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| # ROS Nodes | ||
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| These are the [ROS Nodes](http://wiki.ros.org/Nodes) provided by this package. | ||
| Most likely, you will use a launch file to run these. You can also run them | ||
| by using `rosrun`: | ||
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| ```bash | ||
| rosrun rktl_sim <Node name> | ||
| ``` | ||
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| ```{contents} ROS Nodes in the package | ||
| :depth: 2 | ||
| :backlinks: top | ||
| :local: true | ||
| ``` | ||
|
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| --- | ||
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| ## simulator | ||
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| This node wraps around a physics simulator and allows controlling a car | ||
| in a simulated environment. The ROS parameter server is used to configure the | ||
| simulator, and publishes sensor data and control commands as ROS messages. | ||
| The simulator is implemented in `simulator.py` in the `src` directory. It can be | ||
| run in `'realistic'` or `'ideal`' mode by changing the `~mode` parameter. If the | ||
| mode is `'ideal'`, the simulator will use perfect sensor readings and ignore | ||
| any control effort messages that it receives. If the mode is `'realistic'`, | ||
| the simulator will add noise to sensor readings and simulate the effects of | ||
| control effort on the car's motion. Many parameters are set in | ||
| `rktl_launch/config.global_params.yaml` or `rktl_sim/config/simulator.yaml`. | ||
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| ### Subscribed Topics | ||
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| - `/cars/car0/effort` ([rktl_msgs/ControlEffort](/rktl_msgs/html/msg/ControlEffort.html#http://)): | ||
| The car's desired movement, in terms of throttle and steering amount. Only | ||
| subscribed to if the `~mode` parameter is set to `'realistic'`. | ||
| - `/cars/car0/command` ([rktl_msgs/ControlCommand](/rktl_msgs/html/msg/ControlCommand.html#http://)): | ||
| The car's desired movement, in terms of velocity and steering angle. Only | ||
| subscribed to if the `~mode` parameter is set to `'ideal'`. | ||
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| ### Published Topics | ||
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| - `/ball/pose_sync_early` ([geometry_msgs/PoseWithCovarianceStamped](/geometry_msgs/html/msg/PoseWithCovarianceStamped.html#http://)): | ||
| Pose of the ball with a timestamp and added noise. Only published if the | ||
| `~mode` parameter is set to `'realistic'`. | ||
| - `/ball/odom_truth` ([nav_msgs/Odometry](/nav_msgs/html/msg/Odometry.html#http://)): | ||
| Odometry of the ball with no added noise. Only published if the `~mode` | ||
| parameter is set to `'realistic'`. | ||
| - `/ball/odom` ([nav_msgs/Odometry](/nav_msgs/html/msg/Odometry.html#http://)): | ||
| Odometry of the ball with no added noise. Only published if the `~mode` | ||
| parameter is set to `'ideal'`. | ||
| - `/cars/car0/pose_sync_early` ([geometry_msgs/PoseWithCovarianceStamped](/geometry_msgs/html/msg/PoseWithCovarianceStamped.html#http://)): | ||
| Pose of the car with a timestamp and added noise. Only published if the | ||
| `~mode` parameter is set to `'realistic'`. | ||
| - `/cars/car0/odom_truth` ([nav_msgs/Odometry](/nav_msgs/html/msg/Odometry.html#http://)): | ||
| Odometry of the car with no added noise. Only published if the `~mode` | ||
| parameter is set to `'realistic'`. | ||
| - `/cars/car0/odom` ([nav_msgs/Odometry](/nav_msgs/html/msg/Odometry.html#http://)): | ||
| Odometry of the car with no added noise. Only published if the `~mode` | ||
| parameter is set to `'ideal'`. | ||
| - `match_status` ([rktl_msgs/MatchStatus](/rktl_msgs/html/msg/MatchStatus.html#http://)): | ||
| Status of the match, whether the match is ongoing or if a goal has been | ||
| scored, ending the match (and which goal it was scored on). | ||
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| ### Parameters | ||
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| - `~mode` (string): Mode of the simulator (either '`ideal'` or `'realistic'`). | ||
| - `~render` (bool, default: False): Whether or not to enable rendering of the | ||
| simulation. | ||
| - `~rate` (int, default: 30): Rate at which to run the simulation. | ||
| - `~frame_id` (string, default: 'map'): Frame ID to use for published ROS | ||
| messages. | ||
| - `~timeout` (int, default: 10): Timeout in seconds for certain simulator | ||
| functions. | ||
| - `/field/width` (float): Width of the playing field, in meters. | ||
| - `/field/length` (float): Length of the playing field, in meters. | ||
| - `/field/wall_thickness` (float): Thickness of the walls around the playing | ||
| field, in meters. | ||
| - `/field/goal/width` (float): Width of the goals, in meters. | ||
| - `~spawn_height` (float, default: 0.06): Height at which to spawn the ball and | ||
| car. | ||
| - `~urdf` (dict): Dictionary of URDF file paths for each robot. Can be set by | ||
| setting `urdf/*` to whatever is needed. | ||
| - `~ball/init_pose` (list): List of 3 floats representing the initial position | ||
| of the ball. | ||
| - `~ball/init_speed` (list): List of 3 floats representing the initial speed of | ||
| the ball. | ||
| - `~ball/sensor_noise` (dict): Dictionary of noise parameters for the ball's | ||
| sensors. | ||
| - `/cars/length` (float): Length of the car, front to rear wheel center to | ||
| center, in meters. | ||
| - `/cars/throttle/max_speed` (float): Maximum speed of the car, in meters per | ||
| second. | ||
| - `/cars/throttle/tau` (float): The throttle time constant, in seconds. | ||
| - `/cars/steering/max_throw` (float): The maximum steering throw, in radians. | ||
| - `/cars/steering/rate` (float): The maxmimum steering rate, in radians per | ||
| second. | ||
| - `~car/init_pose` (list): List of 3 floats representing the initial position | ||
| of the car. | ||
| - `~car/sensor_noise` (dict): Dictionary of noise parameters for the car's | ||
| sensors. | ||
|
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| --- | ||
|
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| ## visualizer | ||
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| This node provides a visualizer that uses Pygame to show the position of a car | ||
| and a ball on a playing field. The script subscribes to topics that provide | ||
| information about the position of the car and the ball, and updates their | ||
| position in the visualizer accordingly. Additionally, the script can display a | ||
| planned path for the car using a linear path or a bezier curve. Many parameters | ||
| are set in `rktl_launch/config.global_params.yaml` or | ||
| `rktl_sim/config/visualizer.yaml`. | ||
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| ### Subscribed Topics | ||
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| - `/ball/odom` ([nav_msgs/Odometry](/nav_msgs/html/msg/Odometry.html#http://)): | ||
| The ball's odometry information containing its position, orientation, and velocities. | ||
| - `/cars/car0/odom` ([nav_msgs/Odometry](/nav_msgs/html/msg/Odometry.html#http://)): | ||
| The car's odometry information containing its position, orientation, and velocities. | ||
| - `/cars/car0/path` ([rktl_msgs/Path](/rktl_msgs/html/msg/Path.html#http://)): | ||
| Used for visualizing the path the car should follow as a series of waypoints. | ||
| - `/cars/car0/lookahead_pnt` ([std_msgs/Float32](/std_msgs/html/msg/Float32.html#http://)): | ||
| Used for visualizing the path the lookahead point for a pure pursuit algorithm. | ||
| - `/agents/agent0/bezier_path` ([rktl_msgs/BezierPathList](/rktl_msgs/html/msg/BezierPathList.html#http://)): | ||
| Used for visualizing the path the car should follow as a bezier curve. | ||
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| ### Parameters | ||
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| - `/field/width` (float): Width of the playing field, in meters. | ||
| - `/field/length` (float): Length of the playing field, in meters. | ||
| - `/field/wall_thickness` (float): Thickness of the walls around the playing | ||
| field, in meters. | ||
| - `/field/goal/width` (float): Width of the goals, in meters. | ||
| - `/ball/radius` (float): Radius of the ball, in meters. | ||
| - `window_name` (string, default: 'Rocket League Visualizer'): Name of the | ||
| window | ||
| - `~frame_id` (string, default: 'map'): Frame ID to use for published ROS | ||
| messages. | ||
| - `~timeout` (int, default: 10): Timeout in seconds for certain simulator | ||
| functions. | ||
| - `~rate` (int, default: 30): Rate at which to run the simulation. | ||
| - `~cars/body_width` (float): Rendered width of the car in the visualizer, in | ||
| meters. | ||
| - `~cars/body_length` (float): Rendered length of the car in the visualizer, | ||
| in meters. | ||
| - `~media/field` (string): Path to the image representing the field. | ||
| - `~media/car` (string): Path to the image representing the car. | ||
| - `~media/ball` (string): Path to the image representing the ball. | ||
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| --- |