vehicle_physical_model

Physical model for vehicles following simple kinematic rules (e.g. Kinematic and Dynamic Vehicle Models for Autonomous Driving Control Design).

TODO: do some basic integration to accumulate between timepoints.

Getting started

Installation

Clone this repository into your workspace (e.g. catkin_ws/src).

git clone https://github.com/szenergy/vehicle_physical_model

The requisite of the package is currently:

• autoware_msgs
• hotaru_planner (due to its statemachine framework, to synchronize incoming messages). You can install it by cloning to your workspace: git clone https://github.com/kyberszittya/hotaru_planner.git -b feature/hybrid_automata

After ensuring that all prerequisites are downloaded, build the workspace:

catkin build

Architecture

The vehicle model can vary, but it has the following interface to ROS:

• Inputs:
  • vehicle_status: status of the vehicle (steer angle, linear velocity)
  • gnss_pose: pose supported by a GNSS sensor. Odometry is capable to initialize the initial pose based on GNSS.
• Outputs:
  • vehicle/odom: calculated odometry based on a vehicle model and input topics.
  • vehicle/current_velocity: calculated velocity based on vehicle model

The vehicle model requires the following parameters:

• wheelbase: vehicle wheelbase.
• track_width: vehicle track width.

Launch node

At the very least, launch the node by calling rosrun:

rosrun szenergy_kinematic_model szenergy_kinematic_model_node

Summary of commands

git clone https://github.com/szenergy/vehicle_physical_model
# Clone hotaru_planner (rei)
git clone https://github.com/kyberszittya/hotaru_planner.git -b /feature/hybrid_automata
# Build workspace
catkin build
# Start node
rosrun szenergy_kinematic_model szenergy_kinematic_model_node