Structure

Simulation Setup

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Real World Setup (Vicon)

---

Simulation with Backtracker

Plantuml

@startuml


object ros_simulator { 
 package: ros_simulators
}

object controller_node {
 package: ros_estimators
}

object car_track_visualizer_node {
 package: car_track_visualizer
}

object estimation_node {
 package: estimation_node
}

object crash_detector_node {
 package: crash_detector_node
}
object backtracker_node {
 package: backtracker_node
}
object input_filter_node {
 package: input_filter_node
}

object estimation_node {
 package: estimation_node
}
ros_simulator -> estimation_node: ros_simulator/vicon
estimation_node -> controller_node: estimation_node/best_state

ros_simulator ..> car_track_visualizer_node: ros_simulator/gt_state
estimation_node ..> car_track_visualizer_node: estimation_node/best_state

estimation_node -> crash_detector_node: estimation_node/best_state
estimation_node -> backtracker_node: estimation_node/best_state

controller_node -> input_filter_node: control_input
crash_detector_node --> backtracker_node: collision

backtracker_node --> input_filter_node: emergency_input
input_filter_node -> ros_simulator: ros_simulator/control_input

@enduml

mainframe Car Namespace

object ros_simulator { 
 package: ros_simulators
}

object controller_node {
 package: ros_estimators
}

object car_track_visualizer_node {
 package: car_track_visualizer
}

object estimation_node {
 package: estimation_node
}

ros_simulator --> estimation_node: ros_simulator/vicon
controller_node --> ros_simulator: ros_simulator/control_input
estimation_node --> controller_node: estimation_node/best_state

ros_simulator --> car_track_visualizer_node: ros_simulator/gt_state
estimation_node --> car_track_visualizer_node: estimation_node/best_state