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AS ROS 2.0.1 documentation
AS ROS 2.0.1 documentation

Contents:

  • 1. Getting Started
    • 1.1. Overview of the Autonomous System - An Explanation
    • 1.2. How to contribute
    • 1.3. Development Environment
      • 1.3.1. Our Docker Environment Explained
      • 1.3.2. Visual Studio Code as standardized IDE
      • 1.3.3. How to write Docs
      • 1.3.4. How to debug AS ROS
      • 1.3.5. How to profile your Code
      • 1.3.6. How to use the CI Pipeline
    • 1.4. How to view Visualization of the system output
    • 1.5. How the drive is structured for data from and for test days
    • 1.6. What is the metadata website?
    • 1.7. How to connect to the ACU
    • 1.8. Setup ACU and install AS ROS and its dependencies
  • 2. AS ROS Modules
    • 2.1.1. Camera Perception
      • 2.1.1.1. Camera Perception ROS Package
      • 2.1.1.2. Setup Camera Perception
      • 2.1.1.3. Running Plausibility
    • 2.2.1. Local Mapping
      • 2.2.1.1. How to calibrate the camera
      • 2.2.1.2. LiDAR Camera Calibration
      • 2.2.1.3. Sensorfusion
      • 2.2.1.4. Local Mapping ROS Package
      • 2.2.1.5. calibration package
        • 2.2.1.5.1.1. calibration.lidar_camera_calibration package
    • 2.2.2. Motion Planning
      • 2.2.2.1. Motion Planning ROS Package
      • 2.2.2.2. local_motion package
      • 2.2.2.3. motion_planning_node module
    • 2.2.3. Control
      • 2.2.3.1. Setup Control module
      • 2.2.3.2. Control ROS Package
      • 2.2.3.3. control_node module
      • 2.2.3.4. control_simulation module
      • 2.2.3.5. generate_solver module
      • 2.2.3.6. mpc module
      • 2.2.3.7. vehicle_model module
    • 2.2.4. SLAM
      • 2.2.4.1. SLAM ROS Package
      • 2.2.4.2. finish_line_detection module
      • 2.2.4.3. param_study package
      • 2.2.4.4. sensors package
      • 2.2.4.5. sigma_points module
      • 2.2.4.6. simulate_local_mapping_for_alignment module
      • 2.2.4.7. slam module
      • 2.2.4.8. ukf module
      • 2.2.4.9. utils package
    • 2.2.5. Path Planning
      • 2.2.5.1. Path Planning ROS Package
      • 2.2.5.2. Path Planning Library
      • 2.2.5.3. Path Planning Node
      • 2.2.5.4. Splines Library
    • 2.2.6. Novatel GPS Module
    • 2.3.1. CAN Interface
      • 2.3.1.1. CAN Interface ROS Package
      • 2.3.1.2. can_interface module
    • 2.3.2. AS CAN Messages Module
    • 2.4.1. Monitoring
      • 2.4.1.1. Monitoring ROS Package
      • 2.4.1.2. monitoring module
    • 2.4.2. CPU Monitor Module
    • 2.4.3. Utilities
      • 2.4.3.1. Camera Delay Measurement
      • 2.4.3.2. ouster_telemetry module
      • 2.4.3.3. Utilities ROS Package
      • 2.4.3.4. cli package
      • 2.4.3.5. dump_parameters module
      • 2.4.3.6. transforms module
    • 2.4.4. Basic Tests
      • 2.4.4.1. Basic Test ROS Package
      • 2.4.4.2. basic_test module
      • 2.4.4.3. sine_standing module
    • 2.4.5. AS Missions
      • 2.4.5.1. AS Missions ROS Package
      • 2.4.5.2. inspection_node module
      • 2.4.5.3. mission_machine module
  • 3. ROS Messages
    • 3.1. Utilities Messages
    • 3.2. Autonomous System CAN ROS Messages
  • 4. Utilities for AS ROS
    • 4.1. Migrating Rosbags
    • 4.2. Creating Visualization for recorded Rosbags
    • 4.3. Generating a Map
    • 4.4. Creating Tracks from drone footage
    • 4.5. Visualizing system states and output onto a bird eyes view of the vehicle
    • 4.6. Analyzing Rosbags
    • 4.7. Merge Rosbags
  • 5. Testing days with a race car
    • 5.1. Plan a Testday
    • 5.2. Prepare a Testday
    • 5.3. Execute a Testday
    • 5.4. Postprocess a Testday
  • 6. Software Testing
    • 6.1. Prerequisites
    • 6.2. Check Camera Perception functionality and plausibility
    • 6.3. Check Local Mapping functionality and plausibility
    • 6.4. Test the pipeline for driving a mission
  • 7. Onboarding
  • 8. Glossary
  • 9. Bibliography
  • 10. Todolist
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2.4.3.6. transforms module¶

class transforms.TransformationHandler(vehicle_name: str)[source]¶

Bases: object

broadcast_transforms()[source]¶
create_transform_from_config(frame_id: str, child_frame_id: str, transform_config: dict)[source]¶
prepare_transforms()[source]¶
rate = 50¶
send_transforms()[source]¶
vehicle_pose_callback(vehicle_pose: VehiclePose)[source]¶
wait_for_start()[source]¶
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2.4.4. Basic Tests
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2.4.3.5. dump_parameters module
Copyright © 2022, Birk Blumhoff, Ole Kettern, Finn Schäfer, Martina Scheffler, Kevin Schmidt, Oliver Zbaranski, Maximilian Floto and Philipp Wolf
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  • 2.4.3.6. transforms module
    • TransformationHandler
      • TransformationHandler.broadcast_transforms()
      • TransformationHandler.create_transform_from_config()
      • TransformationHandler.prepare_transforms()
      • TransformationHandler.rate
      • TransformationHandler.send_transforms()
      • TransformationHandler.vehicle_pose_callback()
      • TransformationHandler.wait_for_start()