Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yukinari Hisaki
- Arjun Ram
- Takayuki Murooka
Authors
- Hiroki OTA
vehicle_cmd_gate
Purpose
vehicle_cmd_gate
is the package to get information from emergency handler, planning module, and external controller, and send a message to the vehicle.
Role
Receive multiple control commands and select one to forward to the vehicle.
Inputs / Outputs
Input
Name | Type | Description |
---|---|---|
~/input/steering |
autoware_vehicle_msgs::msg::SteeringReport |
steering status |
~/input/auto/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity from planning module |
~/input/auto/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command from planning module |
~/input/auto/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command from planning module |
~/input/auto/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command from planning module |
~/input/external/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity from external |
~/input/external/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command from external |
~/input/external/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command from external |
~/input/external/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command from external |
~/input/external_emergency_stop_heartbeat |
tier4_external_api_msgs::msg::Heartbeat |
heartbeat |
~/input/gate_mode |
tier4_control_msgs::msg::GateMode |
gate mode (AUTO or EXTERNAL) |
~/input/emergency/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity from emergency handler |
~/input/emergency/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command from emergency handler |
~/input/emergency/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command from emergency handler |
~/input/emergency/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command from emergency handler |
~/input/engage |
autoware_vehicle_msgs::msg::Engage |
engage signal |
~/input/operation_mode |
autoware_adapi_v1_msgs::msg::OperationModeState |
operation mode of Autoware |
Output
Name | Type | Description |
---|---|---|
~/output/vehicle_cmd_emergency |
tier4_vehicle_msgs::msg::VehicleEmergencyStamped |
emergency state which was originally in vehicle command |
~/output/command/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity to vehicle |
~/output/command/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command to vehicle |
~/output/command/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command to vehicle |
~/output/command/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command to vehicle |
~/output/gate_mode |
tier4_control_msgs::msg::GateMode |
gate mode (AUTO or EXTERNAL) |
~/output/engage |
autoware_vehicle_msgs::msg::Engage |
engage signal |
~/output/external_emergency |
tier4_external_api_msgs::msg::Emergency |
external emergency signal |
~/output/operation_mode |
tier4_system_msgs::msg::OperationMode |
current operation mode of the vehicle_cmd_gate |
Parameters
Parameter | Type | Description |
---|---|---|
update_period |
double | update period |
use_emergency_handling |
bool | true when emergency handler is used |
check_external_emergency_heartbeat |
bool | true when checking heartbeat for emergency stop |
system_emergency_heartbeat_timeout |
double | timeout for system emergency |
external_emergency_stop_heartbeat_timeout |
double | timeout for external emergency |
filter_activated_count_threshold |
int | threshold for filter activation |
filter_activated_velocity_threshold |
double | velocity threshold for filter activation |
stop_hold_acceleration |
double | longitudinal acceleration cmd when vehicle should stop |
emergency_acceleration |
double | longitudinal acceleration cmd when vehicle stop with emergency |
moderate_stop_service_acceleration |
double | longitudinal acceleration cmd when vehicle stop with moderate stop service |
nominal.vel_lim |
double | limit of longitudinal velocity (activated in AUTONOMOUS operation mode) |
nominal.reference_speed_points |
velocity point used as a reference when calculate control command limit (activated in AUTONOMOUS operation mode). The size of this array must be equivalent to the size of the limit array. | |
nominal.lon_acc_lim_for_lon_vel |
array of limits for longitudinal acceleration (activated in AUTONOMOUS operation mode) | |
nominal.lon_jerk_lim_for_lon_acc |
array of limits for longitudinal jerk (activated in AUTONOMOUS operation mode) | |
nominal.lat_acc_lim_for_steer_cmd |
array of limits for lateral acceleration (activated in AUTONOMOUS operation mode) | |
nominal.lat_jerk_lim_for_steer_cmd |
array of limits for lateral jerk (activated in AUTONOMOUS operation mode) | |
nominal.steer_cmd_lim |
array of limits for steering angle (activated in AUTONOMOUS operation mode) | |
nominal.steer_rate_lim_for_steer_cmd |
array of limits for command steering rate (activated in AUTONOMOUS operation mode) | |
nominal.lat_jerk_lim_for_steer_rate |
double | limit for lateral jerk constraint on steering rate (activated in AUTONOMOUS operation mode) |
nominal.steer_cmd_diff_lim_from_current_steer |
array of limits for difference between current and command steering angle (activated in AUTONOMOUS operation mode) | |
on_transition.vel_lim |
double | limit of longitudinal velocity (activated in TRANSITION operation mode) |
on_transition.reference_speed_points |
velocity point used as a reference when calculate control command limit (activated in TRANSITION operation mode). The size of this array must be equivalent to the size of the limit array. | |
on_transition.lon_acc_lim_for_lon_vel |
array of limits for longitudinal acceleration (activated in TRANSITION operation mode) | |
on_transition.lon_jerk_lim_for_lon_acc |
array of limits for longitudinal jerk (activated in TRANSITION operation mode) | |
on_transition.lat_acc_lim_for_steer_cmd |
array of limits for lateral acceleration (activated in TRANSITION operation mode) | |
on_transition.lat_jerk_lim_for_steer_cmd |
array of limits for lateral jerk (activated in TRANSITION operation mode) | |
on_transition.steer_cmd_lim |
array of limits for steering angle (activated in TRANSITION operation mode) | |
on_transition.steer_rate_lim_for_steer_cmd |
array of limits for command steering rate (activated in TRANSITION operation mode) | |
on_transition.lat_jerk_lim_for_steer_rate |
double | limit for lateral jerk constraint on steering rate (activated in TRANSITION operation mode) |
on_transition.steer_cmd_diff_lim_from_current_steer |
array of limits for difference between current and command steering angle (activated in TRANSITION operation mode) |
Parameter Naming Convention
The parameters follow specific naming patterns to clearly distinguish between different types of constraints and their relationships:
Pattern 1: [constraint]_lim_for_[target]
-
Format:
[physical_constraint]_lim_for_[controlled_variable]
- Description: Defines limits based on physical constraints (acceleration, jerk, etc.) applied to control variables
Pattern 2: [target]_[constraint]_lim_from_[reference]
-
Format:
[controlled_variable]_[constraint_type]_lim_from_[reference_variable]
- Description: Defines limits on the difference or deviation of a control variable from a reference value
Pattern 3: [target]_lim
-
Format:
[controlled_variable]_lim
File truncated at 100 lines see the full file
Changelog for package autoware_vehicle_cmd_gate
0.47.0 (2025-08-11)
-
feat(autoware_vehicle_cmd_gate): steer rate limit with lateral jerk constraint (#11057)
- feat(vehicle_cmd_gate): add lateral jerk limit for steering rate in parameters and implementation
* feat(vehicle_cmd_gate): add lateral jerk limit for steering rate in test cases and implementation ---------
-
refactor(vehicle_cmd_gate): rename variable naming consistency in vehicle command filter (#10781)
* feat(vehicle_cmd_gate): update parameter naming convention for clarity and consistency ---------
-
feat(vehicle_cmd_gate): update maintainer and readme (#10915)
- feat(vehicle_cmd_gate): update maintainer and readme
- fix
- style(pre-commit): autofix
- Update control/autoware_vehicle_cmd_gate/README.md
* Update control/autoware_vehicle_cmd_gate/README.md ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takamasa Horibe <<horibe.takamasa@gmail.com>>
-
Contributors: Kyoichi Sugahara, Yukinari Hisaki
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
- Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
- chore(vehicle_cmd_gate): suppress frequent log (#10630)
- fix(vehicle_cmd_gate): fix bug in limitLateralSteer (#10532)
- Contributors: Ryuta Kambe, TaikiYamada4, Takayuki Murooka
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat: manual control (#10354)
- feat(default_adapi): add manual control
- add conversion
- update selector
- update selector depends
- update converter
- modify heartbeat name
- update launch
- update api
- fix pedal callback
- done todo
- apply message rename
- fix test
- fix message type and qos
- fix steering_tire_velocity
* fix for clang-tidy ---------
-
Contributors: Ryohsuke Mitsudome, Takagi, Isamu
0.43.0 (2025-03-21)
-
Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
-
chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
-
fix(planning, control): reuse stamp of subscribed topic to measure component latency (#10201)
- fix(behavior_velocity_planner): reuse timestamp of recieved path
- fix(behavior_path_planner): check timestamp first in timer driven callback
- fix(trajectory_follower_node): check timestamp first in timer driven callback
* fix(vehicle_cmd_gate): reuse timestamp of recieved path ---------
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/vehicle_cmd_gate.launch.xml
-
- config_file [default: $(find-pkg-share autoware_vehicle_cmd_gate)/config/vehicle_cmd_gate.param.yaml]
- check_external_emergency_heartbeat [default: true]
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_vehicle_cmd_gate at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yukinari Hisaki
- Arjun Ram
- Takayuki Murooka
Authors
- Hiroki OTA
vehicle_cmd_gate
Purpose
vehicle_cmd_gate
is the package to get information from emergency handler, planning module, and external controller, and send a message to the vehicle.
Role
Receive multiple control commands and select one to forward to the vehicle.
Inputs / Outputs
Input
Name | Type | Description |
---|---|---|
~/input/steering |
autoware_vehicle_msgs::msg::SteeringReport |
steering status |
~/input/auto/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity from planning module |
~/input/auto/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command from planning module |
~/input/auto/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command from planning module |
~/input/auto/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command from planning module |
~/input/external/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity from external |
~/input/external/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command from external |
~/input/external/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command from external |
~/input/external/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command from external |
~/input/external_emergency_stop_heartbeat |
tier4_external_api_msgs::msg::Heartbeat |
heartbeat |
~/input/gate_mode |
tier4_control_msgs::msg::GateMode |
gate mode (AUTO or EXTERNAL) |
~/input/emergency/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity from emergency handler |
~/input/emergency/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command from emergency handler |
~/input/emergency/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command from emergency handler |
~/input/emergency/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command from emergency handler |
~/input/engage |
autoware_vehicle_msgs::msg::Engage |
engage signal |
~/input/operation_mode |
autoware_adapi_v1_msgs::msg::OperationModeState |
operation mode of Autoware |
Output
Name | Type | Description |
---|---|---|
~/output/vehicle_cmd_emergency |
tier4_vehicle_msgs::msg::VehicleEmergencyStamped |
emergency state which was originally in vehicle command |
~/output/command/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity to vehicle |
~/output/command/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command to vehicle |
~/output/command/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command to vehicle |
~/output/command/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command to vehicle |
~/output/gate_mode |
tier4_control_msgs::msg::GateMode |
gate mode (AUTO or EXTERNAL) |
~/output/engage |
autoware_vehicle_msgs::msg::Engage |
engage signal |
~/output/external_emergency |
tier4_external_api_msgs::msg::Emergency |
external emergency signal |
~/output/operation_mode |
tier4_system_msgs::msg::OperationMode |
current operation mode of the vehicle_cmd_gate |
Parameters
Parameter | Type | Description |
---|---|---|
update_period |
double | update period |
use_emergency_handling |
bool | true when emergency handler is used |
check_external_emergency_heartbeat |
bool | true when checking heartbeat for emergency stop |
system_emergency_heartbeat_timeout |
double | timeout for system emergency |
external_emergency_stop_heartbeat_timeout |
double | timeout for external emergency |
filter_activated_count_threshold |
int | threshold for filter activation |
filter_activated_velocity_threshold |
double | velocity threshold for filter activation |
stop_hold_acceleration |
double | longitudinal acceleration cmd when vehicle should stop |
emergency_acceleration |
double | longitudinal acceleration cmd when vehicle stop with emergency |
moderate_stop_service_acceleration |
double | longitudinal acceleration cmd when vehicle stop with moderate stop service |
nominal.vel_lim |
double | limit of longitudinal velocity (activated in AUTONOMOUS operation mode) |
nominal.reference_speed_points |
velocity point used as a reference when calculate control command limit (activated in AUTONOMOUS operation mode). The size of this array must be equivalent to the size of the limit array. | |
nominal.lon_acc_lim_for_lon_vel |
array of limits for longitudinal acceleration (activated in AUTONOMOUS operation mode) | |
nominal.lon_jerk_lim_for_lon_acc |
array of limits for longitudinal jerk (activated in AUTONOMOUS operation mode) | |
nominal.lat_acc_lim_for_steer_cmd |
array of limits for lateral acceleration (activated in AUTONOMOUS operation mode) | |
nominal.lat_jerk_lim_for_steer_cmd |
array of limits for lateral jerk (activated in AUTONOMOUS operation mode) | |
nominal.steer_cmd_lim |
array of limits for steering angle (activated in AUTONOMOUS operation mode) | |
nominal.steer_rate_lim_for_steer_cmd |
array of limits for command steering rate (activated in AUTONOMOUS operation mode) | |
nominal.lat_jerk_lim_for_steer_rate |
double | limit for lateral jerk constraint on steering rate (activated in AUTONOMOUS operation mode) |
nominal.steer_cmd_diff_lim_from_current_steer |
array of limits for difference between current and command steering angle (activated in AUTONOMOUS operation mode) | |
on_transition.vel_lim |
double | limit of longitudinal velocity (activated in TRANSITION operation mode) |
on_transition.reference_speed_points |
velocity point used as a reference when calculate control command limit (activated in TRANSITION operation mode). The size of this array must be equivalent to the size of the limit array. | |
on_transition.lon_acc_lim_for_lon_vel |
array of limits for longitudinal acceleration (activated in TRANSITION operation mode) | |
on_transition.lon_jerk_lim_for_lon_acc |
array of limits for longitudinal jerk (activated in TRANSITION operation mode) | |
on_transition.lat_acc_lim_for_steer_cmd |
array of limits for lateral acceleration (activated in TRANSITION operation mode) | |
on_transition.lat_jerk_lim_for_steer_cmd |
array of limits for lateral jerk (activated in TRANSITION operation mode) | |
on_transition.steer_cmd_lim |
array of limits for steering angle (activated in TRANSITION operation mode) | |
on_transition.steer_rate_lim_for_steer_cmd |
array of limits for command steering rate (activated in TRANSITION operation mode) | |
on_transition.lat_jerk_lim_for_steer_rate |
double | limit for lateral jerk constraint on steering rate (activated in TRANSITION operation mode) |
on_transition.steer_cmd_diff_lim_from_current_steer |
array of limits for difference between current and command steering angle (activated in TRANSITION operation mode) |
Parameter Naming Convention
The parameters follow specific naming patterns to clearly distinguish between different types of constraints and their relationships:
Pattern 1: [constraint]_lim_for_[target]
-
Format:
[physical_constraint]_lim_for_[controlled_variable]
- Description: Defines limits based on physical constraints (acceleration, jerk, etc.) applied to control variables
Pattern 2: [target]_[constraint]_lim_from_[reference]
-
Format:
[controlled_variable]_[constraint_type]_lim_from_[reference_variable]
- Description: Defines limits on the difference or deviation of a control variable from a reference value
Pattern 3: [target]_lim
-
Format:
[controlled_variable]_lim
File truncated at 100 lines see the full file
Changelog for package autoware_vehicle_cmd_gate
0.47.0 (2025-08-11)
-
feat(autoware_vehicle_cmd_gate): steer rate limit with lateral jerk constraint (#11057)
- feat(vehicle_cmd_gate): add lateral jerk limit for steering rate in parameters and implementation
* feat(vehicle_cmd_gate): add lateral jerk limit for steering rate in test cases and implementation ---------
-
refactor(vehicle_cmd_gate): rename variable naming consistency in vehicle command filter (#10781)
* feat(vehicle_cmd_gate): update parameter naming convention for clarity and consistency ---------
-
feat(vehicle_cmd_gate): update maintainer and readme (#10915)
- feat(vehicle_cmd_gate): update maintainer and readme
- fix
- style(pre-commit): autofix
- Update control/autoware_vehicle_cmd_gate/README.md
* Update control/autoware_vehicle_cmd_gate/README.md ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takamasa Horibe <<horibe.takamasa@gmail.com>>
-
Contributors: Kyoichi Sugahara, Yukinari Hisaki
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
- Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
- chore(vehicle_cmd_gate): suppress frequent log (#10630)
- fix(vehicle_cmd_gate): fix bug in limitLateralSteer (#10532)
- Contributors: Ryuta Kambe, TaikiYamada4, Takayuki Murooka
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat: manual control (#10354)
- feat(default_adapi): add manual control
- add conversion
- update selector
- update selector depends
- update converter
- modify heartbeat name
- update launch
- update api
- fix pedal callback
- done todo
- apply message rename
- fix test
- fix message type and qos
- fix steering_tire_velocity
* fix for clang-tidy ---------
-
Contributors: Ryohsuke Mitsudome, Takagi, Isamu
0.43.0 (2025-03-21)
-
Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
-
chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
-
fix(planning, control): reuse stamp of subscribed topic to measure component latency (#10201)
- fix(behavior_velocity_planner): reuse timestamp of recieved path
- fix(behavior_path_planner): check timestamp first in timer driven callback
- fix(trajectory_follower_node): check timestamp first in timer driven callback
* fix(vehicle_cmd_gate): reuse timestamp of recieved path ---------
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/vehicle_cmd_gate.launch.xml
-
- config_file [default: $(find-pkg-share autoware_vehicle_cmd_gate)/config/vehicle_cmd_gate.param.yaml]
- check_external_emergency_heartbeat [default: true]
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_vehicle_cmd_gate at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yukinari Hisaki
- Arjun Ram
- Takayuki Murooka
Authors
- Hiroki OTA
vehicle_cmd_gate
Purpose
vehicle_cmd_gate
is the package to get information from emergency handler, planning module, and external controller, and send a message to the vehicle.
Role
Receive multiple control commands and select one to forward to the vehicle.
Inputs / Outputs
Input
Name | Type | Description |
---|---|---|
~/input/steering |
autoware_vehicle_msgs::msg::SteeringReport |
steering status |
~/input/auto/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity from planning module |
~/input/auto/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command from planning module |
~/input/auto/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command from planning module |
~/input/auto/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command from planning module |
~/input/external/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity from external |
~/input/external/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command from external |
~/input/external/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command from external |
~/input/external/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command from external |
~/input/external_emergency_stop_heartbeat |
tier4_external_api_msgs::msg::Heartbeat |
heartbeat |
~/input/gate_mode |
tier4_control_msgs::msg::GateMode |
gate mode (AUTO or EXTERNAL) |
~/input/emergency/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity from emergency handler |
~/input/emergency/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command from emergency handler |
~/input/emergency/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command from emergency handler |
~/input/emergency/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command from emergency handler |
~/input/engage |
autoware_vehicle_msgs::msg::Engage |
engage signal |
~/input/operation_mode |
autoware_adapi_v1_msgs::msg::OperationModeState |
operation mode of Autoware |
Output
Name | Type | Description |
---|---|---|
~/output/vehicle_cmd_emergency |
tier4_vehicle_msgs::msg::VehicleEmergencyStamped |
emergency state which was originally in vehicle command |
~/output/command/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity to vehicle |
~/output/command/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command to vehicle |
~/output/command/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command to vehicle |
~/output/command/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command to vehicle |
~/output/gate_mode |
tier4_control_msgs::msg::GateMode |
gate mode (AUTO or EXTERNAL) |
~/output/engage |
autoware_vehicle_msgs::msg::Engage |
engage signal |
~/output/external_emergency |
tier4_external_api_msgs::msg::Emergency |
external emergency signal |
~/output/operation_mode |
tier4_system_msgs::msg::OperationMode |
current operation mode of the vehicle_cmd_gate |
Parameters
Parameter | Type | Description |
---|---|---|
update_period |
double | update period |
use_emergency_handling |
bool | true when emergency handler is used |
check_external_emergency_heartbeat |
bool | true when checking heartbeat for emergency stop |
system_emergency_heartbeat_timeout |
double | timeout for system emergency |
external_emergency_stop_heartbeat_timeout |
double | timeout for external emergency |
filter_activated_count_threshold |
int | threshold for filter activation |
filter_activated_velocity_threshold |
double | velocity threshold for filter activation |
stop_hold_acceleration |
double | longitudinal acceleration cmd when vehicle should stop |
emergency_acceleration |
double | longitudinal acceleration cmd when vehicle stop with emergency |
moderate_stop_service_acceleration |
double | longitudinal acceleration cmd when vehicle stop with moderate stop service |
nominal.vel_lim |
double | limit of longitudinal velocity (activated in AUTONOMOUS operation mode) |
nominal.reference_speed_points |
velocity point used as a reference when calculate control command limit (activated in AUTONOMOUS operation mode). The size of this array must be equivalent to the size of the limit array. | |
nominal.lon_acc_lim_for_lon_vel |
array of limits for longitudinal acceleration (activated in AUTONOMOUS operation mode) | |
nominal.lon_jerk_lim_for_lon_acc |
array of limits for longitudinal jerk (activated in AUTONOMOUS operation mode) | |
nominal.lat_acc_lim_for_steer_cmd |
array of limits for lateral acceleration (activated in AUTONOMOUS operation mode) | |
nominal.lat_jerk_lim_for_steer_cmd |
array of limits for lateral jerk (activated in AUTONOMOUS operation mode) | |
nominal.steer_cmd_lim |
array of limits for steering angle (activated in AUTONOMOUS operation mode) | |
nominal.steer_rate_lim_for_steer_cmd |
array of limits for command steering rate (activated in AUTONOMOUS operation mode) | |
nominal.lat_jerk_lim_for_steer_rate |
double | limit for lateral jerk constraint on steering rate (activated in AUTONOMOUS operation mode) |
nominal.steer_cmd_diff_lim_from_current_steer |
array of limits for difference between current and command steering angle (activated in AUTONOMOUS operation mode) | |
on_transition.vel_lim |
double | limit of longitudinal velocity (activated in TRANSITION operation mode) |
on_transition.reference_speed_points |
velocity point used as a reference when calculate control command limit (activated in TRANSITION operation mode). The size of this array must be equivalent to the size of the limit array. | |
on_transition.lon_acc_lim_for_lon_vel |
array of limits for longitudinal acceleration (activated in TRANSITION operation mode) | |
on_transition.lon_jerk_lim_for_lon_acc |
array of limits for longitudinal jerk (activated in TRANSITION operation mode) | |
on_transition.lat_acc_lim_for_steer_cmd |
array of limits for lateral acceleration (activated in TRANSITION operation mode) | |
on_transition.lat_jerk_lim_for_steer_cmd |
array of limits for lateral jerk (activated in TRANSITION operation mode) | |
on_transition.steer_cmd_lim |
array of limits for steering angle (activated in TRANSITION operation mode) | |
on_transition.steer_rate_lim_for_steer_cmd |
array of limits for command steering rate (activated in TRANSITION operation mode) | |
on_transition.lat_jerk_lim_for_steer_rate |
double | limit for lateral jerk constraint on steering rate (activated in TRANSITION operation mode) |
on_transition.steer_cmd_diff_lim_from_current_steer |
array of limits for difference between current and command steering angle (activated in TRANSITION operation mode) |
Parameter Naming Convention
The parameters follow specific naming patterns to clearly distinguish between different types of constraints and their relationships:
Pattern 1: [constraint]_lim_for_[target]
-
Format:
[physical_constraint]_lim_for_[controlled_variable]
- Description: Defines limits based on physical constraints (acceleration, jerk, etc.) applied to control variables
Pattern 2: [target]_[constraint]_lim_from_[reference]
-
Format:
[controlled_variable]_[constraint_type]_lim_from_[reference_variable]
- Description: Defines limits on the difference or deviation of a control variable from a reference value
Pattern 3: [target]_lim
-
Format:
[controlled_variable]_lim
File truncated at 100 lines see the full file
Changelog for package autoware_vehicle_cmd_gate
0.47.0 (2025-08-11)
-
feat(autoware_vehicle_cmd_gate): steer rate limit with lateral jerk constraint (#11057)
- feat(vehicle_cmd_gate): add lateral jerk limit for steering rate in parameters and implementation
* feat(vehicle_cmd_gate): add lateral jerk limit for steering rate in test cases and implementation ---------
-
refactor(vehicle_cmd_gate): rename variable naming consistency in vehicle command filter (#10781)
* feat(vehicle_cmd_gate): update parameter naming convention for clarity and consistency ---------
-
feat(vehicle_cmd_gate): update maintainer and readme (#10915)
- feat(vehicle_cmd_gate): update maintainer and readme
- fix
- style(pre-commit): autofix
- Update control/autoware_vehicle_cmd_gate/README.md
* Update control/autoware_vehicle_cmd_gate/README.md ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takamasa Horibe <<horibe.takamasa@gmail.com>>
-
Contributors: Kyoichi Sugahara, Yukinari Hisaki
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
- Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
- chore(vehicle_cmd_gate): suppress frequent log (#10630)
- fix(vehicle_cmd_gate): fix bug in limitLateralSteer (#10532)
- Contributors: Ryuta Kambe, TaikiYamada4, Takayuki Murooka
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat: manual control (#10354)
- feat(default_adapi): add manual control
- add conversion
- update selector
- update selector depends
- update converter
- modify heartbeat name
- update launch
- update api
- fix pedal callback
- done todo
- apply message rename
- fix test
- fix message type and qos
- fix steering_tire_velocity
* fix for clang-tidy ---------
-
Contributors: Ryohsuke Mitsudome, Takagi, Isamu
0.43.0 (2025-03-21)
-
Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
-
chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
-
fix(planning, control): reuse stamp of subscribed topic to measure component latency (#10201)
- fix(behavior_velocity_planner): reuse timestamp of recieved path
- fix(behavior_path_planner): check timestamp first in timer driven callback
- fix(trajectory_follower_node): check timestamp first in timer driven callback
* fix(vehicle_cmd_gate): reuse timestamp of recieved path ---------
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/vehicle_cmd_gate.launch.xml
-
- config_file [default: $(find-pkg-share autoware_vehicle_cmd_gate)/config/vehicle_cmd_gate.param.yaml]
- check_external_emergency_heartbeat [default: true]
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_vehicle_cmd_gate at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yukinari Hisaki
- Arjun Ram
- Takayuki Murooka
Authors
- Hiroki OTA
vehicle_cmd_gate
Purpose
vehicle_cmd_gate
is the package to get information from emergency handler, planning module, and external controller, and send a message to the vehicle.
Role
Receive multiple control commands and select one to forward to the vehicle.
Inputs / Outputs
Input
Name | Type | Description |
---|---|---|
~/input/steering |
autoware_vehicle_msgs::msg::SteeringReport |
steering status |
~/input/auto/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity from planning module |
~/input/auto/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command from planning module |
~/input/auto/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command from planning module |
~/input/auto/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command from planning module |
~/input/external/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity from external |
~/input/external/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command from external |
~/input/external/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command from external |
~/input/external/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command from external |
~/input/external_emergency_stop_heartbeat |
tier4_external_api_msgs::msg::Heartbeat |
heartbeat |
~/input/gate_mode |
tier4_control_msgs::msg::GateMode |
gate mode (AUTO or EXTERNAL) |
~/input/emergency/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity from emergency handler |
~/input/emergency/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command from emergency handler |
~/input/emergency/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command from emergency handler |
~/input/emergency/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command from emergency handler |
~/input/engage |
autoware_vehicle_msgs::msg::Engage |
engage signal |
~/input/operation_mode |
autoware_adapi_v1_msgs::msg::OperationModeState |
operation mode of Autoware |
Output
Name | Type | Description |
---|---|---|
~/output/vehicle_cmd_emergency |
tier4_vehicle_msgs::msg::VehicleEmergencyStamped |
emergency state which was originally in vehicle command |
~/output/command/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity to vehicle |
~/output/command/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command to vehicle |
~/output/command/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command to vehicle |
~/output/command/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command to vehicle |
~/output/gate_mode |
tier4_control_msgs::msg::GateMode |
gate mode (AUTO or EXTERNAL) |
~/output/engage |
autoware_vehicle_msgs::msg::Engage |
engage signal |
~/output/external_emergency |
tier4_external_api_msgs::msg::Emergency |
external emergency signal |
~/output/operation_mode |
tier4_system_msgs::msg::OperationMode |
current operation mode of the vehicle_cmd_gate |
Parameters
Parameter | Type | Description |
---|---|---|
update_period |
double | update period |
use_emergency_handling |
bool | true when emergency handler is used |
check_external_emergency_heartbeat |
bool | true when checking heartbeat for emergency stop |
system_emergency_heartbeat_timeout |
double | timeout for system emergency |
external_emergency_stop_heartbeat_timeout |
double | timeout for external emergency |
filter_activated_count_threshold |
int | threshold for filter activation |
filter_activated_velocity_threshold |
double | velocity threshold for filter activation |
stop_hold_acceleration |
double | longitudinal acceleration cmd when vehicle should stop |
emergency_acceleration |
double | longitudinal acceleration cmd when vehicle stop with emergency |
moderate_stop_service_acceleration |
double | longitudinal acceleration cmd when vehicle stop with moderate stop service |
nominal.vel_lim |
double | limit of longitudinal velocity (activated in AUTONOMOUS operation mode) |
nominal.reference_speed_points |
velocity point used as a reference when calculate control command limit (activated in AUTONOMOUS operation mode). The size of this array must be equivalent to the size of the limit array. | |
nominal.lon_acc_lim_for_lon_vel |
array of limits for longitudinal acceleration (activated in AUTONOMOUS operation mode) | |
nominal.lon_jerk_lim_for_lon_acc |
array of limits for longitudinal jerk (activated in AUTONOMOUS operation mode) | |
nominal.lat_acc_lim_for_steer_cmd |
array of limits for lateral acceleration (activated in AUTONOMOUS operation mode) | |
nominal.lat_jerk_lim_for_steer_cmd |
array of limits for lateral jerk (activated in AUTONOMOUS operation mode) | |
nominal.steer_cmd_lim |
array of limits for steering angle (activated in AUTONOMOUS operation mode) | |
nominal.steer_rate_lim_for_steer_cmd |
array of limits for command steering rate (activated in AUTONOMOUS operation mode) | |
nominal.lat_jerk_lim_for_steer_rate |
double | limit for lateral jerk constraint on steering rate (activated in AUTONOMOUS operation mode) |
nominal.steer_cmd_diff_lim_from_current_steer |
array of limits for difference between current and command steering angle (activated in AUTONOMOUS operation mode) | |
on_transition.vel_lim |
double | limit of longitudinal velocity (activated in TRANSITION operation mode) |
on_transition.reference_speed_points |
velocity point used as a reference when calculate control command limit (activated in TRANSITION operation mode). The size of this array must be equivalent to the size of the limit array. | |
on_transition.lon_acc_lim_for_lon_vel |
array of limits for longitudinal acceleration (activated in TRANSITION operation mode) | |
on_transition.lon_jerk_lim_for_lon_acc |
array of limits for longitudinal jerk (activated in TRANSITION operation mode) | |
on_transition.lat_acc_lim_for_steer_cmd |
array of limits for lateral acceleration (activated in TRANSITION operation mode) | |
on_transition.lat_jerk_lim_for_steer_cmd |
array of limits for lateral jerk (activated in TRANSITION operation mode) | |
on_transition.steer_cmd_lim |
array of limits for steering angle (activated in TRANSITION operation mode) | |
on_transition.steer_rate_lim_for_steer_cmd |
array of limits for command steering rate (activated in TRANSITION operation mode) | |
on_transition.lat_jerk_lim_for_steer_rate |
double | limit for lateral jerk constraint on steering rate (activated in TRANSITION operation mode) |
on_transition.steer_cmd_diff_lim_from_current_steer |
array of limits for difference between current and command steering angle (activated in TRANSITION operation mode) |
Parameter Naming Convention
The parameters follow specific naming patterns to clearly distinguish between different types of constraints and their relationships:
Pattern 1: [constraint]_lim_for_[target]
-
Format:
[physical_constraint]_lim_for_[controlled_variable]
- Description: Defines limits based on physical constraints (acceleration, jerk, etc.) applied to control variables
Pattern 2: [target]_[constraint]_lim_from_[reference]
-
Format:
[controlled_variable]_[constraint_type]_lim_from_[reference_variable]
- Description: Defines limits on the difference or deviation of a control variable from a reference value
Pattern 3: [target]_lim
-
Format:
[controlled_variable]_lim
File truncated at 100 lines see the full file
Changelog for package autoware_vehicle_cmd_gate
0.47.0 (2025-08-11)
-
feat(autoware_vehicle_cmd_gate): steer rate limit with lateral jerk constraint (#11057)
- feat(vehicle_cmd_gate): add lateral jerk limit for steering rate in parameters and implementation
* feat(vehicle_cmd_gate): add lateral jerk limit for steering rate in test cases and implementation ---------
-
refactor(vehicle_cmd_gate): rename variable naming consistency in vehicle command filter (#10781)
* feat(vehicle_cmd_gate): update parameter naming convention for clarity and consistency ---------
-
feat(vehicle_cmd_gate): update maintainer and readme (#10915)
- feat(vehicle_cmd_gate): update maintainer and readme
- fix
- style(pre-commit): autofix
- Update control/autoware_vehicle_cmd_gate/README.md
* Update control/autoware_vehicle_cmd_gate/README.md ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takamasa Horibe <<horibe.takamasa@gmail.com>>
-
Contributors: Kyoichi Sugahara, Yukinari Hisaki
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
- Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
- chore(vehicle_cmd_gate): suppress frequent log (#10630)
- fix(vehicle_cmd_gate): fix bug in limitLateralSteer (#10532)
- Contributors: Ryuta Kambe, TaikiYamada4, Takayuki Murooka
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat: manual control (#10354)
- feat(default_adapi): add manual control
- add conversion
- update selector
- update selector depends
- update converter
- modify heartbeat name
- update launch
- update api
- fix pedal callback
- done todo
- apply message rename
- fix test
- fix message type and qos
- fix steering_tire_velocity
* fix for clang-tidy ---------
-
Contributors: Ryohsuke Mitsudome, Takagi, Isamu
0.43.0 (2025-03-21)
-
Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
-
chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
-
fix(planning, control): reuse stamp of subscribed topic to measure component latency (#10201)
- fix(behavior_velocity_planner): reuse timestamp of recieved path
- fix(behavior_path_planner): check timestamp first in timer driven callback
- fix(trajectory_follower_node): check timestamp first in timer driven callback
* fix(vehicle_cmd_gate): reuse timestamp of recieved path ---------
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/vehicle_cmd_gate.launch.xml
-
- config_file [default: $(find-pkg-share autoware_vehicle_cmd_gate)/config/vehicle_cmd_gate.param.yaml]
- check_external_emergency_heartbeat [default: true]
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_vehicle_cmd_gate at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yukinari Hisaki
- Arjun Ram
- Takayuki Murooka
Authors
- Hiroki OTA
vehicle_cmd_gate
Purpose
vehicle_cmd_gate
is the package to get information from emergency handler, planning module, and external controller, and send a message to the vehicle.
Role
Receive multiple control commands and select one to forward to the vehicle.
Inputs / Outputs
Input
Name | Type | Description |
---|---|---|
~/input/steering |
autoware_vehicle_msgs::msg::SteeringReport |
steering status |
~/input/auto/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity from planning module |
~/input/auto/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command from planning module |
~/input/auto/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command from planning module |
~/input/auto/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command from planning module |
~/input/external/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity from external |
~/input/external/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command from external |
~/input/external/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command from external |
~/input/external/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command from external |
~/input/external_emergency_stop_heartbeat |
tier4_external_api_msgs::msg::Heartbeat |
heartbeat |
~/input/gate_mode |
tier4_control_msgs::msg::GateMode |
gate mode (AUTO or EXTERNAL) |
~/input/emergency/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity from emergency handler |
~/input/emergency/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command from emergency handler |
~/input/emergency/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command from emergency handler |
~/input/emergency/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command from emergency handler |
~/input/engage |
autoware_vehicle_msgs::msg::Engage |
engage signal |
~/input/operation_mode |
autoware_adapi_v1_msgs::msg::OperationModeState |
operation mode of Autoware |
Output
Name | Type | Description |
---|---|---|
~/output/vehicle_cmd_emergency |
tier4_vehicle_msgs::msg::VehicleEmergencyStamped |
emergency state which was originally in vehicle command |
~/output/command/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity to vehicle |
~/output/command/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command to vehicle |
~/output/command/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command to vehicle |
~/output/command/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command to vehicle |
~/output/gate_mode |
tier4_control_msgs::msg::GateMode |
gate mode (AUTO or EXTERNAL) |
~/output/engage |
autoware_vehicle_msgs::msg::Engage |
engage signal |
~/output/external_emergency |
tier4_external_api_msgs::msg::Emergency |
external emergency signal |
~/output/operation_mode |
tier4_system_msgs::msg::OperationMode |
current operation mode of the vehicle_cmd_gate |
Parameters
Parameter | Type | Description |
---|---|---|
update_period |
double | update period |
use_emergency_handling |
bool | true when emergency handler is used |
check_external_emergency_heartbeat |
bool | true when checking heartbeat for emergency stop |
system_emergency_heartbeat_timeout |
double | timeout for system emergency |
external_emergency_stop_heartbeat_timeout |
double | timeout for external emergency |
filter_activated_count_threshold |
int | threshold for filter activation |
filter_activated_velocity_threshold |
double | velocity threshold for filter activation |
stop_hold_acceleration |
double | longitudinal acceleration cmd when vehicle should stop |
emergency_acceleration |
double | longitudinal acceleration cmd when vehicle stop with emergency |
moderate_stop_service_acceleration |
double | longitudinal acceleration cmd when vehicle stop with moderate stop service |
nominal.vel_lim |
double | limit of longitudinal velocity (activated in AUTONOMOUS operation mode) |
nominal.reference_speed_points |
velocity point used as a reference when calculate control command limit (activated in AUTONOMOUS operation mode). The size of this array must be equivalent to the size of the limit array. | |
nominal.lon_acc_lim_for_lon_vel |
array of limits for longitudinal acceleration (activated in AUTONOMOUS operation mode) | |
nominal.lon_jerk_lim_for_lon_acc |
array of limits for longitudinal jerk (activated in AUTONOMOUS operation mode) | |
nominal.lat_acc_lim_for_steer_cmd |
array of limits for lateral acceleration (activated in AUTONOMOUS operation mode) | |
nominal.lat_jerk_lim_for_steer_cmd |
array of limits for lateral jerk (activated in AUTONOMOUS operation mode) | |
nominal.steer_cmd_lim |
array of limits for steering angle (activated in AUTONOMOUS operation mode) | |
nominal.steer_rate_lim_for_steer_cmd |
array of limits for command steering rate (activated in AUTONOMOUS operation mode) | |
nominal.lat_jerk_lim_for_steer_rate |
double | limit for lateral jerk constraint on steering rate (activated in AUTONOMOUS operation mode) |
nominal.steer_cmd_diff_lim_from_current_steer |
array of limits for difference between current and command steering angle (activated in AUTONOMOUS operation mode) | |
on_transition.vel_lim |
double | limit of longitudinal velocity (activated in TRANSITION operation mode) |
on_transition.reference_speed_points |
velocity point used as a reference when calculate control command limit (activated in TRANSITION operation mode). The size of this array must be equivalent to the size of the limit array. | |
on_transition.lon_acc_lim_for_lon_vel |
array of limits for longitudinal acceleration (activated in TRANSITION operation mode) | |
on_transition.lon_jerk_lim_for_lon_acc |
array of limits for longitudinal jerk (activated in TRANSITION operation mode) | |
on_transition.lat_acc_lim_for_steer_cmd |
array of limits for lateral acceleration (activated in TRANSITION operation mode) | |
on_transition.lat_jerk_lim_for_steer_cmd |
array of limits for lateral jerk (activated in TRANSITION operation mode) | |
on_transition.steer_cmd_lim |
array of limits for steering angle (activated in TRANSITION operation mode) | |
on_transition.steer_rate_lim_for_steer_cmd |
array of limits for command steering rate (activated in TRANSITION operation mode) | |
on_transition.lat_jerk_lim_for_steer_rate |
double | limit for lateral jerk constraint on steering rate (activated in TRANSITION operation mode) |
on_transition.steer_cmd_diff_lim_from_current_steer |
array of limits for difference between current and command steering angle (activated in TRANSITION operation mode) |
Parameter Naming Convention
The parameters follow specific naming patterns to clearly distinguish between different types of constraints and their relationships:
Pattern 1: [constraint]_lim_for_[target]
-
Format:
[physical_constraint]_lim_for_[controlled_variable]
- Description: Defines limits based on physical constraints (acceleration, jerk, etc.) applied to control variables
Pattern 2: [target]_[constraint]_lim_from_[reference]
-
Format:
[controlled_variable]_[constraint_type]_lim_from_[reference_variable]
- Description: Defines limits on the difference or deviation of a control variable from a reference value
Pattern 3: [target]_lim
-
Format:
[controlled_variable]_lim
File truncated at 100 lines see the full file
Changelog for package autoware_vehicle_cmd_gate
0.47.0 (2025-08-11)
-
feat(autoware_vehicle_cmd_gate): steer rate limit with lateral jerk constraint (#11057)
- feat(vehicle_cmd_gate): add lateral jerk limit for steering rate in parameters and implementation
* feat(vehicle_cmd_gate): add lateral jerk limit for steering rate in test cases and implementation ---------
-
refactor(vehicle_cmd_gate): rename variable naming consistency in vehicle command filter (#10781)
* feat(vehicle_cmd_gate): update parameter naming convention for clarity and consistency ---------
-
feat(vehicle_cmd_gate): update maintainer and readme (#10915)
- feat(vehicle_cmd_gate): update maintainer and readme
- fix
- style(pre-commit): autofix
- Update control/autoware_vehicle_cmd_gate/README.md
* Update control/autoware_vehicle_cmd_gate/README.md ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takamasa Horibe <<horibe.takamasa@gmail.com>>
-
Contributors: Kyoichi Sugahara, Yukinari Hisaki
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
- Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
- chore(vehicle_cmd_gate): suppress frequent log (#10630)
- fix(vehicle_cmd_gate): fix bug in limitLateralSteer (#10532)
- Contributors: Ryuta Kambe, TaikiYamada4, Takayuki Murooka
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat: manual control (#10354)
- feat(default_adapi): add manual control
- add conversion
- update selector
- update selector depends
- update converter
- modify heartbeat name
- update launch
- update api
- fix pedal callback
- done todo
- apply message rename
- fix test
- fix message type and qos
- fix steering_tire_velocity
* fix for clang-tidy ---------
-
Contributors: Ryohsuke Mitsudome, Takagi, Isamu
0.43.0 (2025-03-21)
-
Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
-
chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
-
fix(planning, control): reuse stamp of subscribed topic to measure component latency (#10201)
- fix(behavior_velocity_planner): reuse timestamp of recieved path
- fix(behavior_path_planner): check timestamp first in timer driven callback
- fix(trajectory_follower_node): check timestamp first in timer driven callback
* fix(vehicle_cmd_gate): reuse timestamp of recieved path ---------
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/vehicle_cmd_gate.launch.xml
-
- config_file [default: $(find-pkg-share autoware_vehicle_cmd_gate)/config/vehicle_cmd_gate.param.yaml]
- check_external_emergency_heartbeat [default: true]
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_vehicle_cmd_gate at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yukinari Hisaki
- Arjun Ram
- Takayuki Murooka
Authors
- Hiroki OTA
vehicle_cmd_gate
Purpose
vehicle_cmd_gate
is the package to get information from emergency handler, planning module, and external controller, and send a message to the vehicle.
Role
Receive multiple control commands and select one to forward to the vehicle.
Inputs / Outputs
Input
Name | Type | Description |
---|---|---|
~/input/steering |
autoware_vehicle_msgs::msg::SteeringReport |
steering status |
~/input/auto/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity from planning module |
~/input/auto/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command from planning module |
~/input/auto/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command from planning module |
~/input/auto/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command from planning module |
~/input/external/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity from external |
~/input/external/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command from external |
~/input/external/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command from external |
~/input/external/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command from external |
~/input/external_emergency_stop_heartbeat |
tier4_external_api_msgs::msg::Heartbeat |
heartbeat |
~/input/gate_mode |
tier4_control_msgs::msg::GateMode |
gate mode (AUTO or EXTERNAL) |
~/input/emergency/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity from emergency handler |
~/input/emergency/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command from emergency handler |
~/input/emergency/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command from emergency handler |
~/input/emergency/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command from emergency handler |
~/input/engage |
autoware_vehicle_msgs::msg::Engage |
engage signal |
~/input/operation_mode |
autoware_adapi_v1_msgs::msg::OperationModeState |
operation mode of Autoware |
Output
Name | Type | Description |
---|---|---|
~/output/vehicle_cmd_emergency |
tier4_vehicle_msgs::msg::VehicleEmergencyStamped |
emergency state which was originally in vehicle command |
~/output/command/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity to vehicle |
~/output/command/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command to vehicle |
~/output/command/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command to vehicle |
~/output/command/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command to vehicle |
~/output/gate_mode |
tier4_control_msgs::msg::GateMode |
gate mode (AUTO or EXTERNAL) |
~/output/engage |
autoware_vehicle_msgs::msg::Engage |
engage signal |
~/output/external_emergency |
tier4_external_api_msgs::msg::Emergency |
external emergency signal |
~/output/operation_mode |
tier4_system_msgs::msg::OperationMode |
current operation mode of the vehicle_cmd_gate |
Parameters
Parameter | Type | Description |
---|---|---|
update_period |
double | update period |
use_emergency_handling |
bool | true when emergency handler is used |
check_external_emergency_heartbeat |
bool | true when checking heartbeat for emergency stop |
system_emergency_heartbeat_timeout |
double | timeout for system emergency |
external_emergency_stop_heartbeat_timeout |
double | timeout for external emergency |
filter_activated_count_threshold |
int | threshold for filter activation |
filter_activated_velocity_threshold |
double | velocity threshold for filter activation |
stop_hold_acceleration |
double | longitudinal acceleration cmd when vehicle should stop |
emergency_acceleration |
double | longitudinal acceleration cmd when vehicle stop with emergency |
moderate_stop_service_acceleration |
double | longitudinal acceleration cmd when vehicle stop with moderate stop service |
nominal.vel_lim |
double | limit of longitudinal velocity (activated in AUTONOMOUS operation mode) |
nominal.reference_speed_points |
velocity point used as a reference when calculate control command limit (activated in AUTONOMOUS operation mode). The size of this array must be equivalent to the size of the limit array. | |
nominal.lon_acc_lim_for_lon_vel |
array of limits for longitudinal acceleration (activated in AUTONOMOUS operation mode) | |
nominal.lon_jerk_lim_for_lon_acc |
array of limits for longitudinal jerk (activated in AUTONOMOUS operation mode) | |
nominal.lat_acc_lim_for_steer_cmd |
array of limits for lateral acceleration (activated in AUTONOMOUS operation mode) | |
nominal.lat_jerk_lim_for_steer_cmd |
array of limits for lateral jerk (activated in AUTONOMOUS operation mode) | |
nominal.steer_cmd_lim |
array of limits for steering angle (activated in AUTONOMOUS operation mode) | |
nominal.steer_rate_lim_for_steer_cmd |
array of limits for command steering rate (activated in AUTONOMOUS operation mode) | |
nominal.lat_jerk_lim_for_steer_rate |
double | limit for lateral jerk constraint on steering rate (activated in AUTONOMOUS operation mode) |
nominal.steer_cmd_diff_lim_from_current_steer |
array of limits for difference between current and command steering angle (activated in AUTONOMOUS operation mode) | |
on_transition.vel_lim |
double | limit of longitudinal velocity (activated in TRANSITION operation mode) |
on_transition.reference_speed_points |
velocity point used as a reference when calculate control command limit (activated in TRANSITION operation mode). The size of this array must be equivalent to the size of the limit array. | |
on_transition.lon_acc_lim_for_lon_vel |
array of limits for longitudinal acceleration (activated in TRANSITION operation mode) | |
on_transition.lon_jerk_lim_for_lon_acc |
array of limits for longitudinal jerk (activated in TRANSITION operation mode) | |
on_transition.lat_acc_lim_for_steer_cmd |
array of limits for lateral acceleration (activated in TRANSITION operation mode) | |
on_transition.lat_jerk_lim_for_steer_cmd |
array of limits for lateral jerk (activated in TRANSITION operation mode) | |
on_transition.steer_cmd_lim |
array of limits for steering angle (activated in TRANSITION operation mode) | |
on_transition.steer_rate_lim_for_steer_cmd |
array of limits for command steering rate (activated in TRANSITION operation mode) | |
on_transition.lat_jerk_lim_for_steer_rate |
double | limit for lateral jerk constraint on steering rate (activated in TRANSITION operation mode) |
on_transition.steer_cmd_diff_lim_from_current_steer |
array of limits for difference between current and command steering angle (activated in TRANSITION operation mode) |
Parameter Naming Convention
The parameters follow specific naming patterns to clearly distinguish between different types of constraints and their relationships:
Pattern 1: [constraint]_lim_for_[target]
-
Format:
[physical_constraint]_lim_for_[controlled_variable]
- Description: Defines limits based on physical constraints (acceleration, jerk, etc.) applied to control variables
Pattern 2: [target]_[constraint]_lim_from_[reference]
-
Format:
[controlled_variable]_[constraint_type]_lim_from_[reference_variable]
- Description: Defines limits on the difference or deviation of a control variable from a reference value
Pattern 3: [target]_lim
-
Format:
[controlled_variable]_lim
File truncated at 100 lines see the full file
Changelog for package autoware_vehicle_cmd_gate
0.47.0 (2025-08-11)
-
feat(autoware_vehicle_cmd_gate): steer rate limit with lateral jerk constraint (#11057)
- feat(vehicle_cmd_gate): add lateral jerk limit for steering rate in parameters and implementation
* feat(vehicle_cmd_gate): add lateral jerk limit for steering rate in test cases and implementation ---------
-
refactor(vehicle_cmd_gate): rename variable naming consistency in vehicle command filter (#10781)
* feat(vehicle_cmd_gate): update parameter naming convention for clarity and consistency ---------
-
feat(vehicle_cmd_gate): update maintainer and readme (#10915)
- feat(vehicle_cmd_gate): update maintainer and readme
- fix
- style(pre-commit): autofix
- Update control/autoware_vehicle_cmd_gate/README.md
* Update control/autoware_vehicle_cmd_gate/README.md ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takamasa Horibe <<horibe.takamasa@gmail.com>>
-
Contributors: Kyoichi Sugahara, Yukinari Hisaki
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
- Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
- chore(vehicle_cmd_gate): suppress frequent log (#10630)
- fix(vehicle_cmd_gate): fix bug in limitLateralSteer (#10532)
- Contributors: Ryuta Kambe, TaikiYamada4, Takayuki Murooka
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat: manual control (#10354)
- feat(default_adapi): add manual control
- add conversion
- update selector
- update selector depends
- update converter
- modify heartbeat name
- update launch
- update api
- fix pedal callback
- done todo
- apply message rename
- fix test
- fix message type and qos
- fix steering_tire_velocity
* fix for clang-tidy ---------
-
Contributors: Ryohsuke Mitsudome, Takagi, Isamu
0.43.0 (2025-03-21)
-
Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
-
chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
-
fix(planning, control): reuse stamp of subscribed topic to measure component latency (#10201)
- fix(behavior_velocity_planner): reuse timestamp of recieved path
- fix(behavior_path_planner): check timestamp first in timer driven callback
- fix(trajectory_follower_node): check timestamp first in timer driven callback
* fix(vehicle_cmd_gate): reuse timestamp of recieved path ---------
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/vehicle_cmd_gate.launch.xml
-
- config_file [default: $(find-pkg-share autoware_vehicle_cmd_gate)/config/vehicle_cmd_gate.param.yaml]
- check_external_emergency_heartbeat [default: true]
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_vehicle_cmd_gate at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yukinari Hisaki
- Arjun Ram
- Takayuki Murooka
Authors
- Hiroki OTA
vehicle_cmd_gate
Purpose
vehicle_cmd_gate
is the package to get information from emergency handler, planning module, and external controller, and send a message to the vehicle.
Role
Receive multiple control commands and select one to forward to the vehicle.
Inputs / Outputs
Input
Name | Type | Description |
---|---|---|
~/input/steering |
autoware_vehicle_msgs::msg::SteeringReport |
steering status |
~/input/auto/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity from planning module |
~/input/auto/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command from planning module |
~/input/auto/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command from planning module |
~/input/auto/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command from planning module |
~/input/external/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity from external |
~/input/external/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command from external |
~/input/external/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command from external |
~/input/external/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command from external |
~/input/external_emergency_stop_heartbeat |
tier4_external_api_msgs::msg::Heartbeat |
heartbeat |
~/input/gate_mode |
tier4_control_msgs::msg::GateMode |
gate mode (AUTO or EXTERNAL) |
~/input/emergency/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity from emergency handler |
~/input/emergency/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command from emergency handler |
~/input/emergency/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command from emergency handler |
~/input/emergency/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command from emergency handler |
~/input/engage |
autoware_vehicle_msgs::msg::Engage |
engage signal |
~/input/operation_mode |
autoware_adapi_v1_msgs::msg::OperationModeState |
operation mode of Autoware |
Output
Name | Type | Description |
---|---|---|
~/output/vehicle_cmd_emergency |
tier4_vehicle_msgs::msg::VehicleEmergencyStamped |
emergency state which was originally in vehicle command |
~/output/command/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity to vehicle |
~/output/command/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command to vehicle |
~/output/command/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command to vehicle |
~/output/command/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command to vehicle |
~/output/gate_mode |
tier4_control_msgs::msg::GateMode |
gate mode (AUTO or EXTERNAL) |
~/output/engage |
autoware_vehicle_msgs::msg::Engage |
engage signal |
~/output/external_emergency |
tier4_external_api_msgs::msg::Emergency |
external emergency signal |
~/output/operation_mode |
tier4_system_msgs::msg::OperationMode |
current operation mode of the vehicle_cmd_gate |
Parameters
Parameter | Type | Description |
---|---|---|
update_period |
double | update period |
use_emergency_handling |
bool | true when emergency handler is used |
check_external_emergency_heartbeat |
bool | true when checking heartbeat for emergency stop |
system_emergency_heartbeat_timeout |
double | timeout for system emergency |
external_emergency_stop_heartbeat_timeout |
double | timeout for external emergency |
filter_activated_count_threshold |
int | threshold for filter activation |
filter_activated_velocity_threshold |
double | velocity threshold for filter activation |
stop_hold_acceleration |
double | longitudinal acceleration cmd when vehicle should stop |
emergency_acceleration |
double | longitudinal acceleration cmd when vehicle stop with emergency |
moderate_stop_service_acceleration |
double | longitudinal acceleration cmd when vehicle stop with moderate stop service |
nominal.vel_lim |
double | limit of longitudinal velocity (activated in AUTONOMOUS operation mode) |
nominal.reference_speed_points |
velocity point used as a reference when calculate control command limit (activated in AUTONOMOUS operation mode). The size of this array must be equivalent to the size of the limit array. | |
nominal.lon_acc_lim_for_lon_vel |
array of limits for longitudinal acceleration (activated in AUTONOMOUS operation mode) | |
nominal.lon_jerk_lim_for_lon_acc |
array of limits for longitudinal jerk (activated in AUTONOMOUS operation mode) | |
nominal.lat_acc_lim_for_steer_cmd |
array of limits for lateral acceleration (activated in AUTONOMOUS operation mode) | |
nominal.lat_jerk_lim_for_steer_cmd |
array of limits for lateral jerk (activated in AUTONOMOUS operation mode) | |
nominal.steer_cmd_lim |
array of limits for steering angle (activated in AUTONOMOUS operation mode) | |
nominal.steer_rate_lim_for_steer_cmd |
array of limits for command steering rate (activated in AUTONOMOUS operation mode) | |
nominal.lat_jerk_lim_for_steer_rate |
double | limit for lateral jerk constraint on steering rate (activated in AUTONOMOUS operation mode) |
nominal.steer_cmd_diff_lim_from_current_steer |
array of limits for difference between current and command steering angle (activated in AUTONOMOUS operation mode) | |
on_transition.vel_lim |
double | limit of longitudinal velocity (activated in TRANSITION operation mode) |
on_transition.reference_speed_points |
velocity point used as a reference when calculate control command limit (activated in TRANSITION operation mode). The size of this array must be equivalent to the size of the limit array. | |
on_transition.lon_acc_lim_for_lon_vel |
array of limits for longitudinal acceleration (activated in TRANSITION operation mode) | |
on_transition.lon_jerk_lim_for_lon_acc |
array of limits for longitudinal jerk (activated in TRANSITION operation mode) | |
on_transition.lat_acc_lim_for_steer_cmd |
array of limits for lateral acceleration (activated in TRANSITION operation mode) | |
on_transition.lat_jerk_lim_for_steer_cmd |
array of limits for lateral jerk (activated in TRANSITION operation mode) | |
on_transition.steer_cmd_lim |
array of limits for steering angle (activated in TRANSITION operation mode) | |
on_transition.steer_rate_lim_for_steer_cmd |
array of limits for command steering rate (activated in TRANSITION operation mode) | |
on_transition.lat_jerk_lim_for_steer_rate |
double | limit for lateral jerk constraint on steering rate (activated in TRANSITION operation mode) |
on_transition.steer_cmd_diff_lim_from_current_steer |
array of limits for difference between current and command steering angle (activated in TRANSITION operation mode) |
Parameter Naming Convention
The parameters follow specific naming patterns to clearly distinguish between different types of constraints and their relationships:
Pattern 1: [constraint]_lim_for_[target]
-
Format:
[physical_constraint]_lim_for_[controlled_variable]
- Description: Defines limits based on physical constraints (acceleration, jerk, etc.) applied to control variables
Pattern 2: [target]_[constraint]_lim_from_[reference]
-
Format:
[controlled_variable]_[constraint_type]_lim_from_[reference_variable]
- Description: Defines limits on the difference or deviation of a control variable from a reference value
Pattern 3: [target]_lim
-
Format:
[controlled_variable]_lim
File truncated at 100 lines see the full file
Changelog for package autoware_vehicle_cmd_gate
0.47.0 (2025-08-11)
-
feat(autoware_vehicle_cmd_gate): steer rate limit with lateral jerk constraint (#11057)
- feat(vehicle_cmd_gate): add lateral jerk limit for steering rate in parameters and implementation
* feat(vehicle_cmd_gate): add lateral jerk limit for steering rate in test cases and implementation ---------
-
refactor(vehicle_cmd_gate): rename variable naming consistency in vehicle command filter (#10781)
* feat(vehicle_cmd_gate): update parameter naming convention for clarity and consistency ---------
-
feat(vehicle_cmd_gate): update maintainer and readme (#10915)
- feat(vehicle_cmd_gate): update maintainer and readme
- fix
- style(pre-commit): autofix
- Update control/autoware_vehicle_cmd_gate/README.md
* Update control/autoware_vehicle_cmd_gate/README.md ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takamasa Horibe <<horibe.takamasa@gmail.com>>
-
Contributors: Kyoichi Sugahara, Yukinari Hisaki
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
- Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
- chore(vehicle_cmd_gate): suppress frequent log (#10630)
- fix(vehicle_cmd_gate): fix bug in limitLateralSteer (#10532)
- Contributors: Ryuta Kambe, TaikiYamada4, Takayuki Murooka
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat: manual control (#10354)
- feat(default_adapi): add manual control
- add conversion
- update selector
- update selector depends
- update converter
- modify heartbeat name
- update launch
- update api
- fix pedal callback
- done todo
- apply message rename
- fix test
- fix message type and qos
- fix steering_tire_velocity
* fix for clang-tidy ---------
-
Contributors: Ryohsuke Mitsudome, Takagi, Isamu
0.43.0 (2025-03-21)
-
Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
-
chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
-
fix(planning, control): reuse stamp of subscribed topic to measure component latency (#10201)
- fix(behavior_velocity_planner): reuse timestamp of recieved path
- fix(behavior_path_planner): check timestamp first in timer driven callback
- fix(trajectory_follower_node): check timestamp first in timer driven callback
* fix(vehicle_cmd_gate): reuse timestamp of recieved path ---------
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/vehicle_cmd_gate.launch.xml
-
- config_file [default: $(find-pkg-share autoware_vehicle_cmd_gate)/config/vehicle_cmd_gate.param.yaml]
- check_external_emergency_heartbeat [default: true]
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_vehicle_cmd_gate at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yukinari Hisaki
- Arjun Ram
- Takayuki Murooka
Authors
- Hiroki OTA
vehicle_cmd_gate
Purpose
vehicle_cmd_gate
is the package to get information from emergency handler, planning module, and external controller, and send a message to the vehicle.
Role
Receive multiple control commands and select one to forward to the vehicle.
Inputs / Outputs
Input
Name | Type | Description |
---|---|---|
~/input/steering |
autoware_vehicle_msgs::msg::SteeringReport |
steering status |
~/input/auto/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity from planning module |
~/input/auto/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command from planning module |
~/input/auto/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command from planning module |
~/input/auto/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command from planning module |
~/input/external/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity from external |
~/input/external/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command from external |
~/input/external/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command from external |
~/input/external/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command from external |
~/input/external_emergency_stop_heartbeat |
tier4_external_api_msgs::msg::Heartbeat |
heartbeat |
~/input/gate_mode |
tier4_control_msgs::msg::GateMode |
gate mode (AUTO or EXTERNAL) |
~/input/emergency/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity from emergency handler |
~/input/emergency/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command from emergency handler |
~/input/emergency/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command from emergency handler |
~/input/emergency/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command from emergency handler |
~/input/engage |
autoware_vehicle_msgs::msg::Engage |
engage signal |
~/input/operation_mode |
autoware_adapi_v1_msgs::msg::OperationModeState |
operation mode of Autoware |
Output
Name | Type | Description |
---|---|---|
~/output/vehicle_cmd_emergency |
tier4_vehicle_msgs::msg::VehicleEmergencyStamped |
emergency state which was originally in vehicle command |
~/output/command/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity to vehicle |
~/output/command/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command to vehicle |
~/output/command/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command to vehicle |
~/output/command/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command to vehicle |
~/output/gate_mode |
tier4_control_msgs::msg::GateMode |
gate mode (AUTO or EXTERNAL) |
~/output/engage |
autoware_vehicle_msgs::msg::Engage |
engage signal |
~/output/external_emergency |
tier4_external_api_msgs::msg::Emergency |
external emergency signal |
~/output/operation_mode |
tier4_system_msgs::msg::OperationMode |
current operation mode of the vehicle_cmd_gate |
Parameters
Parameter | Type | Description |
---|---|---|
update_period |
double | update period |
use_emergency_handling |
bool | true when emergency handler is used |
check_external_emergency_heartbeat |
bool | true when checking heartbeat for emergency stop |
system_emergency_heartbeat_timeout |
double | timeout for system emergency |
external_emergency_stop_heartbeat_timeout |
double | timeout for external emergency |
filter_activated_count_threshold |
int | threshold for filter activation |
filter_activated_velocity_threshold |
double | velocity threshold for filter activation |
stop_hold_acceleration |
double | longitudinal acceleration cmd when vehicle should stop |
emergency_acceleration |
double | longitudinal acceleration cmd when vehicle stop with emergency |
moderate_stop_service_acceleration |
double | longitudinal acceleration cmd when vehicle stop with moderate stop service |
nominal.vel_lim |
double | limit of longitudinal velocity (activated in AUTONOMOUS operation mode) |
nominal.reference_speed_points |
velocity point used as a reference when calculate control command limit (activated in AUTONOMOUS operation mode). The size of this array must be equivalent to the size of the limit array. | |
nominal.lon_acc_lim_for_lon_vel |
array of limits for longitudinal acceleration (activated in AUTONOMOUS operation mode) | |
nominal.lon_jerk_lim_for_lon_acc |
array of limits for longitudinal jerk (activated in AUTONOMOUS operation mode) | |
nominal.lat_acc_lim_for_steer_cmd |
array of limits for lateral acceleration (activated in AUTONOMOUS operation mode) | |
nominal.lat_jerk_lim_for_steer_cmd |
array of limits for lateral jerk (activated in AUTONOMOUS operation mode) | |
nominal.steer_cmd_lim |
array of limits for steering angle (activated in AUTONOMOUS operation mode) | |
nominal.steer_rate_lim_for_steer_cmd |
array of limits for command steering rate (activated in AUTONOMOUS operation mode) | |
nominal.lat_jerk_lim_for_steer_rate |
double | limit for lateral jerk constraint on steering rate (activated in AUTONOMOUS operation mode) |
nominal.steer_cmd_diff_lim_from_current_steer |
array of limits for difference between current and command steering angle (activated in AUTONOMOUS operation mode) | |
on_transition.vel_lim |
double | limit of longitudinal velocity (activated in TRANSITION operation mode) |
on_transition.reference_speed_points |
velocity point used as a reference when calculate control command limit (activated in TRANSITION operation mode). The size of this array must be equivalent to the size of the limit array. | |
on_transition.lon_acc_lim_for_lon_vel |
array of limits for longitudinal acceleration (activated in TRANSITION operation mode) | |
on_transition.lon_jerk_lim_for_lon_acc |
array of limits for longitudinal jerk (activated in TRANSITION operation mode) | |
on_transition.lat_acc_lim_for_steer_cmd |
array of limits for lateral acceleration (activated in TRANSITION operation mode) | |
on_transition.lat_jerk_lim_for_steer_cmd |
array of limits for lateral jerk (activated in TRANSITION operation mode) | |
on_transition.steer_cmd_lim |
array of limits for steering angle (activated in TRANSITION operation mode) | |
on_transition.steer_rate_lim_for_steer_cmd |
array of limits for command steering rate (activated in TRANSITION operation mode) | |
on_transition.lat_jerk_lim_for_steer_rate |
double | limit for lateral jerk constraint on steering rate (activated in TRANSITION operation mode) |
on_transition.steer_cmd_diff_lim_from_current_steer |
array of limits for difference between current and command steering angle (activated in TRANSITION operation mode) |
Parameter Naming Convention
The parameters follow specific naming patterns to clearly distinguish between different types of constraints and their relationships:
Pattern 1: [constraint]_lim_for_[target]
-
Format:
[physical_constraint]_lim_for_[controlled_variable]
- Description: Defines limits based on physical constraints (acceleration, jerk, etc.) applied to control variables
Pattern 2: [target]_[constraint]_lim_from_[reference]
-
Format:
[controlled_variable]_[constraint_type]_lim_from_[reference_variable]
- Description: Defines limits on the difference or deviation of a control variable from a reference value
Pattern 3: [target]_lim
-
Format:
[controlled_variable]_lim
File truncated at 100 lines see the full file
Changelog for package autoware_vehicle_cmd_gate
0.47.0 (2025-08-11)
-
feat(autoware_vehicle_cmd_gate): steer rate limit with lateral jerk constraint (#11057)
- feat(vehicle_cmd_gate): add lateral jerk limit for steering rate in parameters and implementation
* feat(vehicle_cmd_gate): add lateral jerk limit for steering rate in test cases and implementation ---------
-
refactor(vehicle_cmd_gate): rename variable naming consistency in vehicle command filter (#10781)
* feat(vehicle_cmd_gate): update parameter naming convention for clarity and consistency ---------
-
feat(vehicle_cmd_gate): update maintainer and readme (#10915)
- feat(vehicle_cmd_gate): update maintainer and readme
- fix
- style(pre-commit): autofix
- Update control/autoware_vehicle_cmd_gate/README.md
* Update control/autoware_vehicle_cmd_gate/README.md ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takamasa Horibe <<horibe.takamasa@gmail.com>>
-
Contributors: Kyoichi Sugahara, Yukinari Hisaki
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
- Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
- chore(vehicle_cmd_gate): suppress frequent log (#10630)
- fix(vehicle_cmd_gate): fix bug in limitLateralSteer (#10532)
- Contributors: Ryuta Kambe, TaikiYamada4, Takayuki Murooka
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat: manual control (#10354)
- feat(default_adapi): add manual control
- add conversion
- update selector
- update selector depends
- update converter
- modify heartbeat name
- update launch
- update api
- fix pedal callback
- done todo
- apply message rename
- fix test
- fix message type and qos
- fix steering_tire_velocity
* fix for clang-tidy ---------
-
Contributors: Ryohsuke Mitsudome, Takagi, Isamu
0.43.0 (2025-03-21)
-
Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
-
chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
-
fix(planning, control): reuse stamp of subscribed topic to measure component latency (#10201)
- fix(behavior_velocity_planner): reuse timestamp of recieved path
- fix(behavior_path_planner): check timestamp first in timer driven callback
- fix(trajectory_follower_node): check timestamp first in timer driven callback
* fix(vehicle_cmd_gate): reuse timestamp of recieved path ---------
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/vehicle_cmd_gate.launch.xml
-
- config_file [default: $(find-pkg-share autoware_vehicle_cmd_gate)/config/vehicle_cmd_gate.param.yaml]
- check_external_emergency_heartbeat [default: true]
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]
Messages
Services
Plugins
Recent questions tagged autoware_vehicle_cmd_gate at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.47.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-08-16 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Yukinari Hisaki
- Arjun Ram
- Takayuki Murooka
Authors
- Hiroki OTA
vehicle_cmd_gate
Purpose
vehicle_cmd_gate
is the package to get information from emergency handler, planning module, and external controller, and send a message to the vehicle.
Role
Receive multiple control commands and select one to forward to the vehicle.
Inputs / Outputs
Input
Name | Type | Description |
---|---|---|
~/input/steering |
autoware_vehicle_msgs::msg::SteeringReport |
steering status |
~/input/auto/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity from planning module |
~/input/auto/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command from planning module |
~/input/auto/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command from planning module |
~/input/auto/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command from planning module |
~/input/external/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity from external |
~/input/external/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command from external |
~/input/external/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command from external |
~/input/external/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command from external |
~/input/external_emergency_stop_heartbeat |
tier4_external_api_msgs::msg::Heartbeat |
heartbeat |
~/input/gate_mode |
tier4_control_msgs::msg::GateMode |
gate mode (AUTO or EXTERNAL) |
~/input/emergency/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity from emergency handler |
~/input/emergency/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command from emergency handler |
~/input/emergency/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command from emergency handler |
~/input/emergency/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command from emergency handler |
~/input/engage |
autoware_vehicle_msgs::msg::Engage |
engage signal |
~/input/operation_mode |
autoware_adapi_v1_msgs::msg::OperationModeState |
operation mode of Autoware |
Output
Name | Type | Description |
---|---|---|
~/output/vehicle_cmd_emergency |
tier4_vehicle_msgs::msg::VehicleEmergencyStamped |
emergency state which was originally in vehicle command |
~/output/command/control_cmd |
autoware_control_msgs::msg::Control |
command for lateral and longitudinal velocity to vehicle |
~/output/command/turn_indicators_cmd |
autoware_vehicle_msgs::msg::TurnIndicatorsCommand |
turn indicators command to vehicle |
~/output/command/hazard_lights_cmd |
autoware_vehicle_msgs::msg::HazardLightsCommand |
hazard lights command to vehicle |
~/output/command/gear_cmd |
autoware_vehicle_msgs::msg::GearCommand |
gear command to vehicle |
~/output/gate_mode |
tier4_control_msgs::msg::GateMode |
gate mode (AUTO or EXTERNAL) |
~/output/engage |
autoware_vehicle_msgs::msg::Engage |
engage signal |
~/output/external_emergency |
tier4_external_api_msgs::msg::Emergency |
external emergency signal |
~/output/operation_mode |
tier4_system_msgs::msg::OperationMode |
current operation mode of the vehicle_cmd_gate |
Parameters
Parameter | Type | Description |
---|---|---|
update_period |
double | update period |
use_emergency_handling |
bool | true when emergency handler is used |
check_external_emergency_heartbeat |
bool | true when checking heartbeat for emergency stop |
system_emergency_heartbeat_timeout |
double | timeout for system emergency |
external_emergency_stop_heartbeat_timeout |
double | timeout for external emergency |
filter_activated_count_threshold |
int | threshold for filter activation |
filter_activated_velocity_threshold |
double | velocity threshold for filter activation |
stop_hold_acceleration |
double | longitudinal acceleration cmd when vehicle should stop |
emergency_acceleration |
double | longitudinal acceleration cmd when vehicle stop with emergency |
moderate_stop_service_acceleration |
double | longitudinal acceleration cmd when vehicle stop with moderate stop service |
nominal.vel_lim |
double | limit of longitudinal velocity (activated in AUTONOMOUS operation mode) |
nominal.reference_speed_points |
velocity point used as a reference when calculate control command limit (activated in AUTONOMOUS operation mode). The size of this array must be equivalent to the size of the limit array. | |
nominal.lon_acc_lim_for_lon_vel |
array of limits for longitudinal acceleration (activated in AUTONOMOUS operation mode) | |
nominal.lon_jerk_lim_for_lon_acc |
array of limits for longitudinal jerk (activated in AUTONOMOUS operation mode) | |
nominal.lat_acc_lim_for_steer_cmd |
array of limits for lateral acceleration (activated in AUTONOMOUS operation mode) | |
nominal.lat_jerk_lim_for_steer_cmd |
array of limits for lateral jerk (activated in AUTONOMOUS operation mode) | |
nominal.steer_cmd_lim |
array of limits for steering angle (activated in AUTONOMOUS operation mode) | |
nominal.steer_rate_lim_for_steer_cmd |
array of limits for command steering rate (activated in AUTONOMOUS operation mode) | |
nominal.lat_jerk_lim_for_steer_rate |
double | limit for lateral jerk constraint on steering rate (activated in AUTONOMOUS operation mode) |
nominal.steer_cmd_diff_lim_from_current_steer |
array of limits for difference between current and command steering angle (activated in AUTONOMOUS operation mode) | |
on_transition.vel_lim |
double | limit of longitudinal velocity (activated in TRANSITION operation mode) |
on_transition.reference_speed_points |
velocity point used as a reference when calculate control command limit (activated in TRANSITION operation mode). The size of this array must be equivalent to the size of the limit array. | |
on_transition.lon_acc_lim_for_lon_vel |
array of limits for longitudinal acceleration (activated in TRANSITION operation mode) | |
on_transition.lon_jerk_lim_for_lon_acc |
array of limits for longitudinal jerk (activated in TRANSITION operation mode) | |
on_transition.lat_acc_lim_for_steer_cmd |
array of limits for lateral acceleration (activated in TRANSITION operation mode) | |
on_transition.lat_jerk_lim_for_steer_cmd |
array of limits for lateral jerk (activated in TRANSITION operation mode) | |
on_transition.steer_cmd_lim |
array of limits for steering angle (activated in TRANSITION operation mode) | |
on_transition.steer_rate_lim_for_steer_cmd |
array of limits for command steering rate (activated in TRANSITION operation mode) | |
on_transition.lat_jerk_lim_for_steer_rate |
double | limit for lateral jerk constraint on steering rate (activated in TRANSITION operation mode) |
on_transition.steer_cmd_diff_lim_from_current_steer |
array of limits for difference between current and command steering angle (activated in TRANSITION operation mode) |
Parameter Naming Convention
The parameters follow specific naming patterns to clearly distinguish between different types of constraints and their relationships:
Pattern 1: [constraint]_lim_for_[target]
-
Format:
[physical_constraint]_lim_for_[controlled_variable]
- Description: Defines limits based on physical constraints (acceleration, jerk, etc.) applied to control variables
Pattern 2: [target]_[constraint]_lim_from_[reference]
-
Format:
[controlled_variable]_[constraint_type]_lim_from_[reference_variable]
- Description: Defines limits on the difference or deviation of a control variable from a reference value
Pattern 3: [target]_lim
-
Format:
[controlled_variable]_lim
File truncated at 100 lines see the full file
Changelog for package autoware_vehicle_cmd_gate
0.47.0 (2025-08-11)
-
feat(autoware_vehicle_cmd_gate): steer rate limit with lateral jerk constraint (#11057)
- feat(vehicle_cmd_gate): add lateral jerk limit for steering rate in parameters and implementation
* feat(vehicle_cmd_gate): add lateral jerk limit for steering rate in test cases and implementation ---------
-
refactor(vehicle_cmd_gate): rename variable naming consistency in vehicle command filter (#10781)
* feat(vehicle_cmd_gate): update parameter naming convention for clarity and consistency ---------
-
feat(vehicle_cmd_gate): update maintainer and readme (#10915)
- feat(vehicle_cmd_gate): update maintainer and readme
- fix
- style(pre-commit): autofix
- Update control/autoware_vehicle_cmd_gate/README.md
* Update control/autoware_vehicle_cmd_gate/README.md ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takamasa Horibe <<horibe.takamasa@gmail.com>>
-
Contributors: Kyoichi Sugahara, Yukinari Hisaki
0.46.0 (2025-06-20)
0.45.0 (2025-05-22)
- Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
- chore(vehicle_cmd_gate): suppress frequent log (#10630)
- fix(vehicle_cmd_gate): fix bug in limitLateralSteer (#10532)
- Contributors: Ryuta Kambe, TaikiYamada4, Takayuki Murooka
0.44.2 (2025-06-10)
0.44.1 (2025-05-01)
0.44.0 (2025-04-18)
-
Merge remote-tracking branch 'origin/main' into humble
-
feat: manual control (#10354)
- feat(default_adapi): add manual control
- add conversion
- update selector
- update selector depends
- update converter
- modify heartbeat name
- update launch
- update api
- fix pedal callback
- done todo
- apply message rename
- fix test
- fix message type and qos
- fix steering_tire_velocity
* fix for clang-tidy ---------
-
Contributors: Ryohsuke Mitsudome, Takagi, Isamu
0.43.0 (2025-03-21)
-
Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
-
chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
-
fix(planning, control): reuse stamp of subscribed topic to measure component latency (#10201)
- fix(behavior_velocity_planner): reuse timestamp of recieved path
- fix(behavior_path_planner): check timestamp first in timer driven callback
- fix(trajectory_follower_node): check timestamp first in timer driven callback
* fix(vehicle_cmd_gate): reuse timestamp of recieved path ---------
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/vehicle_cmd_gate.launch.xml
-
- config_file [default: $(find-pkg-share autoware_vehicle_cmd_gate)/config/vehicle_cmd_gate.param.yaml]
- check_external_emergency_heartbeat [default: true]
- vehicle_info_param_file [default: $(find-pkg-share autoware_vehicle_info_utils)/config/vehicle_info.param.yaml]