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autoware_control_command_gate package from autoware_universe repo

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autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion 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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_rtc_interface autoware_behavior_velocity_run_out_module 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_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_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor 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autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer 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_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Tags No category tags.
Version 0.46.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-07-30
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The control_command_gate package

Additional Links

No additional links.

Maintainers

  • Takagi, Isamu

Authors

No additional authors.
control/autoware_control_command_gate/README.md

autoware_control_command_gate

Overview

This package subscribes to multiple commands, selects one and publish it. Here, unless otherwise specified, command refers to a set of four commands: control, gear, turn_indicators, and hazard_lights. Each command input is identified as a command source, an arbitrary string. The node also applies a nominal filter to the selected commands to correct for obvious abnormal values.

dataflow

Requirements

  • Functional
    • Subscribe to multiple commands as command source.
    • Generate a builtin stop command as command source.
    • Select one from the command sources and publish it.
    • Filter abnormal values in the command selected.
    • Filter the command selected smoothly on mode transition when requested.
    • Support parking mode for humans to explicitly stop the vehicle (T.B.D.).
  • Safety
    • Detect timeouts for each command source.
    • Select builtin stop when selected command source is not available.
CHANGELOG

Changelog for package autoware_control_command_gate

0.46.0 (2025-06-20)

  • Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
  • feat(control_command_gate): create package (#10169)
  • Contributors: TaikiYamada4, Takagi, Isamu

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/control_command_gate.launch.xml
      • config [default: $(find-pkg-share autoware_control_command_gate)/config/default.param.yaml]
      • output/control [default: /control/command/control_cmd]
      • output/gear [default: /control/command/gear_cmd]
      • output/turn_indicators [default: /control/command/turn_indicators_cmd]
      • output/hazard_lights [default: /control/command/hazard_lights_cmd]
      • inputs/main/control [default: /control/trajectory_follower/control_cmd]
      • inputs/main/gear [default: /control/shift_decider/gear_cmd]
      • inputs/main/hazard_lights [default: /planning/hazard_lights_cmd]
      • inputs/main/turn_indicators [default: /planning/turn_indicators_cmd]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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