Sim Driver Node

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