Vehicle Controller System (ROS 2)

🚗 Overview

This ROS 2-based project simulates a vehicle controller that:

• Receives real-time GPS and velocity data
• Predicts and generates safe trajectories based on traffic light state and distance to intersection
• Publishes control commands as TwistStamped messages
• Logs predicted and actual vehicle trajectories for analysis

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📦 Packages

1. vehicle_controller

• Core logic for trajectory generation and vehicle control
• Includes signal input handling, socket communication, and control loop
• Parameters for traffic light cycle and vehicle dynamics are configurable

2. vehicle_sender

• communicate with vehicle control hardware

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🛠 Features

• ✅ Sensor fusion using GPS and velocity (BESTVEL)
• ✅ Portabel trajectory generation module
• ✅ Traffic light logic with red/green/yellow phase awareness
• ✅ Acceleration phase to 5 m/s before normal control starts
• ✅ CSV logging for both predicted and actual trajectories
• ✅ Socket interface for SPaT (Signal Phase and Timing) input

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🧪 Dependencies

• ROS 2 (Humble or later)
• geometry_msgs, rclcpp
• novatel_oem7_msgs (for GPS/velocity input)

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🚀 How to Build

cd ~/catkin_ws_resilience
colcon build
source install/setup.bash