Sim Driver Node - A2R-Lab/indy7-sdk GitHub Wiki

SimDriverNode is a ROS2 node that manages communication between MPCGPU and a robot simulator. It provides a simulated execution environment that mirrors the behavior of the real robot driver, allowing for testing and validation of trajectories in a safe, virtual environment.

This node has three primary responsibilities:

  1. Execute incoming joint trajectories in simulation
  2. Publish joint commands to the simulator
  3. Monitor simulated joint states

Communication Interfaces

Subscriptions

  • Topic: joint_trajectory
    • Message Type: indy7_msgs/msg/JointTrajectory
    • Purpose: Receives planned joint trajectories for simulated execution
  • Topic: joint_states
    • Message Type: indy7_msgs/msg/JointState
    • Purpose: Monitors current simulator state

Publications

  • Topic: joint_commands
    • Message Type: indy7_msgs/msg/JointState
    • Purpose: Sends command signals to the simulator at 1kHz

Configuration

  • Communication rates