cpf_control Node
In a nutshell
This node adds a cooperative layer to an already set PF algorithm. The communications are managed within the scope of farol_comms, in cpf_gamma for a standard WiFi connection.
Diagram
Subscribers
| Subscribers | msg type | Purpose |
|---|---|---|
| /#vehicle#/External/Gamma | farol_msgs/CPFGamma | Gamma from other vehicles coming from the CPF server |
| /#vehicle#/PathData | dsor_paths/PathData | Path variables given by a certain gamma related vehicle state |
Publishers
| Publishers | msg type | Purpose |
|---|---|---|
| /#vehicle#/PF/vc | std_msgs/Float64 | Velocity correction calculated by the CPF algorithm |
| /#vehicle#/Internal/Gamma | farol_msgs/CPFGamma | Gamma from current vehicle to be disseminated by the CPF client |
Services
| Services | msg type | Purpose |
|---|---|---|
| /#vehicle#/CPFStart | cpf_control/StartStop | Start the CPF service |
| /#vehicle#/CPFStop | cpf_control/StartStop | Stop the CPF service |
| /#vehicle#/CPFChangeTopology | cpf_control/ChangeTopology | Change the topology of the CPF network |
Parameters
General Parameters
| Parameters | type | Default | Purpose |
|---|---|---|---|
| node_frequency | float | 10.0 | Working frequency of the node |
| ID | int | 2 | Vehicle ID inside the cooperative network |
| adjacency_matrix | array | [0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 0] |
Matrix used to describe the links between vehicles in the same cooperative network |
Event-Triggered Communications Gains
| Parameters | type | Default |
|---|---|---|
| c0 | float | 0.001 |
| c1 | float | 5.0 |
| alpha | float | 1.0 |
| k_epsilon | float | 1.0 |
Last update:
November 23, 2022