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autoware_nova_carter_interface package from autoware_nova_carter repo

autoware_nova_carter_description autoware_nova_carter_interface autoware_nova_carter_occupancy_grid autoware_nova_carter_sensing autoware_nova_carter_vehicle

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Package Summary

Tags	No category tags.
Version	0.0.0
License	TODO: License declaration
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Integration of NVIDIA Nova Carter with Autoware
Checkout URI	https://github.com/tier4/autoware_nova_carter.git
VCS Type	git
VCS Version	main
Last Updated	2025-02-28
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	cuda nvidia amr autonomous-driving ros2 autoware nvidia-jetson
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

TODO: Package description

Additional Links

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Maintainers

mitsudome-r

Authors

No additional authors.

autoware_nova_carter_interface/README.md

Autoware Nova Carter Interface

The autoware_nova_carter package is part of the Autoware project, designed to interface with the Nova Carter vehicle platform. It provides nodes and configurations for controlling and sensing the vehicle in various environments.

Features

Interface with Nova Carter vehicle for control and sensing.

Installation

Clone the repository:

   cd ~/your_ros_workspace/src/
   git clone https://github.com/tier4/autoware_nova_carter.git
   

Build the package:

Navigate to your ROS workspace and build the package:

   cd ~/your_ros_workspace
   colcon build --packages-up-to autoware_nova_carter_interface
   

Parameters

The interface node uses several parameters that can be configured in the config/nova_carter_interface.param.yaml file. Key parameters include:

base_frame_id: The frame ID for the vehicle’s base link.
maximum_linear_velocity: Maximum allowable linear velocity.
maximum_angular_velocity: Maximum allowable angular velocity.
wheel_base: The distance between the front and rear axles.

Inputs and Outputs

Subscribers

Topic Name	Message Type	Description
`control_cmd`	`autoware_msgs/ControlCommand`	Control commands from Autoware.
`odom`	`nav_msgs/Odometry`	Odometry messages from the Nova Carter vehicle.

Publishers

Topic Name	Message Type	Description
`cmd_vel`	`geometry_msgs/TwistStamped`	Twist command which will be sent to the vehicle.
`vehicle_twist_report`	`autoware_msgs/VelocityReport`	Current velocity information reported to Autoware.
`steering_status_report`	`autoware_msgs/SteeringReport`	Current steering angle reported to Autoware. Nova Carter is a differential drive vehicle, so the steering angle is virtually calculated from the linear and angular velocities.

Usage

Launching the Interface

To launch the Nova Carter interface, use the following command:

   ros2 launch autoware_nova_carter_interface nova_carter_interface.launch.xml

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	autoware_cmake
	ament_lint_auto
	ament_lint_common
	autoware_lint_common
	autoware_control_msgs
	autoware_vehicle_msgs
	geometry_msgs
	nav_msgs
	rclcpp
	rclcpp_components

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/nova_carter_interface.launch.xml

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_nova_carter_interface` at Robotics Stack Exchange

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