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ROS Nodes Summary

This document summarizes all of the ROS nodes in ADORe, always review each README.md for the complete documentation for a given node. all ROS nodes are located in ros2_workspace/src

Package: visualizer

  • Node: visualizer
  • Location: visualizer
  • Summary: # Visualization Node for Autonomous Systems

Package: trajectory_tracker

  • Node: trajectory_tracker
  • Location: trajectory_tracker
  • Summary: # Trajectory Tracker Node

Package: simulated_vehicle

  • Node: simulated_vehicle
  • Location: simulated_vehicle
  • Summary: # Simulated Vehicle Node

Package: simulated_remote_operator

  • Node: simulated_remote_operator
  • Location: simulated_remote_operator
  • Summary: # Simulated Remote Operator ROS2 python node that creates a GUI that simulated the actions available to a remote operator.

Package: simulated_infrastructure

  • Node: simulated_infrastructure
  • Location: simulated_infrastructure
  • Summary: # Simulated Infrastructure

Package: ros2_syslog

  • Node: ros2_syslog
  • Location: ros2_syslog
  • Summary: # ros2_syslog The ros2_syslog node/program subscribes to ROS2 messages of type telemetry and writes them to the syslog. The syslog is rate limited. This is defined by a global variable MAX_MESSAGES_PER_SECOND Syslog messages are automatically forward by rsyslog as telemetry if configured by the host. 1. Build the package with: bash bash build.sh 2. Run the node: bash bash run.sh

Package: carla_msgs

  • Node: ros-carla-msgs
  • Location: ros2_messages/ros-carla-msgs
  • Summary: # ros-carla-msgs Official ROS messages for CARLA. Use them in conjunction with CARLA ROS bridge.

Package: adore_ros2_msgs

  • Node: adore_ros2_msgs
  • Location: ros2_messages/adore_ros2_msgs
  • Summary: # ADORe ROS2 Messages

Package: mission_control

  • Node: mission_control
  • Location: mission_control
  • Summary: # Mission Control Node

Package: sumo_bridge

  • Node: sumo_bridge
  • Location: interfaces/sumo_bridge
  • Summary: # SUMO bridge This package contains ROS2 nodes to convert and exchange data between ADORe ROS2 and SUMO (version 1.22.0) and ADORe. It allows to control an ADORe vehicle in SUMO.

Package: carla_bridge

  • Node: carla_bridge
  • Location: interfaces/carla_bridge
  • Summary: # ADORe CARLA bridge This package contains ROS2 nodes to convert and exchange data between the native ROS2 interface of CARLA (version 0.10.0) and ADORe. It allows to control a vehicle with ADORe inside the CARLA simulation. Note: The ADORe CARLA bridge is experimental.

Package: ros2_python_hello_world

  • Node: ros2_python_hello_world
  • Location: example_nodes/ros2_python_hello_world
  • Summary: # ROS2 Python Node Template This is a ros2 hello world python template for creating ROS2 Python packages with proper executable entry points that work with ros2 run.

Package: ros2_hello_world

  • Node: ros2_hello_world
  • Location: example_nodes/ros2_hello_world
  • Summary: # ros2_hello_world This is a minimal ROS2 Hello, World program incorporating a GNU Makefile and unit tests with gunit. This node/program provides a GNU Makefile for building, testing, and running. Use this node as a template for creating new c++ nodes. 1. Build the package with: bash make build 2. Test the node: bash make test 3. Run the node: bash make run

Package: ros2_eigen_hello_world

  • Node: ros2_eigen_hello_world
  • Location: example_nodes/ros2_eigen_hello_world
  • Summary: # ros2_eigen_hello_world This is a minimal ROS2 hello world program that uses the Eigen3 library 1. Build the package with: bash bash build.sh 2. Run the node: bash bash run.sh You should get the following output: [INFO] [1700066229.388250475] [ros2_eigen_hello_world]: ROS2 Eigen3 Hello, World! [INFO] [1700066229.388365706] [ros2_eigen_hello_world]: m_eigen matrix: 3 -1 2.5 1.5

Package: cpp_publisher_subscriber_template

  • Node: cpp_publisher_subscriber_template
  • Location: example_nodes/cpp_publisher_subscriber_template
  • Summary: # C++ Publisher Subscriber Template This project provides a minimal c++ publisher and subscriber example. This node can be used as a template to create another node.

Package: decision_maker_infrastructure

  • Node: decision_maker_infrastructure
  • Location: decision_maker_infrastructure
  • Summary: # decision_maker_infrastructure This node/program provides a multi agent decision maker for the infrastructure. 1. Build the package with: bash make build 3. Test the node: bash make test 2. Run the node: bash make run

Package: decision_maker

  • Node: decision_maker
  • Location: decision_maker
  • Summary: # Decision Maker Node

Package: adore_math_conversions

  • Node: adore_math_conversions
  • Location: conversions/adore_math_conversions

Package: adore_map_conversions

  • Node: adore_map_conversions
  • Location: conversions/adore_map_conversions

Package: adore_dynamics_conversions

  • Node: adore_dynamics_conversions
  • Location: conversions/adore_dynamics_conversions