2.4.3.3. Utilities ROS Package

2.4.3.3.1. utilities

Package holding launch files and messages used in the whole AS

Maintainers:

• Martina Scheffler

• Ole Kettern

Version:

2.0.0

License:

TODO

2.4.3.3.1.1. Dependencies

Build:

• roscpp

• rospy

• message_generation

• std_msgs

• geometry_msgs

• sensor_msgs

Build export:

• roscpp

• rospy

Build tool:

catkin

Execution:

• roscpp

• rospy

• message_runtime

• std_msgs

• sensor_msgs

• geometry_msgs

2.4.3.3.1.2. Messages

message utilities/BoundingBox

Parameters:

• probability (float64) – Probability that the perceived cone is of this color.

• id (int16) – ID (color) of the perceived cone. 0: yellow, 1: blue, 2: small orange, 3: big orange.

• used_mask (bool) – Whether the mask of the cone was used to determine the cone top

• x_cone_top (int16) – x point of top of the perceived cone mask

• y_cone_top (int16) – y point of top of the perceived cone mask

• xmin (int64) – X coordinate of the upper left corner of the bounding box.

• ymin (int64) – Y coordinate of the upper left corner of the bounding box.

• xmax (int64) – X coordinate of the lower right corner of the bounding box.

• ymax (int64) – Y coordinate of the lower right corner of the bounding box.

• Class (string) – String representation of the color of the perceived cone.

• mask (sensor_msgs/Image) – Mask of the perceived cone.

Message containing a bounding box for a perceived cone in an image.

message utilities/ConePosition

Parameters:

• x (float64) – X position of the cone.

• y (float64) – Y position of the cone.

• id (int16) – ID (color) of the cone.

• probability (float64) – Probability that the cone is of this color.

• is_lidar (bool) – LiDAR was used to determine position

Message containing a position, id and probability for a cone.

message utilities/CalibrationMatrices

Parameters:

• extrinsic_matrix_left (float64[]) – extrinsic matrix of left camera

• extrinsic_matrix_right (float64[]) – extrinsic matrix of right camera

• intrinsic_matrix_left (float64[]) – intrinsic matrix of left camera

• intrinsic_matrix_right (float64[]) – intrinsic matrix of right camera

• extrinsic_matrix_lidar_to_camera (float64[]) – extrinsic matrix of LiDAR to camera

message containing the calibration matrices used during the run.

message utilities/TrajectoryPathSlices

Parameters:

• header (Header) – Header containing the time the trajectory has been calculated at.

• image_header (Header) – Header of the image the centerpoints are based on.

• pose_header (Header) – Header of the vehicle pose the trajectory has been calculated for.

• path_slices (utilities/TrajectoryPathSlice[]) – List of x coordinates of path.

Message containing a possible path slices for a trajectory.

message utilities/ConePositionWithCovariance

Parameters:

• x (float64) – X position of the cone.

• y (float64) – Y position of the cone.

• id (int16) – ID (color) of the cone.

• perceived_n (uint16) – Number of times the cone has already been perceived

• covariance (float64[4]) – Position covariance of the cone.

Message containing a position, id and position covariance for a cone.

message utilities/TrajectoryPathSlice

Parameters:

• x (float64[]) – List of x coordinates of path.

• y (float64[]) – List of y coordinates of path.

• average_squared_curvature_cost (float64) – Relative cost of average squared curvature of path

• peak_squared_curvature_cost (float64) – Relative cost of peak squared curvature of path

• length_cost (float64) – Relative cost of length of path

• total_cost (float64) – Relative total cost of path

Message containing a possible path slice for a trajectory.

message utilities/ConeListWithCovariance

Parameters:

• header (Header) – Header containing the latest image header the cones are based on.

• cones (utilities/ConePositionWithCovariance[]) – List of cones with position, color and covariance.

• closed_track (bool) – Flag whether the tracked landmarks form a closed track.

Message containing a list of cone positions, colors and covariance.

message utilities/DisablePerception

Parameters:

• header (Header) – Header containing the time the message has been created at.

• disable_perception (bool) – Flag to indicate whether the perception should be enabled or disabled.

Message containing flag to disable the perception when not needed anymore for SLAM.

message utilities/BoundingBoxes

Parameters:

• header (Header) – Header containing the time the bounding boxes have been calculated at.

• image_header (Header) – Header of the processed image containing the time the image has been recorded at.

• lidar_header (Header) – Header of the lidar pointcloud to match with the image.

• processing_time (float64) – Processing time for one image

• bounding_boxes (utilities/BoundingBox[]) – Bounding boxes perceived in the image.

Message containing all bounding boxes for an processed image by the trt inference.

message utilities/MapAlignment

Parameters:

• header (Header) – Header containing the latest image header the cone informations are based on.

• observable_preloaded_cones (utilities/ConePositionWithCovariance[]) – Observable share of preloaded cones for calculating mapping for alignment.

• tracked_observed_cones (utilities/ConePosition[]) – Tracked cones of SLAM based on really observed cones.

• mapping (int16[]) – Mapping between observed landmarks and observable landmarks

• individual_compatibility (bool[]) – Compatibility between observed and observable landmarks (observable x observed)

• translation (float64[2]) – Translation of resulting map alignment (x, y).

• rotation_matrix (float64[4]) – Rotation_matrix of resulting map alignment.

• rotation_angle (float64) – Rotation angle [degree] of resulting map alignment.

• weights (float64[]) – Weight of the map alignment.

• tracked_landmarks_rectangle (float64[8]) – tracked_landmarks_rectangle

Message containing information for debugging and visualizing the map alignment of preloaded maps by SLAM.

message utilities/TrajectoryPoints

Parameters:

• header (Header) – Header containing the time the trajectory has been calculated at.

• image_header (Header) – Header of the image the centerpoints are based on.

• pose_header (Header) – Header of the vehicle pose the trajectory has been calculated for.

• x (float64[]) – X coordinate of the planned trajectory.

• y (float64[]) – Y coordinate of the planned trajectory.

• v (float64[]) – Velocity matching to the coordinates of the trajectory.

• closed (bool) – Flag indicating whether the trajectory is closed.

• lap_time (float64) – Lap time of the planned closed trajectory in seconds.

• local_planning_calculation_time (float64) – Time the local motion planning needed for calculation in seconds.

• global_planning_calculation_time (float64) – Time the global motion planning needed for calculation in seconds.

Message containing the planned trajectory.

message utilities/ConeList

Parameters:

• header (Header) – Header containing the time the cone positions have been calculated at.

• image_header (Header) – Header of the image the cones have been perceived in containing the time the image has been recorded at.

• lidar_header (Header) – Header of the image the cones have been perceived in containing the time the image has been recorded at.

• cones (utilities/ConePosition[]) – List of cone positions.

• processing_time (float64) – Time needed for the calculation

• lidar_processing_time (float64) – Time needed for the lidar transformation

• sensor_time_delta (float64) – Time needed for the lidar transformation

Message containing a list of cone positions.

message utilities/PredictedMeasurements

Parameters:

• header (Header) – Time the kalman filter has been executed for.

• wheelspeed_fr (float64[3]) – Predicted measurement, true measurement and it’s uncertainty for the front right wheelspeed.

• wheelspeed_fl (float64[3]) – Predicted measurement, true measurement and it’s uncertainty for the front left wheelspeed.

• wheelspeed_rr (float64[3]) – Predicted measurement, true measurement and it’s uncertainty for the rear right wheelspeed.

• wheelspeed_rl (float64[3]) – Predicted measurement, true measurement and it’s uncertainty for the rear left wheelspeed.

• gps_heading (float64[3]) – Predicted measurement, true measurement and it’s uncertainty for the gps heading.

• gps_speed (float64[3]) – Predicted measurement, true measurement and it’s uncertainty for the gps speed.

• gps_x (float64[3]) – Predicted measurement, true measurement and it’s uncertainty for the gps x position.

• gps_y (float64[3]) – Predicted measurement, true measurement and it’s uncertainty for the gps y position.

• u (float64[3]) – Control input [Steering Wheel Angle, Acceration in x direction and gyro around z axis]

• observed_landmarks (utilities/ConePosition[]) – List of true observed landmarks.

• predicted_observed_landmarks (utilities/ConePosition[]) – List of predicted observed landmarks.

• observable_landmarks (utilities/ConePosition[]) – List of observable landmarks.

• mapping (int16[]) – Mapping between observed landmarks and mapped landmarks

• individual_compatibility (bool[]) – Compatibility between observed and observable landmarks (observable x observed)

• used_sensors (string[]) – List of used sensors during update step.

• landmark_association_nodes_explored_n (uint32) – Number of explored nodes during landmark association

• landmark_association_compared_associations_n (uint32) – Number of compared associations during landmark association

• cluster_sizes (uint16[]) – Number of landmarks in each cluster

• execution_time (float64) – Time it took to execute the kalman filter

• local_msg_usage_delay (float64) – Time it took from arrival of LocalMapping message until it was used

• update_unscented_transform_time_lm (float64) – Time it took to execute the corresponding functions in seconds

• update_calculate_sigma_f_points_time_lm (float64) – Time it took to execute the corresponding functions in seconds

• data_association_time (float64) – Time it took to execute the corresponding functions in seconds

Message used to debug the SLAM algorithm regarding the predicted and true measurements and their uncertainty.

message utilities/CenterPoints

Parameters:

• header (Header) – Header containing the time the centerpoints have been calculated at.

• image_header (Header) – Header of the image the track is based on containing the time the image has been recorded at.

• x (float64[]) – X coordinates of the computed centerpoints.

• y (float64[]) – Y coordinates of the computed centerpoints.

• left_track_width (float64[]) – Left track width of the computed centerpoints.

• right_track_width (float64[]) – Right track width of the computed centerpoints.

• closed_track (bool) – Flag whether the centerpoints form a closed track.

• vehicle_pose (utilities/VehiclePose) – Vehicle pose for which the centerpoints have been computed for.

• strategy (int32[]) – Strategy used to compute the centerpoints.

• elapsed_time (float64) – Runtime of the centerpoint computation.

message containing the coordinates of the centerpoints of the perceived and filtered track and the matching right and left track width.

message utilities/MPCStatistics

Parameters:

• header (Header) – Header containing the time the control output has been calculated at.

• iterations (uint16) – Number of iterations.

• OPTIMAL_SOLUTION_FOUND=1 (int8) – Exitflag of the solver: https://forces.embotech.com/Documentation/high_level_interface/index.html#exitflags-and-quality-of-the-result

• MAX_ITERATION_REACHED=0 (int8) – Exitflag of the solver: https://forces.embotech.com/Documentation/high_level_interface/index.html#exitflags-and-quality-of-the-result

• WRONG_NUMBER_OFINEQUALITIES=-4 (int8) – Exitflag of the solver: https://forces.embotech.com/Documentation/high_level_interface/index.html#exitflags-and-quality-of-the-result

• MATRIX_FACTORIZATION_ERROR=-5 (int8) – Exitflag of the solver: https://forces.embotech.com/Documentation/high_level_interface/index.html#exitflags-and-quality-of-the-result

• NAN_OR_INF_IN_FUNCTION=-6 (int8) – Exitflag of the solver: https://forces.embotech.com/Documentation/high_level_interface/index.html#exitflags-and-quality-of-the-result

• SOLVER_COULD_NOT_PROCEED=-7 (int8) – Exitflag of the solver: https://forces.embotech.com/Documentation/high_level_interface/index.html#exitflags-and-quality-of-the-result

• QP_SOLVER_COULD_NOT_PROCEED=-8 (int8) – Exitflag of the solver: https://forces.embotech.com/Documentation/high_level_interface/index.html#exitflags-and-quality-of-the-result

• NAN_OR_INF_IN_FUNCTION_OR_DERIVATIVES=-10 (int8) – Exitflag of the solver: https://forces.embotech.com/Documentation/high_level_interface/index.html#exitflags-and-quality-of-the-result

• INVALID_PROBLEM_PARAMETERS=-11 (int8) – Exitflag of the solver: https://forces.embotech.com/Documentation/high_level_interface/index.html#exitflags-and-quality-of-the-result

• LICENSE_ERROR=-100 (int8) – Exitflag of the solver: https://forces.embotech.com/Documentation/high_level_interface/index.html#exitflags-and-quality-of-the-result

• exitflag (int8) – Exitflag of the solver: https://forces.embotech.com/Documentation/high_level_interface/index.html#exitflags-and-quality-of-the-result

• solve_time (float64) – Solvetime in seconds

• function_evaluation_time (float64) – Evaluation time of all user functions in seconds

• objective (float64) – Value of objective function

Message containing the statistics for the solver statistics of the mpc for a prediction step

message utilities/PredictedStates

Parameters:

• header (Header) – Header containing the time the predicted states have been calculated at.

• pose_header (Header) – Header of the vehicle pose the predicted states has been calculated for.

• image_header (Header) – Header of the image the trajectory has been calculated for.

• t (float64[]) – Relative time of the predicted vehicle states.

• x_pos (float64[]) – X coordinates of the predicted vehicle states.

• y_pos (float64[]) – Y coordinates of the predicted vehicle states.

• psi (float64[]) – Global heading of the predicted vehicle states.

• v_x (float64[]) – Velocity in x-axis direction of the predicted vehicle states.

• steering_wheel_angle (float64[]) – Steering wheel angle of the predicted vehicle states.

• delta_rate (float64[]) – Ackermann rate of the predicted control inputs

• a_x (float64[]) – Accelerations in x direction of the predicted control inputs

• torque (float64[]) – Necessary motor torque request to reach the respective acceleration

• service_brake_pressure (float64[]) – Necessary service brake pressure request to reach the respective acceleration

Message containing the predicted states of the model predictice controller of the control module.

message utilities/VehiclePose

Parameters:

• header (Header) – Header containing the time the can message has been received at.

• x (float64) – X coordinate of global vehicle position.

• y (float64) – Y coordinate of global vehicle position.

• v_x (float64) – Velocity in x-axis direction of vehicle.

• psi (float64) – Global heading of vehicle.

• P (float64[16]) – Covariance of the vehicle pose.

Message containing a vehicle pose: position, velocity and heading.

2.4.3.3.1.3. Package definition files

2.4.3.3.1.3.1. CMakeLists.txt

cmake_minimum_required(VERSION 3.0.0)
project(utilities VERSION 2.0.0)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  message_generation
  std_msgs
  geometry_msgs
        sensor_msgs
)

if(NOT CMAKE_BUILD_TYPE)
 set(CMAKE_BUILD_TYPE Release)
endif()

# Set Flags for Debug and Release
set(CMAKE_CXX_FLAGS_DEBUG "-g")
set(CMAKE_CXX_FLAGS_RELEASE "-O3")

## Generate messages in the 'msg' folder
add_message_files(
  FILES

  # Perception Messages
  BoundingBox.msg
  BoundingBoxes.msg

  # Mapping Messages
  ConeList.msg
  ConePosition.msg
  CalibrationMatrices.msg

  # Motion Planning Messages
  TrajectoryPoints.msg
  TrajectoryPathSlice.msg
  TrajectoryPathSlices.msg

  # SLAM Messages
  VehiclePose.msg
  ConeListWithCovariance.msg
  ConePositionWithCovariance.msg
  DisablePerception.msg
  PredictedMeasurements.msg
  MapAlignment.msg

  # Filtering Messages
  CenterPoints.msg

  # Control Messages
  PredictedStates.msg
  MPCStatistics.msg
)

 generate_messages(
   DEPENDENCIES
   std_msgs
   geometry_msgs
         sensor_msgs
 )

catkin_package(
  CATKIN_DEPENDS roscpp rospy message_runtime std_msgs geometry_msgs sensor_msgs
)

include_directories(
  ${catkin_INCLUDE_DIRS}
)

2.4.3.3.1.3.2. package.xml

<?xml version="1.0"?>
<package format="2">
  <name>utilities</name>
  <version>2.0.0</version>
  <description>Package holding launch files and messages used in the whole AS</description>

  <maintainer email="martina.scheffler@curemannheim.de">Martina Scheffler</maintainer>
  <maintainer email="ole.kettern@curemannheim.de">Ole Kettern</maintainer>

  <license>TODO</license>

  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>message_generation</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>geometry_msgs</build_depend>
  <build_depend>sensor_msgs</build_depend>
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>message_runtime</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>sensor_msgs</exec_depend>
  <exec_depend>geometry_msgs</exec_depend>

  <export>
  </export>
</package>