Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Takamasa Horibe
Authors
- Takamasa Horibe
external_cmd_converter
external_cmd_converter
is a node that converts desired mechanical input to acceleration and velocity by using accel/brake map.
Input topics
Name | Type | Description |
---|---|---|
~/in/external_control_cmd |
tier4_external_api_msgs::msg::ControlCommand | target throttle/brake/steering_angle/steering_angle_velocity is necessary to calculate desired control command. |
~/input/shift_cmd" |
autoware_auto_vehicle_msgs::GearCommand | current command of gear. |
~/input/emergency_stop |
tier4_external_api_msgs::msg::Heartbeat | emergency heart beat for external command. |
~/input/current_gate_mode |
tier4_control_msgs::msg::GateMode | topic for gate mode. |
~/input/odometry |
navigation_msgs::Odometry | twist topic in odometry is used. |
Output topics
Name | Type | Description |
---|---|---|
~/out/control_cmd |
autoware_auto_control_msgs::msg::AckermannControlCommand | ackermann control command converted from selected external command |
Parameters
Parameter | Type | Description |
---|---|---|
timer_rate |
double | timer’s update rate |
wait_for_first_topic |
double | if time out check is done after receiving first topic |
control_command_timeout |
double | time out check for control command |
emergency_stop_timeout |
double | time out check for emergency stop command |
Limitation
tbd.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/external_cmd_converter.launch.xml
-
- csv_path_accel_map [default: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv]
- csv_path_brake_map [default: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv]
- ref_vel_gain [default: 3.0]
- timer_rate [default: 10.0]
- wait_for_first_topic [default: true]
- control_command_timeout [default: 1.0]
- emergency_stop_timeout [default: 3.0]
- in/external_control_cmd [default: /external/selected/external_control_cmd]
- in/shift_cmd [default: /external/selected/gear_cmd]
- in/emergency_stop [default: /external/selected/heartbeat]
- in/current_gate_mode [default: /control/current_gate_mode]
- in/odometry [default: /localization/kinematic_state]
- out/control_cmd [default: /external/selected/control_cmd]
- out/latest_external_control_cmd [default: /api/external/get/command/selected/control]
Messages
Services
Plugins
Recent questions tagged external_cmd_converter at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Takamasa Horibe
Authors
- Takamasa Horibe
external_cmd_converter
external_cmd_converter
is a node that converts desired mechanical input to acceleration and velocity by using accel/brake map.
Input topics
Name | Type | Description |
---|---|---|
~/in/external_control_cmd |
tier4_external_api_msgs::msg::ControlCommand | target throttle/brake/steering_angle/steering_angle_velocity is necessary to calculate desired control command. |
~/input/shift_cmd" |
autoware_auto_vehicle_msgs::GearCommand | current command of gear. |
~/input/emergency_stop |
tier4_external_api_msgs::msg::Heartbeat | emergency heart beat for external command. |
~/input/current_gate_mode |
tier4_control_msgs::msg::GateMode | topic for gate mode. |
~/input/odometry |
navigation_msgs::Odometry | twist topic in odometry is used. |
Output topics
Name | Type | Description |
---|---|---|
~/out/control_cmd |
autoware_auto_control_msgs::msg::AckermannControlCommand | ackermann control command converted from selected external command |
Parameters
Parameter | Type | Description |
---|---|---|
timer_rate |
double | timer’s update rate |
wait_for_first_topic |
double | if time out check is done after receiving first topic |
control_command_timeout |
double | time out check for control command |
emergency_stop_timeout |
double | time out check for emergency stop command |
Limitation
tbd.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/external_cmd_converter.launch.xml
-
- csv_path_accel_map [default: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv]
- csv_path_brake_map [default: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv]
- ref_vel_gain [default: 3.0]
- timer_rate [default: 10.0]
- wait_for_first_topic [default: true]
- control_command_timeout [default: 1.0]
- emergency_stop_timeout [default: 3.0]
- in/external_control_cmd [default: /external/selected/external_control_cmd]
- in/shift_cmd [default: /external/selected/gear_cmd]
- in/emergency_stop [default: /external/selected/heartbeat]
- in/current_gate_mode [default: /control/current_gate_mode]
- in/odometry [default: /localization/kinematic_state]
- out/control_cmd [default: /external/selected/control_cmd]
- out/latest_external_control_cmd [default: /api/external/get/command/selected/control]
Messages
Services
Plugins
Recent questions tagged external_cmd_converter at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Takamasa Horibe
Authors
- Takamasa Horibe
external_cmd_converter
external_cmd_converter
is a node that converts desired mechanical input to acceleration and velocity by using accel/brake map.
Input topics
Name | Type | Description |
---|---|---|
~/in/external_control_cmd |
tier4_external_api_msgs::msg::ControlCommand | target throttle/brake/steering_angle/steering_angle_velocity is necessary to calculate desired control command. |
~/input/shift_cmd" |
autoware_auto_vehicle_msgs::GearCommand | current command of gear. |
~/input/emergency_stop |
tier4_external_api_msgs::msg::Heartbeat | emergency heart beat for external command. |
~/input/current_gate_mode |
tier4_control_msgs::msg::GateMode | topic for gate mode. |
~/input/odometry |
navigation_msgs::Odometry | twist topic in odometry is used. |
Output topics
Name | Type | Description |
---|---|---|
~/out/control_cmd |
autoware_auto_control_msgs::msg::AckermannControlCommand | ackermann control command converted from selected external command |
Parameters
Parameter | Type | Description |
---|---|---|
timer_rate |
double | timer’s update rate |
wait_for_first_topic |
double | if time out check is done after receiving first topic |
control_command_timeout |
double | time out check for control command |
emergency_stop_timeout |
double | time out check for emergency stop command |
Limitation
tbd.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/external_cmd_converter.launch.xml
-
- csv_path_accel_map [default: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv]
- csv_path_brake_map [default: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv]
- ref_vel_gain [default: 3.0]
- timer_rate [default: 10.0]
- wait_for_first_topic [default: true]
- control_command_timeout [default: 1.0]
- emergency_stop_timeout [default: 3.0]
- in/external_control_cmd [default: /external/selected/external_control_cmd]
- in/shift_cmd [default: /external/selected/gear_cmd]
- in/emergency_stop [default: /external/selected/heartbeat]
- in/current_gate_mode [default: /control/current_gate_mode]
- in/odometry [default: /localization/kinematic_state]
- out/control_cmd [default: /external/selected/control_cmd]
- out/latest_external_control_cmd [default: /api/external/get/command/selected/control]
Messages
Services
Plugins
Recent questions tagged external_cmd_converter at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Takamasa Horibe
Authors
- Takamasa Horibe
external_cmd_converter
external_cmd_converter
is a node that converts desired mechanical input to acceleration and velocity by using accel/brake map.
Input topics
Name | Type | Description |
---|---|---|
~/in/external_control_cmd |
tier4_external_api_msgs::msg::ControlCommand | target throttle/brake/steering_angle/steering_angle_velocity is necessary to calculate desired control command. |
~/input/shift_cmd" |
autoware_auto_vehicle_msgs::GearCommand | current command of gear. |
~/input/emergency_stop |
tier4_external_api_msgs::msg::Heartbeat | emergency heart beat for external command. |
~/input/current_gate_mode |
tier4_control_msgs::msg::GateMode | topic for gate mode. |
~/input/odometry |
navigation_msgs::Odometry | twist topic in odometry is used. |
Output topics
Name | Type | Description |
---|---|---|
~/out/control_cmd |
autoware_auto_control_msgs::msg::AckermannControlCommand | ackermann control command converted from selected external command |
Parameters
Parameter | Type | Description |
---|---|---|
timer_rate |
double | timer’s update rate |
wait_for_first_topic |
double | if time out check is done after receiving first topic |
control_command_timeout |
double | time out check for control command |
emergency_stop_timeout |
double | time out check for emergency stop command |
Limitation
tbd.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/external_cmd_converter.launch.xml
-
- csv_path_accel_map [default: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv]
- csv_path_brake_map [default: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv]
- ref_vel_gain [default: 3.0]
- timer_rate [default: 10.0]
- wait_for_first_topic [default: true]
- control_command_timeout [default: 1.0]
- emergency_stop_timeout [default: 3.0]
- in/external_control_cmd [default: /external/selected/external_control_cmd]
- in/shift_cmd [default: /external/selected/gear_cmd]
- in/emergency_stop [default: /external/selected/heartbeat]
- in/current_gate_mode [default: /control/current_gate_mode]
- in/odometry [default: /localization/kinematic_state]
- out/control_cmd [default: /external/selected/control_cmd]
- out/latest_external_control_cmd [default: /api/external/get/command/selected/control]
Messages
Services
Plugins
Recent questions tagged external_cmd_converter at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Takamasa Horibe
Authors
- Takamasa Horibe
external_cmd_converter
external_cmd_converter
is a node that converts desired mechanical input to acceleration and velocity by using accel/brake map.
Input topics
Name | Type | Description |
---|---|---|
~/in/external_control_cmd |
tier4_external_api_msgs::msg::ControlCommand | target throttle/brake/steering_angle/steering_angle_velocity is necessary to calculate desired control command. |
~/input/shift_cmd" |
autoware_auto_vehicle_msgs::GearCommand | current command of gear. |
~/input/emergency_stop |
tier4_external_api_msgs::msg::Heartbeat | emergency heart beat for external command. |
~/input/current_gate_mode |
tier4_control_msgs::msg::GateMode | topic for gate mode. |
~/input/odometry |
navigation_msgs::Odometry | twist topic in odometry is used. |
Output topics
Name | Type | Description |
---|---|---|
~/out/control_cmd |
autoware_auto_control_msgs::msg::AckermannControlCommand | ackermann control command converted from selected external command |
Parameters
Parameter | Type | Description |
---|---|---|
timer_rate |
double | timer’s update rate |
wait_for_first_topic |
double | if time out check is done after receiving first topic |
control_command_timeout |
double | time out check for control command |
emergency_stop_timeout |
double | time out check for emergency stop command |
Limitation
tbd.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/external_cmd_converter.launch.xml
-
- csv_path_accel_map [default: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv]
- csv_path_brake_map [default: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv]
- ref_vel_gain [default: 3.0]
- timer_rate [default: 10.0]
- wait_for_first_topic [default: true]
- control_command_timeout [default: 1.0]
- emergency_stop_timeout [default: 3.0]
- in/external_control_cmd [default: /external/selected/external_control_cmd]
- in/shift_cmd [default: /external/selected/gear_cmd]
- in/emergency_stop [default: /external/selected/heartbeat]
- in/current_gate_mode [default: /control/current_gate_mode]
- in/odometry [default: /localization/kinematic_state]
- out/control_cmd [default: /external/selected/control_cmd]
- out/latest_external_control_cmd [default: /api/external/get/command/selected/control]
Messages
Services
Plugins
Recent questions tagged external_cmd_converter at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Takamasa Horibe
Authors
- Takamasa Horibe
external_cmd_converter
external_cmd_converter
is a node that converts desired mechanical input to acceleration and velocity by using accel/brake map.
Input topics
Name | Type | Description |
---|---|---|
~/in/external_control_cmd |
tier4_external_api_msgs::msg::ControlCommand | target throttle/brake/steering_angle/steering_angle_velocity is necessary to calculate desired control command. |
~/input/shift_cmd" |
autoware_auto_vehicle_msgs::GearCommand | current command of gear. |
~/input/emergency_stop |
tier4_external_api_msgs::msg::Heartbeat | emergency heart beat for external command. |
~/input/current_gate_mode |
tier4_control_msgs::msg::GateMode | topic for gate mode. |
~/input/odometry |
navigation_msgs::Odometry | twist topic in odometry is used. |
Output topics
Name | Type | Description |
---|---|---|
~/out/control_cmd |
autoware_auto_control_msgs::msg::AckermannControlCommand | ackermann control command converted from selected external command |
Parameters
Parameter | Type | Description |
---|---|---|
timer_rate |
double | timer’s update rate |
wait_for_first_topic |
double | if time out check is done after receiving first topic |
control_command_timeout |
double | time out check for control command |
emergency_stop_timeout |
double | time out check for emergency stop command |
Limitation
tbd.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/external_cmd_converter.launch.xml
-
- csv_path_accel_map [default: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv]
- csv_path_brake_map [default: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv]
- ref_vel_gain [default: 3.0]
- timer_rate [default: 10.0]
- wait_for_first_topic [default: true]
- control_command_timeout [default: 1.0]
- emergency_stop_timeout [default: 3.0]
- in/external_control_cmd [default: /external/selected/external_control_cmd]
- in/shift_cmd [default: /external/selected/gear_cmd]
- in/emergency_stop [default: /external/selected/heartbeat]
- in/current_gate_mode [default: /control/current_gate_mode]
- in/odometry [default: /localization/kinematic_state]
- out/control_cmd [default: /external/selected/control_cmd]
- out/latest_external_control_cmd [default: /api/external/get/command/selected/control]
Messages
Services
Plugins
Recent questions tagged external_cmd_converter at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Takamasa Horibe
Authors
- Takamasa Horibe
external_cmd_converter
external_cmd_converter
is a node that converts desired mechanical input to acceleration and velocity by using accel/brake map.
Input topics
Name | Type | Description |
---|---|---|
~/in/external_control_cmd |
tier4_external_api_msgs::msg::ControlCommand | target throttle/brake/steering_angle/steering_angle_velocity is necessary to calculate desired control command. |
~/input/shift_cmd" |
autoware_auto_vehicle_msgs::GearCommand | current command of gear. |
~/input/emergency_stop |
tier4_external_api_msgs::msg::Heartbeat | emergency heart beat for external command. |
~/input/current_gate_mode |
tier4_control_msgs::msg::GateMode | topic for gate mode. |
~/input/odometry |
navigation_msgs::Odometry | twist topic in odometry is used. |
Output topics
Name | Type | Description |
---|---|---|
~/out/control_cmd |
autoware_auto_control_msgs::msg::AckermannControlCommand | ackermann control command converted from selected external command |
Parameters
Parameter | Type | Description |
---|---|---|
timer_rate |
double | timer’s update rate |
wait_for_first_topic |
double | if time out check is done after receiving first topic |
control_command_timeout |
double | time out check for control command |
emergency_stop_timeout |
double | time out check for emergency stop command |
Limitation
tbd.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/external_cmd_converter.launch.xml
-
- csv_path_accel_map [default: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv]
- csv_path_brake_map [default: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv]
- ref_vel_gain [default: 3.0]
- timer_rate [default: 10.0]
- wait_for_first_topic [default: true]
- control_command_timeout [default: 1.0]
- emergency_stop_timeout [default: 3.0]
- in/external_control_cmd [default: /external/selected/external_control_cmd]
- in/shift_cmd [default: /external/selected/gear_cmd]
- in/emergency_stop [default: /external/selected/heartbeat]
- in/current_gate_mode [default: /control/current_gate_mode]
- in/odometry [default: /localization/kinematic_state]
- out/control_cmd [default: /external/selected/control_cmd]
- out/latest_external_control_cmd [default: /api/external/get/command/selected/control]
Messages
Services
Plugins
Recent questions tagged external_cmd_converter at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Takamasa Horibe
Authors
- Takamasa Horibe
external_cmd_converter
external_cmd_converter
is a node that converts desired mechanical input to acceleration and velocity by using accel/brake map.
Input topics
Name | Type | Description |
---|---|---|
~/in/external_control_cmd |
tier4_external_api_msgs::msg::ControlCommand | target throttle/brake/steering_angle/steering_angle_velocity is necessary to calculate desired control command. |
~/input/shift_cmd" |
autoware_auto_vehicle_msgs::GearCommand | current command of gear. |
~/input/emergency_stop |
tier4_external_api_msgs::msg::Heartbeat | emergency heart beat for external command. |
~/input/current_gate_mode |
tier4_control_msgs::msg::GateMode | topic for gate mode. |
~/input/odometry |
navigation_msgs::Odometry | twist topic in odometry is used. |
Output topics
Name | Type | Description |
---|---|---|
~/out/control_cmd |
autoware_auto_control_msgs::msg::AckermannControlCommand | ackermann control command converted from selected external command |
Parameters
Parameter | Type | Description |
---|---|---|
timer_rate |
double | timer’s update rate |
wait_for_first_topic |
double | if time out check is done after receiving first topic |
control_command_timeout |
double | time out check for control command |
emergency_stop_timeout |
double | time out check for emergency stop command |
Limitation
tbd.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/external_cmd_converter.launch.xml
-
- csv_path_accel_map [default: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv]
- csv_path_brake_map [default: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv]
- ref_vel_gain [default: 3.0]
- timer_rate [default: 10.0]
- wait_for_first_topic [default: true]
- control_command_timeout [default: 1.0]
- emergency_stop_timeout [default: 3.0]
- in/external_control_cmd [default: /external/selected/external_control_cmd]
- in/shift_cmd [default: /external/selected/gear_cmd]
- in/emergency_stop [default: /external/selected/heartbeat]
- in/current_gate_mode [default: /control/current_gate_mode]
- in/odometry [default: /localization/kinematic_state]
- out/control_cmd [default: /external/selected/control_cmd]
- out/latest_external_control_cmd [default: /api/external/get/command/selected/control]
Messages
Services
Plugins
Recent questions tagged external_cmd_converter at Robotics Stack Exchange
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Description | |
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-05-30 |
Dev Status | UNKNOWN |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Takamasa Horibe
Authors
- Takamasa Horibe
external_cmd_converter
external_cmd_converter
is a node that converts desired mechanical input to acceleration and velocity by using accel/brake map.
Input topics
Name | Type | Description |
---|---|---|
~/in/external_control_cmd |
tier4_external_api_msgs::msg::ControlCommand | target throttle/brake/steering_angle/steering_angle_velocity is necessary to calculate desired control command. |
~/input/shift_cmd" |
autoware_auto_vehicle_msgs::GearCommand | current command of gear. |
~/input/emergency_stop |
tier4_external_api_msgs::msg::Heartbeat | emergency heart beat for external command. |
~/input/current_gate_mode |
tier4_control_msgs::msg::GateMode | topic for gate mode. |
~/input/odometry |
navigation_msgs::Odometry | twist topic in odometry is used. |
Output topics
Name | Type | Description |
---|---|---|
~/out/control_cmd |
autoware_auto_control_msgs::msg::AckermannControlCommand | ackermann control command converted from selected external command |
Parameters
Parameter | Type | Description |
---|---|---|
timer_rate |
double | timer’s update rate |
wait_for_first_topic |
double | if time out check is done after receiving first topic |
control_command_timeout |
double | time out check for control command |
emergency_stop_timeout |
double | time out check for emergency stop command |
Limitation
tbd.
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/external_cmd_converter.launch.xml
-
- csv_path_accel_map [default: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv]
- csv_path_brake_map [default: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv]
- ref_vel_gain [default: 3.0]
- timer_rate [default: 10.0]
- wait_for_first_topic [default: true]
- control_command_timeout [default: 1.0]
- emergency_stop_timeout [default: 3.0]
- in/external_control_cmd [default: /external/selected/external_control_cmd]
- in/shift_cmd [default: /external/selected/gear_cmd]
- in/emergency_stop [default: /external/selected/heartbeat]
- in/current_gate_mode [default: /control/current_gate_mode]
- in/odometry [default: /localization/kinematic_state]
- out/control_cmd [default: /external/selected/control_cmd]
- out/latest_external_control_cmd [default: /api/external/get/command/selected/control]