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autoware_vehicle_cmd_gate package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet 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autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.53.0
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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The vehicle_cmd_gate package

Maintainers

  • Yukinari Hisaki
  • Arjun Ram
  • Takayuki Murooka

Authors

  • Hiroki OTA
control/autoware_vehicle_cmd_gate/README.md

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

Changelog for package autoware_vehicle_cmd_gate

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

  • fix(design): align the control node designs with the packages they describe (#13340)

    * fix(design): align the control node designs with the packages they describe ControlCommandGate and the operation mode transition manager name a plugin class and pin publishers that do not match the built package: the registered component is ControlCmdGate, and the transition flags belong on the design graph rather than on global: pins that link_manager skips. TrajectoryFollower declares three debug publishers with message types the node never publishes and a stop_reason publisher it does not create at all. VehicleCmdGate keeps gate_mode and engage on their official topic names through remap_target: alone, so the two inputs are connected through the design.

    * fix(autoware_operation_mode_transition_manager): declare the system and legacy interfaces as remap targets The operation mode state publisher, the two operation mode change services and the legacy engage and gate mode publishers are node-side fixed names. Declaring them as remap targets puts them on the design graph; a port pinned with global: is skipped by link_manager and the exporter emits no remap for it. ---------

  • fix(control): declare the fixed-name compatibility interfaces in the control node designs (#13281)

    * fix(control): declare the fixed-name compatibility interfaces in the control node designs operation_mode_transition_manager subscribes /control/current_gate_mode and /control/external_cmd_selector/current_selector_mode and calls /control/external_cmd_selector/select_external_command by fixed name; the gate serves the ADAPI pause/stop interfaces under /control/vehicle_cmd_gate. Declaring these ports with their remap_target lets a system design connect them and keep the fixed names when the module hierarchy nests the nodes.

    * fix(control): declare the multi-publisher gate_mode_cmd and engage topics as global ---------

  • refactor(control): move node design files into each package (#13100) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • feat(autoware_vehicle_cmd_gate): apply to CIE (#12654)

    • feat: apply to CIE
    • chore: re-trigger CI

    * chore: re-trigger CI ---------

  • Contributors: Yutaro Kobayashi, github-actions

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(control_command_filter, vehicle_cmd_gate): add logging capabilities for command limits (#12250)
    • feat(control_command_filter): add logging capabilities for command limits
    • feat(vehicle_cmd_filter): add logging for velocity, acceleration, jerk, and steering limits
    • feat(command_filter): enhance logging by adding clock support for throttling
  • Contributors: Kyoichi Sugahara, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(vehicle_cmd_gate): fix funcArgNamesDifferent (#11977) fix(vehicle_cmd_gate):
  • feat: control : fix contol packages compile error when using ros2 jazzy (#11556)
  • Contributors: Ryohsuke Mitsudome, Ryuta Kambe, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

File truncated at 100 lines see the full file

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

No service files found

Plugins

No plugins found.

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autoware_vehicle_cmd_gate package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The vehicle_cmd_gate package

Maintainers

  • Yukinari Hisaki
  • Arjun Ram
  • Takayuki Murooka

Authors

  • Hiroki OTA
control/autoware_vehicle_cmd_gate/README.md

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

Changelog for package autoware_vehicle_cmd_gate

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

  • fix(design): align the control node designs with the packages they describe (#13340)

    * fix(design): align the control node designs with the packages they describe ControlCommandGate and the operation mode transition manager name a plugin class and pin publishers that do not match the built package: the registered component is ControlCmdGate, and the transition flags belong on the design graph rather than on global: pins that link_manager skips. TrajectoryFollower declares three debug publishers with message types the node never publishes and a stop_reason publisher it does not create at all. VehicleCmdGate keeps gate_mode and engage on their official topic names through remap_target: alone, so the two inputs are connected through the design.

    * fix(autoware_operation_mode_transition_manager): declare the system and legacy interfaces as remap targets The operation mode state publisher, the two operation mode change services and the legacy engage and gate mode publishers are node-side fixed names. Declaring them as remap targets puts them on the design graph; a port pinned with global: is skipped by link_manager and the exporter emits no remap for it. ---------

  • fix(control): declare the fixed-name compatibility interfaces in the control node designs (#13281)

    * fix(control): declare the fixed-name compatibility interfaces in the control node designs operation_mode_transition_manager subscribes /control/current_gate_mode and /control/external_cmd_selector/current_selector_mode and calls /control/external_cmd_selector/select_external_command by fixed name; the gate serves the ADAPI pause/stop interfaces under /control/vehicle_cmd_gate. Declaring these ports with their remap_target lets a system design connect them and keep the fixed names when the module hierarchy nests the nodes.

    * fix(control): declare the multi-publisher gate_mode_cmd and engage topics as global ---------

  • refactor(control): move node design files into each package (#13100) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • feat(autoware_vehicle_cmd_gate): apply to CIE (#12654)

    • feat: apply to CIE
    • chore: re-trigger CI

    * chore: re-trigger CI ---------

  • Contributors: Yutaro Kobayashi, github-actions

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(control_command_filter, vehicle_cmd_gate): add logging capabilities for command limits (#12250)
    • feat(control_command_filter): add logging capabilities for command limits
    • feat(vehicle_cmd_filter): add logging for velocity, acceleration, jerk, and steering limits
    • feat(command_filter): enhance logging by adding clock support for throttling
  • Contributors: Kyoichi Sugahara, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(vehicle_cmd_gate): fix funcArgNamesDifferent (#11977) fix(vehicle_cmd_gate):
  • feat: control : fix contol packages compile error when using ros2 jazzy (#11556)
  • Contributors: Ryohsuke Mitsudome, Ryuta Kambe, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

File truncated at 100 lines see the full file

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

No service files found

Plugins

No plugins found.

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autoware_vehicle_cmd_gate package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Version 0.53.0
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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The vehicle_cmd_gate package

Maintainers

  • Yukinari Hisaki
  • Arjun Ram
  • Takayuki Murooka

Authors

  • Hiroki OTA
control/autoware_vehicle_cmd_gate/README.md

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

Changelog for package autoware_vehicle_cmd_gate

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

  • fix(design): align the control node designs with the packages they describe (#13340)

    * fix(design): align the control node designs with the packages they describe ControlCommandGate and the operation mode transition manager name a plugin class and pin publishers that do not match the built package: the registered component is ControlCmdGate, and the transition flags belong on the design graph rather than on global: pins that link_manager skips. TrajectoryFollower declares three debug publishers with message types the node never publishes and a stop_reason publisher it does not create at all. VehicleCmdGate keeps gate_mode and engage on their official topic names through remap_target: alone, so the two inputs are connected through the design.

    * fix(autoware_operation_mode_transition_manager): declare the system and legacy interfaces as remap targets The operation mode state publisher, the two operation mode change services and the legacy engage and gate mode publishers are node-side fixed names. Declaring them as remap targets puts them on the design graph; a port pinned with global: is skipped by link_manager and the exporter emits no remap for it. ---------

  • fix(control): declare the fixed-name compatibility interfaces in the control node designs (#13281)

    * fix(control): declare the fixed-name compatibility interfaces in the control node designs operation_mode_transition_manager subscribes /control/current_gate_mode and /control/external_cmd_selector/current_selector_mode and calls /control/external_cmd_selector/select_external_command by fixed name; the gate serves the ADAPI pause/stop interfaces under /control/vehicle_cmd_gate. Declaring these ports with their remap_target lets a system design connect them and keep the fixed names when the module hierarchy nests the nodes.

    * fix(control): declare the multi-publisher gate_mode_cmd and engage topics as global ---------

  • refactor(control): move node design files into each package (#13100) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • feat(autoware_vehicle_cmd_gate): apply to CIE (#12654)

    • feat: apply to CIE
    • chore: re-trigger CI

    * chore: re-trigger CI ---------

  • Contributors: Yutaro Kobayashi, github-actions

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(control_command_filter, vehicle_cmd_gate): add logging capabilities for command limits (#12250)
    • feat(control_command_filter): add logging capabilities for command limits
    • feat(vehicle_cmd_filter): add logging for velocity, acceleration, jerk, and steering limits
    • feat(command_filter): enhance logging by adding clock support for throttling
  • Contributors: Kyoichi Sugahara, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(vehicle_cmd_gate): fix funcArgNamesDifferent (#11977) fix(vehicle_cmd_gate):
  • feat: control : fix contol packages compile error when using ros2 jazzy (#11556)
  • Contributors: Ryohsuke Mitsudome, Ryuta Kambe, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

File truncated at 100 lines see the full file

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

No service files found

Plugins

No plugins found.

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autoware_vehicle_cmd_gate package from autoware_universe repo

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autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider 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autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.53.0
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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The vehicle_cmd_gate package

Maintainers

  • Yukinari Hisaki
  • Arjun Ram
  • Takayuki Murooka

Authors

  • Hiroki OTA
control/autoware_vehicle_cmd_gate/README.md

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

Changelog for package autoware_vehicle_cmd_gate

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

  • fix(design): align the control node designs with the packages they describe (#13340)

    * fix(design): align the control node designs with the packages they describe ControlCommandGate and the operation mode transition manager name a plugin class and pin publishers that do not match the built package: the registered component is ControlCmdGate, and the transition flags belong on the design graph rather than on global: pins that link_manager skips. TrajectoryFollower declares three debug publishers with message types the node never publishes and a stop_reason publisher it does not create at all. VehicleCmdGate keeps gate_mode and engage on their official topic names through remap_target: alone, so the two inputs are connected through the design.

    * fix(autoware_operation_mode_transition_manager): declare the system and legacy interfaces as remap targets The operation mode state publisher, the two operation mode change services and the legacy engage and gate mode publishers are node-side fixed names. Declaring them as remap targets puts them on the design graph; a port pinned with global: is skipped by link_manager and the exporter emits no remap for it. ---------

  • fix(control): declare the fixed-name compatibility interfaces in the control node designs (#13281)

    * fix(control): declare the fixed-name compatibility interfaces in the control node designs operation_mode_transition_manager subscribes /control/current_gate_mode and /control/external_cmd_selector/current_selector_mode and calls /control/external_cmd_selector/select_external_command by fixed name; the gate serves the ADAPI pause/stop interfaces under /control/vehicle_cmd_gate. Declaring these ports with their remap_target lets a system design connect them and keep the fixed names when the module hierarchy nests the nodes.

    * fix(control): declare the multi-publisher gate_mode_cmd and engage topics as global ---------

  • refactor(control): move node design files into each package (#13100) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • feat(autoware_vehicle_cmd_gate): apply to CIE (#12654)

    • feat: apply to CIE
    • chore: re-trigger CI

    * chore: re-trigger CI ---------

  • Contributors: Yutaro Kobayashi, github-actions

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(control_command_filter, vehicle_cmd_gate): add logging capabilities for command limits (#12250)
    • feat(control_command_filter): add logging capabilities for command limits
    • feat(vehicle_cmd_filter): add logging for velocity, acceleration, jerk, and steering limits
    • feat(command_filter): enhance logging by adding clock support for throttling
  • Contributors: Kyoichi Sugahara, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(vehicle_cmd_gate): fix funcArgNamesDifferent (#11977) fix(vehicle_cmd_gate):
  • feat: control : fix contol packages compile error when using ros2 jazzy (#11556)
  • Contributors: Ryohsuke Mitsudome, Ryuta Kambe, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

File truncated at 100 lines see the full file

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

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_vehicle_cmd_gate at Robotics Stack Exchange

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Package symbol

autoware_vehicle_cmd_gate package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.53.0
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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The vehicle_cmd_gate package

Maintainers

  • Yukinari Hisaki
  • Arjun Ram
  • Takayuki Murooka

Authors

  • Hiroki OTA
control/autoware_vehicle_cmd_gate/README.md

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

Changelog for package autoware_vehicle_cmd_gate

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

  • fix(design): align the control node designs with the packages they describe (#13340)

    * fix(design): align the control node designs with the packages they describe ControlCommandGate and the operation mode transition manager name a plugin class and pin publishers that do not match the built package: the registered component is ControlCmdGate, and the transition flags belong on the design graph rather than on global: pins that link_manager skips. TrajectoryFollower declares three debug publishers with message types the node never publishes and a stop_reason publisher it does not create at all. VehicleCmdGate keeps gate_mode and engage on their official topic names through remap_target: alone, so the two inputs are connected through the design.

    * fix(autoware_operation_mode_transition_manager): declare the system and legacy interfaces as remap targets The operation mode state publisher, the two operation mode change services and the legacy engage and gate mode publishers are node-side fixed names. Declaring them as remap targets puts them on the design graph; a port pinned with global: is skipped by link_manager and the exporter emits no remap for it. ---------

  • fix(control): declare the fixed-name compatibility interfaces in the control node designs (#13281)

    * fix(control): declare the fixed-name compatibility interfaces in the control node designs operation_mode_transition_manager subscribes /control/current_gate_mode and /control/external_cmd_selector/current_selector_mode and calls /control/external_cmd_selector/select_external_command by fixed name; the gate serves the ADAPI pause/stop interfaces under /control/vehicle_cmd_gate. Declaring these ports with their remap_target lets a system design connect them and keep the fixed names when the module hierarchy nests the nodes.

    * fix(control): declare the multi-publisher gate_mode_cmd and engage topics as global ---------

  • refactor(control): move node design files into each package (#13100) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • feat(autoware_vehicle_cmd_gate): apply to CIE (#12654)

    • feat: apply to CIE
    • chore: re-trigger CI

    * chore: re-trigger CI ---------

  • Contributors: Yutaro Kobayashi, github-actions

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(control_command_filter, vehicle_cmd_gate): add logging capabilities for command limits (#12250)
    • feat(control_command_filter): add logging capabilities for command limits
    • feat(vehicle_cmd_filter): add logging for velocity, acceleration, jerk, and steering limits
    • feat(command_filter): enhance logging by adding clock support for throttling
  • Contributors: Kyoichi Sugahara, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(vehicle_cmd_gate): fix funcArgNamesDifferent (#11977) fix(vehicle_cmd_gate):
  • feat: control : fix contol packages compile error when using ros2 jazzy (#11556)
  • Contributors: Ryohsuke Mitsudome, Ryuta Kambe, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

File truncated at 100 lines see the full file

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

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_vehicle_cmd_gate at Robotics Stack Exchange

Package symbol

autoware_vehicle_cmd_gate package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.53.0
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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The vehicle_cmd_gate package

Maintainers

  • Yukinari Hisaki
  • Arjun Ram
  • Takayuki Murooka

Authors

  • Hiroki OTA
control/autoware_vehicle_cmd_gate/README.md

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

Changelog for package autoware_vehicle_cmd_gate

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

  • fix(design): align the control node designs with the packages they describe (#13340)

    * fix(design): align the control node designs with the packages they describe ControlCommandGate and the operation mode transition manager name a plugin class and pin publishers that do not match the built package: the registered component is ControlCmdGate, and the transition flags belong on the design graph rather than on global: pins that link_manager skips. TrajectoryFollower declares three debug publishers with message types the node never publishes and a stop_reason publisher it does not create at all. VehicleCmdGate keeps gate_mode and engage on their official topic names through remap_target: alone, so the two inputs are connected through the design.

    * fix(autoware_operation_mode_transition_manager): declare the system and legacy interfaces as remap targets The operation mode state publisher, the two operation mode change services and the legacy engage and gate mode publishers are node-side fixed names. Declaring them as remap targets puts them on the design graph; a port pinned with global: is skipped by link_manager and the exporter emits no remap for it. ---------

  • fix(control): declare the fixed-name compatibility interfaces in the control node designs (#13281)

    * fix(control): declare the fixed-name compatibility interfaces in the control node designs operation_mode_transition_manager subscribes /control/current_gate_mode and /control/external_cmd_selector/current_selector_mode and calls /control/external_cmd_selector/select_external_command by fixed name; the gate serves the ADAPI pause/stop interfaces under /control/vehicle_cmd_gate. Declaring these ports with their remap_target lets a system design connect them and keep the fixed names when the module hierarchy nests the nodes.

    * fix(control): declare the multi-publisher gate_mode_cmd and engage topics as global ---------

  • refactor(control): move node design files into each package (#13100) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • feat(autoware_vehicle_cmd_gate): apply to CIE (#12654)

    • feat: apply to CIE
    • chore: re-trigger CI

    * chore: re-trigger CI ---------

  • Contributors: Yutaro Kobayashi, github-actions

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(control_command_filter, vehicle_cmd_gate): add logging capabilities for command limits (#12250)
    • feat(control_command_filter): add logging capabilities for command limits
    • feat(vehicle_cmd_filter): add logging for velocity, acceleration, jerk, and steering limits
    • feat(command_filter): enhance logging by adding clock support for throttling
  • Contributors: Kyoichi Sugahara, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(vehicle_cmd_gate): fix funcArgNamesDifferent (#11977) fix(vehicle_cmd_gate):
  • feat: control : fix contol packages compile error when using ros2 jazzy (#11556)
  • Contributors: Ryohsuke Mitsudome, Ryuta Kambe, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

File truncated at 100 lines see the full file

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

No service files found

Plugins

No plugins found.

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autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger 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autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider 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autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.53.0
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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The vehicle_cmd_gate package

Maintainers

  • Yukinari Hisaki
  • Arjun Ram
  • Takayuki Murooka

Authors

  • Hiroki OTA
control/autoware_vehicle_cmd_gate/README.md

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

Changelog for package autoware_vehicle_cmd_gate

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

  • fix(design): align the control node designs with the packages they describe (#13340)

    * fix(design): align the control node designs with the packages they describe ControlCommandGate and the operation mode transition manager name a plugin class and pin publishers that do not match the built package: the registered component is ControlCmdGate, and the transition flags belong on the design graph rather than on global: pins that link_manager skips. TrajectoryFollower declares three debug publishers with message types the node never publishes and a stop_reason publisher it does not create at all. VehicleCmdGate keeps gate_mode and engage on their official topic names through remap_target: alone, so the two inputs are connected through the design.

    * fix(autoware_operation_mode_transition_manager): declare the system and legacy interfaces as remap targets The operation mode state publisher, the two operation mode change services and the legacy engage and gate mode publishers are node-side fixed names. Declaring them as remap targets puts them on the design graph; a port pinned with global: is skipped by link_manager and the exporter emits no remap for it. ---------

  • fix(control): declare the fixed-name compatibility interfaces in the control node designs (#13281)

    * fix(control): declare the fixed-name compatibility interfaces in the control node designs operation_mode_transition_manager subscribes /control/current_gate_mode and /control/external_cmd_selector/current_selector_mode and calls /control/external_cmd_selector/select_external_command by fixed name; the gate serves the ADAPI pause/stop interfaces under /control/vehicle_cmd_gate. Declaring these ports with their remap_target lets a system design connect them and keep the fixed names when the module hierarchy nests the nodes.

    * fix(control): declare the multi-publisher gate_mode_cmd and engage topics as global ---------

  • refactor(control): move node design files into each package (#13100) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • feat(autoware_vehicle_cmd_gate): apply to CIE (#12654)

    • feat: apply to CIE
    • chore: re-trigger CI

    * chore: re-trigger CI ---------

  • Contributors: Yutaro Kobayashi, github-actions

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(control_command_filter, vehicle_cmd_gate): add logging capabilities for command limits (#12250)
    • feat(control_command_filter): add logging capabilities for command limits
    • feat(vehicle_cmd_filter): add logging for velocity, acceleration, jerk, and steering limits
    • feat(command_filter): enhance logging by adding clock support for throttling
  • Contributors: Kyoichi Sugahara, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(vehicle_cmd_gate): fix funcArgNamesDifferent (#11977) fix(vehicle_cmd_gate):
  • feat: control : fix contol packages compile error when using ros2 jazzy (#11556)
  • Contributors: Ryohsuke Mitsudome, Ryuta Kambe, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

File truncated at 100 lines see the full file

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

No service files found

Plugins

No plugins found.

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autoware_vehicle_cmd_gate package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_state_monitor autoware_adapi_visualizers autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_merger autoware_diagnostic_graph_utils autoware_driving_mode_manager autoware_duplicated_node_checker autoware_generic_service_divider autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_mrm_in_lane_stop_operator autoware_mrm_reset_manager autoware_mrm_steering_hold_stop_operator autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_redundancy_adapi_switcher autoware_redundancy_switcher_interface autoware_redundancy_switcher_interface_plugins autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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API Docs
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Package Summary

Version 0.53.0
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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The vehicle_cmd_gate package

Maintainers

  • Yukinari Hisaki
  • Arjun Ram
  • Takayuki Murooka

Authors

  • Hiroki OTA
control/autoware_vehicle_cmd_gate/README.md

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

Changelog for package autoware_vehicle_cmd_gate

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

  • fix(design): align the control node designs with the packages they describe (#13340)

    * fix(design): align the control node designs with the packages they describe ControlCommandGate and the operation mode transition manager name a plugin class and pin publishers that do not match the built package: the registered component is ControlCmdGate, and the transition flags belong on the design graph rather than on global: pins that link_manager skips. TrajectoryFollower declares three debug publishers with message types the node never publishes and a stop_reason publisher it does not create at all. VehicleCmdGate keeps gate_mode and engage on their official topic names through remap_target: alone, so the two inputs are connected through the design.

    * fix(autoware_operation_mode_transition_manager): declare the system and legacy interfaces as remap targets The operation mode state publisher, the two operation mode change services and the legacy engage and gate mode publishers are node-side fixed names. Declaring them as remap targets puts them on the design graph; a port pinned with global: is skipped by link_manager and the exporter emits no remap for it. ---------

  • fix(control): declare the fixed-name compatibility interfaces in the control node designs (#13281)

    * fix(control): declare the fixed-name compatibility interfaces in the control node designs operation_mode_transition_manager subscribes /control/current_gate_mode and /control/external_cmd_selector/current_selector_mode and calls /control/external_cmd_selector/select_external_command by fixed name; the gate serves the ADAPI pause/stop interfaces under /control/vehicle_cmd_gate. Declaring these ports with their remap_target lets a system design connect them and keep the fixed names when the module hierarchy nests the nodes.

    * fix(control): declare the multi-publisher gate_mode_cmd and engage topics as global ---------

  • refactor(control): move node design files into each package (#13100) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • feat(autoware_vehicle_cmd_gate): apply to CIE (#12654)

    • feat: apply to CIE
    • chore: re-trigger CI

    * chore: re-trigger CI ---------

  • Contributors: Yutaro Kobayashi, github-actions

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(control_command_filter, vehicle_cmd_gate): add logging capabilities for command limits (#12250)
    • feat(control_command_filter): add logging capabilities for command limits
    • feat(vehicle_cmd_filter): add logging for velocity, acceleration, jerk, and steering limits
    • feat(command_filter): enhance logging by adding clock support for throttling
  • Contributors: Kyoichi Sugahara, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(vehicle_cmd_gate): fix funcArgNamesDifferent (#11977) fix(vehicle_cmd_gate):
  • feat: control : fix contol packages compile error when using ros2 jazzy (#11556)
  • Contributors: Ryohsuke Mitsudome, Ryuta Kambe, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

File truncated at 100 lines see the full file

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

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_vehicle_cmd_gate at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_vehicle_cmd_gate package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger 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autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider 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autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.53.0
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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The vehicle_cmd_gate package

Maintainers

  • Yukinari Hisaki
  • Arjun Ram
  • Takayuki Murooka

Authors

  • Hiroki OTA
control/autoware_vehicle_cmd_gate/README.md

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

Changelog for package autoware_vehicle_cmd_gate

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

  • fix(design): align the control node designs with the packages they describe (#13340)

    * fix(design): align the control node designs with the packages they describe ControlCommandGate and the operation mode transition manager name a plugin class and pin publishers that do not match the built package: the registered component is ControlCmdGate, and the transition flags belong on the design graph rather than on global: pins that link_manager skips. TrajectoryFollower declares three debug publishers with message types the node never publishes and a stop_reason publisher it does not create at all. VehicleCmdGate keeps gate_mode and engage on their official topic names through remap_target: alone, so the two inputs are connected through the design.

    * fix(autoware_operation_mode_transition_manager): declare the system and legacy interfaces as remap targets The operation mode state publisher, the two operation mode change services and the legacy engage and gate mode publishers are node-side fixed names. Declaring them as remap targets puts them on the design graph; a port pinned with global: is skipped by link_manager and the exporter emits no remap for it. ---------

  • fix(control): declare the fixed-name compatibility interfaces in the control node designs (#13281)

    * fix(control): declare the fixed-name compatibility interfaces in the control node designs operation_mode_transition_manager subscribes /control/current_gate_mode and /control/external_cmd_selector/current_selector_mode and calls /control/external_cmd_selector/select_external_command by fixed name; the gate serves the ADAPI pause/stop interfaces under /control/vehicle_cmd_gate. Declaring these ports with their remap_target lets a system design connect them and keep the fixed names when the module hierarchy nests the nodes.

    * fix(control): declare the multi-publisher gate_mode_cmd and engage topics as global ---------

  • refactor(control): move node design files into each package (#13100) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • feat(autoware_vehicle_cmd_gate): apply to CIE (#12654)

    • feat: apply to CIE
    • chore: re-trigger CI

    * chore: re-trigger CI ---------

  • Contributors: Yutaro Kobayashi, github-actions

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(control_command_filter, vehicle_cmd_gate): add logging capabilities for command limits (#12250)
    • feat(control_command_filter): add logging capabilities for command limits
    • feat(vehicle_cmd_filter): add logging for velocity, acceleration, jerk, and steering limits
    • feat(command_filter): enhance logging by adding clock support for throttling
  • Contributors: Kyoichi Sugahara, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(vehicle_cmd_gate): fix funcArgNamesDifferent (#11977) fix(vehicle_cmd_gate):
  • feat: control : fix contol packages compile error when using ros2 jazzy (#11556)
  • Contributors: Ryohsuke Mitsudome, Ryuta Kambe, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

File truncated at 100 lines see the full file

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

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_vehicle_cmd_gate at Robotics Stack Exchange

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.
Package symbol

autoware_vehicle_cmd_gate package from autoware_universe repo

autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_cuda_dependency_meta autoware_deprecated_boundary_departure_checker autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_obstacle_proximity_checker autoware_path_distance_calculator autoware_time_utils autoware_traffic_light_compliance_checker autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_spheric_collision_detector autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_tensorrt_vad autoware_control_evaluator autoware_evaluation_adapter autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initialization_requester autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_camera_streampetr autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_ground_segmentation_cuda autoware_image_object_locator autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_frnet autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_sorter autoware_occupancy_grid_map_outlier_filter autoware_predicted_path_postprocessor autoware_probabilistic_occupancy_grid_map autoware_ptv3 autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_bevformer autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_pipeline autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_in_lane_mrm_planner autoware_manual_lane_change_handler autoware_minimum_rule_based_planner autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_trajectory_adapter autoware_trajectory_concatenator autoware_trajectory_gate autoware_trajectory_modifier autoware_trajectory_ranker autoware_trajectory_selector autoware_trajectory_validator autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_direction_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_roundabout_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_calibration_status_classifier autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_objects_adapter autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_carla_interface autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_dummy_traffic_light_publisher autoware_fault_injection autoware_redundancy_command_selector autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_command_mode_decider 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autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_active_generator_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_manual_lane_change_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Version 0.53.0
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 2026-10-23
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The vehicle_cmd_gate package

Maintainers

  • Yukinari Hisaki
  • Arjun Ram
  • Takayuki Murooka

Authors

  • Hiroki OTA
control/autoware_vehicle_cmd_gate/README.md

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

Changelog for package autoware_vehicle_cmd_gate

0.53.0 (2026-09-29)

  • Merge remote-tracking branch 'origin/main' into prepare-0.53.0-changelog

  • fix(design): align the control node designs with the packages they describe (#13340)

    * fix(design): align the control node designs with the packages they describe ControlCommandGate and the operation mode transition manager name a plugin class and pin publishers that do not match the built package: the registered component is ControlCmdGate, and the transition flags belong on the design graph rather than on global: pins that link_manager skips. TrajectoryFollower declares three debug publishers with message types the node never publishes and a stop_reason publisher it does not create at all. VehicleCmdGate keeps gate_mode and engage on their official topic names through remap_target: alone, so the two inputs are connected through the design.

    * fix(autoware_operation_mode_transition_manager): declare the system and legacy interfaces as remap targets The operation mode state publisher, the two operation mode change services and the legacy engage and gate mode publishers are node-side fixed names. Declaring them as remap targets puts them on the design graph; a port pinned with global: is skipped by link_manager and the exporter emits no remap for it. ---------

  • fix(control): declare the fixed-name compatibility interfaces in the control node designs (#13281)

    * fix(control): declare the fixed-name compatibility interfaces in the control node designs operation_mode_transition_manager subscribes /control/current_gate_mode and /control/external_cmd_selector/current_selector_mode and calls /control/external_cmd_selector/select_external_command by fixed name; the gate serves the ADAPI pause/stop interfaces under /control/vehicle_cmd_gate. Declaring these ports with their remap_target lets a system design connect them and keep the fixed names when the module hierarchy nests the nodes.

    * fix(control): declare the multi-publisher gate_mode_cmd and engage topics as global ---------

  • refactor(control): move node design files into each package (#13100) Co-authored-by: Claude Opus 5 (1M context) <<noreply@anthropic.com>>

  • Contributors: Ryohsuke Mitsudome, Taekjin LEE

0.52.0 (2026-06-30)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

  • feat(autoware_vehicle_cmd_gate): apply to CIE (#12654)

    • feat: apply to CIE
    • chore: re-trigger CI

    * chore: re-trigger CI ---------

  • Contributors: Yutaro Kobayashi, github-actions

0.51.0 (2026-05-01)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(control_command_filter, vehicle_cmd_gate): add logging capabilities for command limits (#12250)
    • feat(control_command_filter): add logging capabilities for command limits
    • feat(vehicle_cmd_filter): add logging for velocity, acceleration, jerk, and steering limits
    • feat(command_filter): enhance logging by adding clock support for throttling
  • Contributors: Kyoichi Sugahara, github-actions

0.50.0 (2026-02-14)

  • Merge remote-tracking branch 'origin/main' into humble
  • fix(vehicle_cmd_gate): fix funcArgNamesDifferent (#11977) fix(vehicle_cmd_gate):
  • feat: control : fix contol packages compile error when using ros2 jazzy (#11556)
  • Contributors: Ryohsuke Mitsudome, Ryuta Kambe, 心刚

0.49.0 (2025-12-30)

0.48.0 (2025-11-18)

File truncated at 100 lines see the full file

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

No service files found

Plugins

No plugins found.

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