2.2.5.3. filtering_node module

Filtering ROS node to calculate centerline and track widths based on the landmarks estimated by SLAM.

class filtering_node.AutonomousMissionEnum(value)

Bases: Enum

Enum to describe which Autonomous Mission is currently select.

ACCELERATION = 1

AUTOCROSS = 6

BRAKETEST = 4

INSPECTION = 5

MANUAL_DRIVING = 0

SKIDPAD = 2

TRACKDRIVE = 3

class filtering_node.Filtering

Bases: object

Filtering ROS node to calculate centerline and track widths based on the landmarks estimated by SLAM.

track_filtering

TrackFiltering object to centerline and track widths.

Type:

TrackFiltering

vehicle_pose

Latest vehicle pose estimated by SLAM.

Type:

VehiclePose

slam_closed_track

Indicates whether SLAM assumes that the track is closed.

Type:

bool

filtering_closed_track

Indicates whether filtering assumes that the track is closed.

Type:

bool

cones

Latest by SLAM estimated cones.

Type:

Optional[npt.NDArray]

centerpoints_publisher

ROS publisher to publish calculated centerpoints and track widths.

Type:

rospy.Publisher

lr_cog

Offset between rear axle and center of gravity (cog) of vehicle. Used for moving vehicle position to cog.

Type:

float

Initialize filtering ROS node.

landmarks_callback(landmarks: ConeListWithCovariance)

Buffer landmark positions estimated by SLAM and received via ROS.

Parameters:

landmarks (ConeListWithCovariance) – Landmark positions estimated by SLAM.

publish_centerpoints(image_header: Header)

Publish centerpoints to ROS.

Parameters:

image_header (Header) – Image header the centerpoints have been calculated on.

vehicle_pose_callback(vehicle_pose: VehiclePose)

Buffer vehicle pose estimated by SLAM and received via SLAM.

Also moves vehicle position from rear axle to center of gravity.

Todo

Get offset between rear axle and center of gravity from transform tree.

Parameters:

msg (VehiclePose) – Current vehicle position estimated by SLAM and received via SLAM.