WheelDataSimulator (`assignments::three::wheel_data_simulator_node`)

The WheelDataSimulator node generates simulated wheel encoder/velocity data (std_msgs/msg/Float64MultiArray) based on configurable time-varying intervals. It publishes wheel values for a 4-wheel robot configuration that can follow constant, linear, or quadratic trajectories over time.

Implementation Details

Parameters

Parameter	Type	Default	Description
`publish_rate`	double	10.0	Publishing frequency in Hz
`max_intervals`	int	4	Maximum number of intervals per wheel
`<wheel>.num_intervals`	int	0	Number of intervals for each wheel
`<wheel>.interval_<n>.*`	various	-	Interval configuration (see Simulator)

Wheels Configured:

wheel_fl - Front Left wheel
wheel_fr - Front Right wheel
wheel_rl - Rear Left wheel
wheel_rr - Rear Right wheel

Constructor

DataSimulator()

Initializes ROS2 node with name wheel_data_simulator
Creates Simulator instance for value generation
Creates publisher for simulated_wheel_data topic
Sets up timer for periodic publishing

Core Functionality

void publish_wheel_data()

Timer callback invoked at the configured publish rate
Calculates elapsed time since node start
Queries Simulator for current values of all 4 wheels
Populates Float64MultiArray message with wheel values in order: [FL, FR, RL, RR]
Publishes message to topic

ROS2 Interface

Publications

simulated_wheel_data (std_msgs/msg/Float64MultiArray)
- Publishes simulated wheel data at configured rate
- Array contains 4 values: [front_left, front_right, rear_left, rear_right]

Usage Example

ros2 run g2_2025_odometry_pkg wheel_data_simulator_node --ros-args \
  -p publish_rate:=50.0 \
  -p wheel_fl.num_intervals:=1 \
  -p wheel_fl.interval_0.type:=linear \
  -p wheel_fl.interval_0.t_start:=0.0 \
  -p wheel_fl.interval_0.t_end:=10.0 \
  -p wheel_fl.interval_0.y_start:=0.0 \
  -p wheel_fl.interval_0.y_end:=5.0

Dependencies

rclcpp - ROS2 C++ client library
std_msgs - Standard message types
Simulator - Internal simulation engine

2.2 KiB Raw Blame History

WheelDataSimulator (assignments::three::wheel_data_simulator_node)