceived ego motion state
  • internal_communication_subns: Subnamespace for vehicle-internal communication
  • BSM_topic: Topic for the basic safety messages

Contribution

• fork this repo
• use your own algorithms for modeling sensor characteristics and fusing sensor information
• ensure that
  • /$(arg vehicle_ns)/$(arg perc_egomotion_topic) is published
  • /$(arg vehicle_ns)/$(arg perc_pred_obj_topic) is published
  • all internal ROS communication stays within the perception namespace

License

Contact the maintainer.