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dummy_input_generation

Generates and publishes dummy input data for testing purposes of the trajectory optimization node.

Nodes

dummy_input_generation_node

flowchart LR
    NODE("dummy_input_generation_node")
    NODE -->|~/reference_trajectory| P0:::hidden
    NODE -->|~/ego_data| P1:::hidden
    NODE -->|~/object_list| P2:::hidden
    classDef hidden display: none;
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Published Topics

Topic Type Description
~/reference_trajectory trajectory_planning_msgs/msg/Trajectory Dummy reference trajectory; configurable via params
~/ego_data perception_msgs/msg/EgoData Dummy EgoData; configurable via params
~/object_list perception_msgs/msg/ObjectList Dummy object list; configurable via params

Parameters

Parameter Type Default Description
publish_frequency float 10.0 Publish frequency in Hz
message_frame_id string "map" Common frame ID for all published messages
ego_state_model string "ackermann" Ego state model used for published EgoData
ego_vel_lon float 0.0 Ego longitudinal velocity [m/s]
ego_acc_lon float 0.0 Ego longitudinal acceleration [m/s^2]
ego_steering_angle_ack float 0.0 Ackermann steering angle [rad]
ego_steering_angle_front float 0.0 Front steering angle for RWS [rad]
ego_steering_angle_rear float 0.0 Rear steering angle for RWS [rad]
ego_translation_to_geometric_center float[] [1.4895, 0.0, 0.420] Translation from ego reference point to geometric center [x, y, z]
reference_n_states int 51 Number of reference trajectory states
reference_trajectory_horizon float 5.0 Reference trajectory horizon in seconds
reference_standstill bool false Publish reference trajectory with standstill flag
reference_x0 float 0.0 Initial x position of reference trajectory
reference_y0 float 0.0 Initial y position of reference trajectory
reference_v0 float 0.0 Initial velocity of reference trajectory
reference_a float 1.0 Acceleration of reference trajectory
reference_theta0 float 0.0 Initial heading angle of reference trajectory [deg]
reference_omega float 0.0 Angular velocity of reference trajectory [deg/s]
object_count int 10 Number of objects in object list
object_delta_x float 10.0 Delta x between objects
object_delta_y float 0.0 Delta y between objects
object_length float 4.0 Object length [m]
object_width float 2.0 Object width [m]
object_yaw float 0.0 Object yaw [rad]

Launch Files

dummy_input_generation_node.launch.py

Argument Default Description
ego_data_topic "~/ego_data" Topic on which to publish dummy EgoData
object_list_topic "~/object_list" Topic on which to publish dummy ObjectList
reference_trajectory_topic "~/reference_trajectory" Topic on which to publish dummy reference trajectory
name "dummy_input_generation_node" node name
namespace "" node namespace
params os.path.join(get_package_share_directory("dummy_input_generation"), "config", "params.yml") path to parameter file
log_level "info" ROS logging level (debug, info, warn, error, fatal)
use_sim_time "false" use simulation clock
trace "false" enable tracing