EsminiAdapter

Module for interfacing with the esmini ScenarioEngine.

About the module

This module has the following responsibilities: * Load an OpenSCENARIO-file and extract static trajectories from it. * From the associated OpenDRIVE file, extract the test origin and make available to other modules. * Dynamically, while the test is running, execute actions based on triggers specified in the OpenSCENARIO-file. Note: some refactoring is needed to divide the responsibilities of this module into two separate modules.

ROS parameters

The following ROS parameters can be set for EsminiAdapter:

• open_scenario_file - Name of the OpenSCENARIO-file. The file must end in .xosc and be located in the osc-directory.

Example

Load an OpenSCENARIO-file called MyScenario.xosc.

• open_scenario_file: "MyScenario.xosc"

Test origin

The test origin is extracted from the OpenDRIVE file of the scenario. To change the test origin to a different location, change the "geoReference" tag in the OpenDrive file header.

Example

<OpenDRIVE>
  <header ... >
    <geoReference><![CDATA[+proj=tmerc +lat_0=57.77752905043481 +lon_0=12.7814573051027 +k=1 +x_0=0 +y_0=0 +datum=WGS84 +units=m +geoidgrids=egm96_15.gtx +vunits=m +no_defs ]]></geoReference>
  </header>