simulation_initialization_ros_tool

Initialization of all parts of the simulation framework. Launchfiles only!

Installation

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

Usage

• launch the file launch/_whole_framework.launch

Launchfile Overview

simulation_initialization_ros_tool
    │
    ├── simulation_management_ros_tool *
    │   │
    │   ├── time_mgmt
    │   ├── localization_mgmt
    │   └── object_initialization
    │
    └── objects
        │
        ├── vehicle1
        │   ├── perception *
        │   ├── prediction *
        │   ├── planning *
        │   └── communication *
        │
        └── vehicle2
            ├── perception *
            ├── prediction *
            ├── planning *
            └── communication *
            
* = repositories (so they must include a launchfile which has to be called)
all other launchfiles inside here

• initialization launches the simulation management, the objects, dynamic reconfigure and rviz
• simulation management launches the single management nodes
• the objects launch their 4 modules and their initialization
• each of the modules launch their nodes

Settings Overview

• the rviz settings are saved in the file launch/simulation_framework.rviz and passed through to rviz from the launchfile
• other settings (e.g. for the localization management) are done entirely within the launchfiles
  • see the readme files of the respective package
  • ideally all parameters are defined in the top launchfile launch/_whole_framework.launch and passed through from there

ROS Graph

• for an interactive version of the graph create it yourself executing $ rqt_graph while the simulation is running

License

This package is distributed under the 3-Clause BSD License, see LICENSE.