Struct NodeConfig

Struct Documentation

struct NodeConfig

Public Members

bool send_drive_msg_

Whether to publish drive commands.

bool visualize_markers_

Whether to publish visualization markers.

bool watchdog_is_active_

Whether the watchdog is active.

bool enable_control_logging_

Whether to publish control logging data. aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa.

int disable_print_timeout_

Timeout for disabling log messages.

int tdp_

Time delay penalty for the path planner.

int watchdog_period_

Watchdog period in milliseconds.

float starting_strip_ = 0.0

Starting strip for lap detection (percentage)

float scale_speed_ = 1.0

scaling factor to target speed

float wb_

Vehicle wheelbase length (meters).

float kk_s_

PD controller proportional gain.

float kd_s_

PD controller derivative gain.

float max_steer_

Maximum steering angle (radians).

float k_staley

Gain for Stanley controller.

float min_speed_

Minimum speed for Stanley controller (m/s).

float max_error_

Maximum error for Stanley controller (meters).

float decay_v_

Decay factor for speed in Stanley controller.

float decay_e_

Decay factor for error in Stanley controller.

float window_size_

Size of the window for the raceline.

float look_ahead_gain_

Gain for calculating look-ahead distance.

float min_look_ahead_dist_

Minimum look-ahead distance (meters).

float steering_gain_
float kk_torque_

Proportional gain for torque controller.

float ki_torque_

Integral gain for torque controller.

float max_torque_

Maximum allowable torque (Nm).

float target_speed_

Target speed for the vehicle (m/s).

float raceline_discretization_

Discretization step for the raceline (meters).

float control_frequency_

Control frequency for the node (Hz).

std::string look_ahead_point_topic_

Topic for publishing the look-ahead point.

std::string car_nearest_point_topic_

Topic for publishing the nearest point on the path.

std::string odom_topic_

Topic for subscribing to odometry messages.

std::string pose_topic_

Topic for subscribing to pose messages.

std::string path_limits_topic_

Topic for subscribing to path limits.

std::string drive_topic_

Topic for publishing drive commands.

std::string start_control_topic_

Topic for subscribing to start control messages.

std::string frame_id_

Frame ID for the published messages.

std::string is_ready_service_name_

Service name for readiness check.

std::string mission_finished_topic_

Topic for publishing mission finished messages.

bool check_readiness_

Whether to check readiness before starting the control loop.