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Track Handler

Provided Functionality

Classes

The package provides the following classes:

  • RaceTrackHandler: Loads the configuration of a Racetrack (e.g. Monza) from config-Files (and overwrites). Provides you with the desired track and raceline and additional Information of the track e.g.:

    • geodetic_origin
    • sim_start_pos
    • initial_heading

  • Track: Provides access to track data and various functions to calculate accelerations, rotations, etc. based on the track.

  • Raceline: Provides access to raceline data

Functions

If you have a track instance (see above) those functions should not be required. These are a implementation detail of the Track.

  • rotation.hpp: Provides functions to calc/convert angles on the track
  • acceleration.hpp: Provides functions to calc/convert accelerations on the track

Usage

Add track_handler_cpp to your Package

CMakeLists.txt

find_package(track_handler_cpp REQUIRED)
ament_target_dependencies(${YOUR_TARKGET} PUBLIC track_handler_cpp)

package.xml

<depend>track_handler_cpp</depend>

In your C++ code

The recommended way to get a track is via a RaceTrackHandler. This will automatically load the right track from configuration/overwrites.

#include "track_handler_cpp/race_track_handler.hpp"

auto raceTrackHandler = tam::common::RaceTrackHandler::from_pkg_config();

This RaceTrackHandler provides you with additional information on the Track:

raceTrackHandler->get_geo_origin();
raceTrackHandler->get_sim_start_pos();
raceTrackHandler->get_initial_heading();
raceTrackHandler->get_track_name();
...

To get a track use the following method of the RaceTrackHandler, and store the returned Track in your code.

std::unique_ptr<tam::common::Track> track = raceTrackHandler->create_track();
std::unique_ptr<tam::common::Track> pit = raceTrackHandler->create_pitlane();

To get a raceline use the following method of the RaceTrackHandler, and store the returned Raceline in your code.

std::unique_ptr<tam::common::Raceline> track = raceTrackHandler->create_raceline();

PyBinding

To use the pybind of the track_handler:

In the pathon script:

from track_handler_py import RaceTrackHandler, Track, Raceline

Config

Constructing the Track/Raceline via

auto raceTrackHandler = tam::common::RaceTrackHandler::from_pkg_config();

handles the parameters and configuration for you.

Changing Configuration

Default parameters for different Tracks are stored in config/ and should be provided in the shown format. All Parameters/Files provided in config_overwrite/ will overwrite the default parameters.

You can specify the following Parameters:

  • Racetrack (config.yml): Allows to specify the racetrack (e.g. Monza)
  • Track Config (e.g. Monza/config.yml): Allows to specify individual parameters for racetracks
  • Raceline Files (e.g. Monza/raceline/): Dump Raceline-Files here (Raceline files include all required track information)

Overwrites

To overwrite the track configuration inside the container (e.g. from tam_launch), mount a local folder to the config_overwrite/ folder inside the container:

YOUR_MODULE:
  image: gitlab.lrz.de:5005/tam/<YOUR_MODULE>:<YOUR_TAG>
  network_mode: "host"
volumes:
    - "./<LOCAL_FOLDER>:/dev_ws/install/track_handler_cpp/share/track_handler_cpp/config_overwrite

For tam_launch:

YOUR_MODULE:
  image: gitlab.lrz.de:5005/tam/<YOUR_MODULE>:<YOUR_TAG>
  network_mode: "host"
volumes:
    - "./config/track_handler:/dev_ws/install/track_handler_cpp/share/track_handler_cpp/config_overwrite

Coordinate Convention

The provided track data follows the ENU (East, North, Up) convention for cartesian coordinate systems. And is a right-handed coordinate system.

  • x-axis: East
  • y-axis: North
  • z-axis: Up
  • heading=0 means driving east. The heading increases counter clockwise.

Example

For an Example on how to plot the whole track/raceline data see: test_plot.cpp

To run test_plot.cpp:

colcon build --packages-up-to track_handler_cpp && . install/setup.bash && ros2 run track_handler_cpp test_plot