Simulated Vehicle Node

Overview

The Simulated Vehicle Node is part of the Eclipse ADORe project. It simulates a vehicle's dynamics and publishes its state while integrating with other simulated traffic participants. This node provides control interfaces, state publishers, and supports noise injection for simulation fidelity.

Features

• Vehicle Dynamics Simulation: Simulates a vehicle using a physical model (e.g., bicycle model).
• Noise Injection: Adds configurable noise to position, velocity, yaw, and acceleration for realistic simulation.
• State Publishing:
  • Vehicle dynamic state
  • Odometry for localization
  • Traffic participant data
• Multi-Vehicle Simulation: Subscribes to the states of other vehicles in the simulation to provide context-aware traffic interactions.
• Control Interfaces:
  • Supports both manual control via teleoperation.
  • Automated vehicle control.

---

Topics

Published Topics

1. vehicle_state/dynamic

   • Message Type: adore_ros2_msgs::msg::VehicleStateDynamic
   • Description: Publishes the current dynamic state of the simulated vehicle.

2. vehicle_state/localization

   • Message Type: nav_msgs::msg::Odometry
   • Description: Provides odometry data for localization purposes.

3. vehicle_state/monitor

   • Message Type: adore_ros2_msgs::msg::StateMonitor
   • Description: Publishes localization error metrics.

4. traffic_participants

   • Message Type: adore_ros2_msgs::msg::TrafficParticipantSet
   • Description: Publishes the state of surrounding simulated traffic participants.

Subscribed Topics

1. next_vehicle_command

   • Message Type: adore_ros2_msgs::msg::VehicleCommand
   • Description: Receives commands for steering and acceleration.

2. teleop_controller

   • Message Type: geometry_msgs::msg::Twist
   • Description: Accepts manual control inputs for teleoperation.

3. automation_toggle

   • Message Type: std_msgs::msg::Bool
   • Description: Toggles between manual and automated control.

4. /<namespace>/vehicle_state/localization

   • Message Type: nav_msgs::msg::Odometry
   • Description: Subscribes to localization data from other vehicles.

---

Parameters

Parameter Name	Type	Default Value	Description
controllable	bool	true	Determines if the vehicle is controllable.
set_start_position_x	double	0.0	Initial x-coordinate of the vehicle.
set_start_position_y	0.0	double	Initial y-coordinate of the vehicle.
set_start_psi	0.0	double	Initial yaw angle of the vehicle.
position_noise_stddev	double	0.0	Standard deviation for position noise.
velocity_noise_stddev	double	0.0	Standard deviation for velocity noise.
yaw_noise_stddev	double	0.0	Standard deviation for yaw noise.
acceleration_noise_stddev	double	0.0	Standard deviation for acceleration noise.
other_vehicle_namespaces	list<string>	[]	List of other vehicle namespaces.

---

How It Works

1. Initialization:
   • Loads configuration parameters.
   • Sets up publishers, subscribers, and noise distributions.
2. Simulation:
   • Simulates vehicle dynamics using a physical model.
   • Injects configurable noise into the vehicle state.
3. Publishing and Subscribing:
   • Publishes its dynamic state and subscribes to other vehicles' states.
   • Broadcasts the simulated vehicle's transform for integration with ROS 2 TF.
4. Traffic Participant Updates:
   • Computes distances to other vehicles and publishes a list of relevant traffic participants.

---