Description

Subscribes to chrono_ros_interfaces/msg/DriverInputs and applies the received steering/throttle/braking to a ChVehicle ChDriver.

This exercises a CUSTOM ROS message package (chrono_ros_interfaces) end-to-end through the schema bridge - addressed purely by type-name string, no compiled message types in Chrono.

Wrapped for Python (pychrono.ros): the ChDriver argument crosses from pychrono.vehicle - see demo_ROS_vehicle.py.

#include <ChROSDriverInputsHandler.h>

Inherits chrono::ros::ChROSHandler.

Public Member Functions
	ChROSDriverInputsHandler (std::shared_ptr< chrono::vehicle::ChDriver > driver, const std::string &topic_name)
	Tick every simulation step (update_rate 0).

	ChROSDriverInputsHandler (double update_rate, std::shared_ptr< chrono::vehicle::ChDriver > driver, const std::string &topic_name)
	Tick at an explicit rate.

virtual bool	Initialize (ChROSBridge &bridge) override
	Creates the DriverInputs subscription.

Protected Member Functions
virtual void	Tick (double time) override
	Applies the most recently received inputs to the driver.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_ros/handlers/vehicle/ChROSDriverInputsHandler.h
/builds/uwsbel/chrono/src/chrono_ros/handlers/vehicle/ChROSDriverInputsHandler.cpp

Description

Public Member Functions

Protected Member Functions