Refactored instances of CarlaEgoVehicleControl and it's topic

docs/Controls/epas.md

@@ -16,7 +16,7 @@ The Electric Power Assisted Steering (EPAS) node provides an interface between R
 ---
 
 ### In:
-- **/carla/hero/vehicle_control_cmd** [*VehicleControl*](../messages.md#vehiclecontrol)
+- **/vehicle/control** [*VehicleControl*](../messages.md#vehiclecontrol)
 - **/clock** [*Clock*](https://docs.ros2.org/galactic/api/rosgraph_msgs/msg/Clock.html)
 - **/guardian/mode** [*Mode*](../messages.md#mode)
 

docs/Controls/joy_translation.md

@@ -23,7 +23,7 @@ Converts [*joy*](https://docs.ros.org/en/api/sensor_msgs/html/msg/Joy.html) mess
 - **/guardian/mode** [*Mode*](../messages.md#mode)
 
 ### Out:
-- **/carla/hero/vehicle_control_cmd** [*VehicleControl*](../messages.md#vehiclecontrol)
+- **/vehicle/control** [*VehicleControl*](../messages.md#vehiclecontrol)
 - **/requested_mode** [*Mode*](../messages.md#mode)
 - **/node_statuses** [*DiagnosticStatus*](https://docs.ros2.org/galactic/api/diagnostic_msgs/msg/DiagnosticStatus.html)
 

docs/Controls/linear_actuator.md

@@ -16,7 +16,7 @@ This node's responsible for our brake system. It communicates via CAN bus with a
 ---
 
 ### In:
-- **/carla/hero/vehicle_control_cmd** [*VehicleControl*](../messages.md#vehiclecontrol)
+- **/vehicle/control** [*VehicleControl*](../messages.md#vehiclecontrol)
 - **/clock** [*Clock*](https://docs.ros2.org/galactic/api/rosgraph_msgs/msg/Clock.html)
 - **/guardian/mode** [*Mode*](../messages.md#mode)
 
@@ -29,7 +29,7 @@ This node's responsible for our brake system. It communicates via CAN bus with a
 ### connectToBus(self)
 Attempts to establish a connection to the CAN bus that controls our linear actuator.
 
-### sendBrakeControl(self, msg: CarlaEgoVehicleControl)
+### sendBrakeControl(self, msg: VehicleControl)
 Calculates a position command from an inputted brake value and calls [`sendToPosition()`](#sendtopositionself-pos-float-bus-canbus).
 
 ### enableClutch(self, bus: can.Bus)

docs/Controls/mcu_interface.md

@@ -16,7 +16,7 @@ Serves as our interface between Navigator (ROS) and our Adafruit Grand Central M
 ---
 
 ### In:
-- **/carla/hero/vehicle_control_cmd** [*VehicleControl*](../messages.md#vehiclecontrol)
+- **/vehicle/control** [*VehicleControl*](../messages.md#vehiclecontrol)
 - **/guardian/mode** [*Mode*](../messages.md#mode)
 
 ### Out:
@@ -29,4 +29,4 @@ Serves as our interface between Navigator (ROS) and our Adafruit Grand Central M
 Other than initializing the ROS node, it attempts to establish a serial connection to the MCU
 
 ### publishCommand(self)
-Using an inputted throttle command via the */carla/hero/vehicle_control_cmd* topic, it parses, encodes, and writes the throttle value into serial. The format we use is `"s{throttle}e\r"`
+Using an inputted throttle command via the */vehicle/control* topic, it parses, encodes, and writes the throttle value into serial. The format we use is `"s{throttle}e\r"`

docs/Planning/airbag.md

@@ -27,12 +27,12 @@ Airbags extend in front of the vehicle, and slightly to either side.
 
 ### In:
 - **/lidar/filtered** [*PointCloud2*](https://docs.ros2.org/latest/api/sensor_msgs/msg/PointCloud.html) 
-- **/control/unlimited** [*CarlaEgoVehicleControl*](../messages.md#vehiclecontrol) 
+- **/control/unlimited** [*VehicleControl*](../messages.md#vehiclecontrol) 
 - **/carla/hero/speedometer** [*CarlaSpeedometer*](../messages.md#carlaspeedometer)
 - **/clock** [*Clock*](https://docs.ros2.org/galactic/api/rosgraph_msgs/msg/Clock.html) 
 
 ### Out:
-- **/carla/hero/vehicle_control_cmd** [*CarlaEgoVehicleControl*](../messages.md#vehiclecontrol)
+- **/vehicle/control** [*VehicleControl*](../messages.md#vehiclecontrol)
 - **/status/airbags** [*DiagnosticStatus*](https://docs.ros2.org/galactic/api/diagnostic_msgs/msg/DiagnosticStatus.html)
 - **/visuals/airbags** [*Marker*](https://docs.ros2.org/galactic/api/visualization_msgs/msg/Marker.html)
 - **/planning/current_airbag** [*String*](https://docs.ros2.org/foxy/api/std_msgs/msg/String.html)
@@ -48,6 +48,6 @@ Maps distance to max speed, limiting speed as little as possible.
 ### lidarCb(self, msg: PointCloud2)
 Considers points in front of the car and not too far off to the side. It assume car is 2 meters wide.
 
-### commandCb(self, msg: CarlaEgoVehicleControl)
+### commandCb(self, msg: VehicleControl)
 Checks if current speed is greater than speed limit, prints warning and applies brake proportionally to speed over limit.
 

src/control/parade_controller/parade_controller/parade_controller_node.py

@@ -6,7 +6,7 @@
 Controller for the hoco parade that follows our flag
 '''
 
-from carla_msgs.msg import CarlaEgoVehicleControl
+from carla_msgs.msg import VehicleControl
 from geometry_msgs.msg import TransformStamped
 from rosgraph_msgs.msg import Clock
 from rclpy.node import Node
@@ -45,7 +45,7 @@ def __init__(self):
 
         # Publisher
         self.throttle_pub = self.create_publisher(
-            CarlaEgoVehicleControl, '/carla/hero/vehicle_control_cmd', 10)
+            VehicleControl, '/vehicle/control', 10)
 
         # Debug publisher
         self.transformed_lidar_pub = self.create_publisher(PointCloud2, '/lidar_tfed', 1)
@@ -118,7 +118,7 @@ def pointclouds_cb(self, msg: PointCloud2):
         steer = self.Kp_Steer * error_y
 
         # Set msg fields and publish throttle value
-        throttle_msg = CarlaEgoVehicleControl()
+        throttle_msg = VehicleControl()
 
         if throttle < 0.:
             throttle = 0.

src/msg/navigator_msgs/msg/VehicleControl.msg

@@ -4,7 +4,7 @@
 # This work is licensed under the terms of the MIT license.
 # For a copy, see <https://opensource.org/licenses/MIT>.
 #
-# This represents a vehicle control message sent by Navigator (taken directly from Carla's CarlaEgoVehicleControl.msg)
+# This represents a vehicle control message sent by Navigator (taken directly from Carla's VehicleControl.msg)
 
 std_msgs/Header header
 

src/msg/ros-carla-msgs/CMakeLists.txt

@@ -9,7 +9,7 @@ set(SERVICE_FILES SpawnObject.srv DestroyObject.srv GetBlueprints.srv)
 
 set(MSG_FILES
     CarlaBoundingBox.msg
-    CarlaEgoVehicleControl.msg
+    VehicleControl.msg
     CarlaEgoVehicleStatus.msg
     CarlaEgoVehicleInfoWheel.msg
     CarlaEgoVehicleInfo.msg

src/msg/ros-carla-msgs/msg/CarlaEgoVehicleStatus.msg

@@ -12,4 +12,4 @@ geometry_msgs/Accel acceleration
 geometry_msgs/Quaternion orientation
 
 # the current control values, as reported by Carla
-CarlaEgoVehicleControl control
+VehicleControl control

src/planning/rtp/rtp/rtp_node.py

@@ -40,7 +40,7 @@
 import random
 import time
 from geometry_msgs.msg import PoseStamped, Quaternion, Point
-#from carla_msgs.msg import CarlaEgoVehicleControl, CarlaSpeedometer
+#from carla_msgs.msg import VehicleControl, CarlaSpeedometer
 from navigator_msgs.msg import VehicleControl, VehicleSpeed
 from std_msgs.msg import String, ColorRGBA
 from sensor_msgs.msg import Imu

src/safety/airbags/airbags/airbag_node.py

@@ -7,7 +7,7 @@
 '''
 
 from matplotlib import pyplot as plt
-from carla_msgs.msg import CarlaEgoVehicleControl
+from carla_msgs.msg import VehicleControl
 from navigator_msgs.msg import CarlaSpeedometer, VehicleControl
 from diagnostic_msgs.msg import DiagnosticStatus
 from nav_msgs.msg import OccupancyGrid
@@ -35,7 +35,7 @@ def __init__(self):
             PointCloud2, '/lidar/filtered', self.lidarCb, 1)
 
         self.command_sub = self.create_subscription(
-            CarlaEgoVehicleControl, '/control/unlimited', self.commandCb, 1)
+            VehicleControl, '/control/unlimited', self.commandCb, 1)
 
         self.speed_sub = self.create_subscription(
             CarlaSpeedometer, '/carla/hero/speedometer', self.speedCb, 1)
@@ -100,7 +100,7 @@ def lidarCb(self, msg: PointCloud2):
 
         self.speed_limit = self.distanceToSpeedLimit(closest_x)
 
-    def commandCb(self, msg: CarlaEgoVehicleControl):
+    def commandCb(self, msg: VehicleControl):
 
         if self.current_speed > self.speed_limit:
             speed_over_limit = self.current_speed - self.speed_limit

src/safety/guardian/guardian/guardian_node.py

@@ -19,7 +19,7 @@
 from rosgraph_msgs.msg import Clock
 import time
 
-from carla_msgs.msg import CarlaEgoVehicleControl
+from carla_msgs.msg import VehicleControl
 from diagnostic_msgs.msg import DiagnosticStatus, DiagnosticArray, KeyValue
 from nav_msgs.msg import Path
 from navigator_msgs.msg import Mode

src/tools/joy_translation/joy_translation/joy_translation_node.py

@@ -39,14 +39,14 @@
  /joy (sensor_msgs/Joy)
 
 Publishes to:
-/carla/hero/vehicle_control_cmd (CarlaEgoVehicleControl)
+/vehicle/control (VehicleControl)
 '''
 
 import numpy as np
 from rosgraph_msgs.msg import Clock
 import time
 
-from carla_msgs.msg import CarlaEgoVehicleControl
+from carla_msgs.msg import VehicleControl
 from navigator_msgs.msg import CarlaSpeedometer
 from diagnostic_msgs.msg import DiagnosticStatus, KeyValue
 from navigator_msgs.msg import Mode
@@ -71,7 +71,7 @@ def __init__(self):
             Clock, '/clock', self.clockCb, 10)
 
         self.command_pub = self.create_publisher(
-            CarlaEgoVehicleControl, '/carla/hero/vehicle_control_cmd', 10)
+            VehicleControl, '/vehicle/control', 10)
 
         self.requested_mode_pub = self.create_publisher(
             Mode, '/requested_mode', 1)
@@ -137,7 +137,7 @@ def getSpeedAdjustedSteering(self, joystick_pos: float) -> float:
         return steer
 
     def joyCb(self, msg: Joy):
-        command_msg = CarlaEgoVehicleControl()
+        command_msg = VehicleControl()
 
         self.status = self.initStatusMsg()