Ignition Gazebo

API Reference

3.12.0
TrackedVehicle Class Reference

Tracked vehicle controller which can be attached to a model with any number of left and right tracks. The system should be attached to a model. Each track has to have a TrackController system configured and running. More...

#include <TrackedVehicle.hh>

Public Member Functions

 TrackedVehicle ()
 Constructor. More...
 
 ~TrackedVehicle () override
 Destructor. More...
 
void Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
 Configure the system. More...
 
void PostUpdate (const UpdateInfo &_info, const EntityComponentManager &_ecm) override
 
void PreUpdate (const UpdateInfo &_info, EntityComponentManager &_ecm) override
 
- Public Member Functions inherited from System
 System ()
 Constructor. More...
 
virtual ~System ()
 Destructor. More...
 

Detailed Description

Tracked vehicle controller which can be attached to a model with any number of left and right tracks. The system should be attached to a model. Each track has to have a TrackController system configured and running.

So far, this system only supports tracks that are parallel along a common axis (other designs are possible, but not implemented).

Examples

See example usage in world example/tracked_vehicle_simple.sdf .

System Parameters

<left_track>: Configuration of a left track link. This element can appear multiple times, and must appear at least once.

<right_track>: Configuration of a right track link. This element can appear multiple times, and must appear at least once.

<left_track>, <right_track> subelements:

  • <link>: The link representing the track. Required parameter.
  • <velocity_topic>: The topic on which the track accepts velocity commands (defaults to /model/${model_name}/link/${link_name}/track_cmd_vel).
  • <center_of_rotation_topic>: The topic on which the track accepts center of rotation commands (defaults to /model/${model_name}/link/${link_name}/track_cmd_center_of_rotation)

<tracks_separation>: Distance between tracks, in meters. Required parameter.

<track_height>: Height of the tracks, in meters (used for computing odometry). Required parameter.

<steering_efficiency>: Initial steering efficiency. Defaults to 0.5.

<debug> If 1, the system will output debugging info and visualizations. Defaults to 0.

<linear_velocity>: Limiter of linear velocity of the vehicle. Please note that the tracks can each have their own speed limitations. If the element is not specified, the velocities etc. have no implicit limits.

  • <min_velocity>/<max_velocity> Min/max velocity of the vehicle (m/s). If not specified, the velocity is not limited (however the physics will, in the end, have some implicit limit).
  • <min_acceleration>/<max_acceleration> Min/max acceleration of the vehicle (m/s^2). If not specified, the acceleration is not limited (however the physics will, in the end, have some implicit limit).
  • <min_jerk>/<max_jerk> Min/max jerk of the vehicle (m/s^3). If not specified, the acceleration is not limited (however the physics will, in the end, have some implicit limit).

<angular_velocity>: Limiter of angular velocity of the vehicle. Please note that the tracks can each have their own speed limitations. If the element is not specified, the velocities etc. have no implicit limits.

  • <min_velocity>/<max_velocity> Min/max velocity of the vehicle (rad/s). If not specified, the velocity is not limited (however the physics will, in the end, have some implicit limit).
  • <min_acceleration>/<max_acceleration> Min/max acceleration of the vehicle (rad/s^2). If not specified, the velocity is not limited (however the physics will, in the end, have some implicit limit).
  • <min_jerk>/<max_jerk> Min/max jerk of the vehicle (rad/s^3). If not specified, the velocity is not limited (however the physics will, in the end, have some implicit limit).

<odom_publish_frequency>: Odometry publication frequency. This element is optional, and the default value is 50Hz.

<topic>: Custom topic that this system will subscribe to in order to receive command velocity messages. This element is optional, and the default value is /model/{model_name}/cmd_vel.

<steering_efficiency_topic>: Custom topic that this system will subscribe to in order to receive steering efficiency messages. This element is optional, and the default value is /model/{model_name}/steering_efficiency.

<odom_topic>: Custom topic on which this system will publish odometry messages. This element is optional, and the default value is /model/{model_name}/odometry.

<tf_topic>: Custom topic on which this system will publish the transform from frame_id to child_frame_id. This element is optional, and the default value is /model/{model_name}/tf.

<frame_id>: Custom frame_id field that this system will use as the origin of the odometry transform in both the <tf_topic> ignition.msgs.Pose_V message and the <odom_topic> ignition.msgs.Odometry message. This element if optional, and the default value is {model_name}/odom.

<child_frame_id>: Custom child_frame_id that this system will use as the target of the odometry trasnform in both the <tf_topic> ignition.msgs.Pose_V message and the <odom_topic> ignition.msgs.Odometry message. This element if optional, and the default value is {model_name}/{link_name}.

Constructor & Destructor Documentation

◆ TrackedVehicle()

Constructor.

◆ ~TrackedVehicle()

~TrackedVehicle ( )
override

Destructor.

Member Function Documentation

◆ Configure()

void Configure ( const Entity _entity,
const std::shared_ptr< const sdf::Element > &  _sdf,
EntityComponentManager _ecm,
EventManager _eventMgr 
)
overridevirtual

Configure the system.

Parameters
[in]_entityThe entity this plugin is attached to.
[in]_sdfThe SDF Element associated with this system plugin.
[in]_ecmThe EntityComponentManager of the given simulation instance.
[in]_eventMgrThe EventManager of the given simulation instance.

Implements ISystemConfigure.

◆ PostUpdate()

void PostUpdate ( const UpdateInfo _info,
const EntityComponentManager _ecm 
)
overridevirtual

Implements ISystemPostUpdate.

◆ PreUpdate()

void PreUpdate ( const UpdateInfo _info,
EntityComponentManager _ecm 
)
overridevirtual

Implements ISystemPreUpdate.


The documentation for this class was generated from the following file: