ROS index logo ROS Index
  1. Home
  2. Packages
  3. autoware_vehicle_cmd_gate
 
No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro kilted. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.

autoware_vehicle_cmd_gate package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils 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_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 autoware_bytetrack 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_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map 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_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_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_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_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_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_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 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_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_command_mode_decider autoware_command_mode_decider_plugins autoware_command_mode_switcher autoware_command_mode_switcher_plugins autoware_command_mode_types autoware_component_monitor autoware_component_state_monitor autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_default_adapi_universe autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure 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

API Docs
Browse Code

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 vehicle_cmd_gate package

Additional Links

No additional links.

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
  • Description: Defines absolute limits for control variables

Functionality

Main Functionality

  • Receive multiple control commands (from Autoware planning, emergency handler, remote control, etc.) and select one to forward to the vehicle.
  • Apply a final guard on the selected command to enforce absolute safety limits (e.g., maximum steering rate). This is not a comfort filter.
  • Enforce transition guards during mode changes into autonomous driving (e.g., remote→autonomous, manual→autonomous) to limit sudden changes. Integration with the Operation Transition Manager is recommended, though code boundaries should be maintained due to its complexity.

Sub-Functionality

  • Check heartbeat signals to verify connectivity for each input (e.g., emergency external heartbeat).
  • Publish status indicating whether the final guard is active. Active guard in autonomous mode implies an unexpected constraint in command generation and requires attention.
  • Leverage guard status during mode transitions to notify operators/drivers that a strong constraint is active (focus on “transition in progress” rather than simple filter activation).

Filter function

This module incorporates a limitation filter to the control command right before its published. Primarily for safety, this filter restricts the output range of all control commands published through Autoware.

The limitation values are calculated based on the 1D interpolation of the limitation array parameters. Here is an example for the longitudinal jerk limit.

filter-example

Notation: this filter is not designed to enhance ride comfort. Its main purpose is to detect and remove abnormal values in the control outputs during the final stages of Autoware. If this filter is frequently active, it implies the control module may need tuning. If you’re aiming to smoothen the signal via a low-pass filter or similar techniques, that should be handled in the control module. When the filter is activated, the topic ~/is_filter_activated is published.

Notation 2: If you use vehicles in which the driving force is controlled by the accelerator/brake pedal, the jerk limit, denoting the pedal rate limit, must be sufficiently relaxed at low speeds. Otherwise, quick pedal changes at start/stop will not be possible, resulting in slow starts and creep down on hills. This functionality for starting/stopping was embedded in the source code but was removed because it was complex and could be achieved by parameters.

Assumptions / Known limits

External Emergency Heartbeat

The parameter check_external_emergency_heartbeat (true by default) enables an emergency stop request from external modules. This feature requires a ~/input/external_emergency_stop_heartbeat topic for health monitoring of the external module, and the vehicle_cmd_gate module will not start without the topic. The check_external_emergency_heartbeat parameter must be false when the “external emergency stop” function is not used.

Commands on Mode changes

Output commands’ topics: turn_indicators_cmd, hazard_light and gear_cmd are selected based on gate_mode. However, to ensure the continuity of commands, these commands will not change until the topics of new input commands arrive, even if a mode change occurs.

Caution

  • This node depends on the Operation Mode Transition Manager for Engage state transitions at the design level.
  • Tests are essential and must be retained.
CHANGELOG

Changelog for package autoware_vehicle_cmd_gate

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

  • Merge remote-tracking branch 'origin/main' into tmp/notbot/bump_version_base
  • chore(vehicle_cmd_gate): suppress frequent log (#10630)
  • fix(vehicle_cmd_gate): fix bug in limitLateralSteer (#10532)
  • Contributors: Ryuta Kambe, TaikiYamada4, Takayuki Murooka

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat: manual control (#10354)
    • feat(default_adapi): add manual control
    • add conversion
    • update selector
    • update selector depends
    • update converter
    • modify heartbeat name
    • update launch
    • update api
    • fix pedal callback
    • done todo
    • apply message rename
    • fix test
    • fix message type and qos
    • fix steering_tire_velocity

    * fix for clang-tidy ---------

  • Contributors: Ryohsuke Mitsudome, Takagi, Isamu

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
  • fix(planning, control): reuse stamp of subscribed topic to measure component latency (#10201)
    • fix(behavior_velocity_planner): reuse timestamp of recieved path
    • fix(behavior_path_planner): check timestamp first in timer driven callback
    • fix(trajectory_follower_node): check timestamp first in timer driven callback

    * fix(vehicle_cmd_gate): reuse timestamp of recieved path ---------

  • Contributors: Hayato Mizushima, Satoshi OTA, Yutaka Kondo

0.42.0 (2025-03-03)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
  • Contributors: Fumiya Watanabe, 心刚

0.41.2 (2025-02-19)

  • chore: bump version to 0.41.1 (#10088)
  • Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

  • Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
  • feat(autoware_vehicle_cmd_gate)!: tier4-debug_msgs changed to autoware_internal_debug_msgs in autoware_vehicle_cmd_gate (#9856)
  • feat(autoware_component_interface_specs_universe!): rename package (#9753)
  • Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, Vishal Chauhan

0.40.0 (2024-12-12)

  • Merge branch 'main' into release-0.40.0
  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
  • fix: fix ticket links in CHANGELOG.rst (#9588)
  • chore(package.xml): bump version to 0.39.0 (#9587)
    • chore(package.xml): bump version to 0.39.0
    • fix: fix ticket links in CHANGELOG.rst

    * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

  • fix: fix ticket links in CHANGELOG.rst (#9588)
  • fix(cpplint): include what you use - control (#9565)
  • fix(autoware_vehicle_cmd_gate): remove unused variable (#9377)
  • 0.39.0
  • update changelog
  • Merge commit '6a1ddbd08bd' into release-0.39.0
  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
  • fix(control): missing dependency in control components (#9073)
  • fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
  • chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
    • unify package.xml version to 0.37.0
    • remove system_monitor/CHANGELOG.rst
    • add changelog

    * 0.38.0

  • fix(vehicle_cmd_gate): fix processing time measurement (#9260)
  • refactor(component_interface_utils): prefix package and namespace with autoware (#9092)
  • Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Maxime CLEMENT, Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo, ぐるぐる

0.39.0 (2024-11-25)

0.38.0 (2024-11-08)

  • unify package.xml version to 0.37.0
  • refactor(component_interface_specs): prefix package and namespace with autoware (#9094)
  • feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (#9065)
    • feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub
    • fix: pre-commit
    • feat(costmap_generator): fix: No output when not Active.
    • fix: clang-format

    * Re: fix: clang-format ---------

  • fix(control): align the parameters with launcher (#8789) align the control parameters
  • chore(vehicle_cmd_gate): delete deprecated parameters (#8537) delete deprecated params in vehicle_cmd_gate.param.yaml
  • fix(autoware_vehicle_cmd_gate): fix unusedFunction (#8556) fix:unusedFunction
  • refactor(vehicle_cmd_gate): use smaller class for filter command (#8518)
  • fix(autoware_vehicle_cmd_gate): fix unreadVariable (#8351)
  • feat(autoware_vehicle_cmd_gate): accept same topic unless mode change occurs (#8479)
    • add prev_commands_ and check cmd's time stamp
    • add timestamp when is_engaged is false
    • style(pre-commit): autofix
    • add initialization for hazard_light timestamp in Commands
    • style(pre-commit): autofix
    • update README.md
    • style(pre-commit): autofix
    • fix typo

    * fix(autoware_vehicle_cmd_gate): rename the function that checks the continuity of topics Co-authored-by: Takamasa Horibe <<horibe.takamasa@gmail.com>>

    • style(pre-commit): autofix
    • feat(autoware_vehicle_cmd_gate): check continuity using shared_ptr
    • feat(autoware_vehicle_cmd_gate): add INFO message for topics that are not receiving
    • fix template function to pass build-and-test-differential
    • fix(autoware_vehicle_cmd_gate): add #include <string> according to pre-commit.ci
    • fix(vehicle_cmd_gate) add underscores to member variable names for consistency
    • style(pre-commit): autofix
    • feat(vehicle_cmd_gate): accept same topic unless mode change occurs

    * feat(vehicle_cmd_gate): add default topic_name to getContinuousTopic function ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Takamasa Horibe <<horibe.takamasa@gmail.com>> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • feat(autoware_vehicle_cmd_gate): check the timestamp of input topics to avoid using old topics (#8084)
    • add prev_commands_ and check cmd's time stamp
    • add timestamp when is_engaged is false
    • style(pre-commit): autofix
    • add initialization for hazard_light timestamp in Commands
    • style(pre-commit): autofix
    • update README.md
    • style(pre-commit): autofix
    • fix typo

    * fix(autoware_vehicle_cmd_gate): rename the function that checks the continuity of topics Co-authored-by: Takamasa Horibe <<horibe.takamasa@gmail.com>>

    • style(pre-commit): autofix
    • feat(autoware_vehicle_cmd_gate): check continuity using shared_ptr
    • feat(autoware_vehicle_cmd_gate): add INFO message for topics that are not receiving
    • fix template function to pass build-and-test-differential
    • fix(autoware_vehicle_cmd_gate): add #include <string> according to pre-commit.ci
    • fix(vehicle_cmd_gate) add underscores to member variable names for consistency

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Takamasa Horibe <<horibe.takamasa@gmail.com>> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • fix(autoware_vehicle_cmd_gate): fix functionConst (#8253) fix: functionConst
  • fix(autoware_vehicle_cmd_gate): fix cppcheck warning of functionStatic (#8260)
    • fix: deal with functionStatic warnings

    * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • fix(autoware_vehicle_cmd_gate): fix uninitMemberVar (#8339) fix:uninitMemberVar
  • fix(autoware_vehicle_cmd_gate): fix passedByValue (#8243) fix: passedByValue
  • fix(autoware_vehicle_cmd_gate): fix funcArgNamesDifferent (#8006) fix:funcArgNamesDifferent
  • refactor(vehicle_cmd_gate)!: delete rate limit skipping function for vehicle departure (#7720)
    • delete a fucntion block. More appropriate function can be achieved by the parameter settings.

    * add notation to readme ---------

  • fix(vehicle_cmd_gate): colcon test failure due to heavy process (#7678)
  • refactor(universe_utils/motion_utils)!: add autoware namespace (#7594)
  • refactor(motion_utils)!: add autoware prefix and include dir (#7539) refactor(motion_utils): add autoware prefix and include dir
  • feat(autoware_universe_utils)!: rename from tier4_autoware_utils (#7538) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
  • fix(vehicle_cmd_gate): put back subscriber rather than using polling subsriber (#7500) put back polling subscribers to subscribers in neccesary cases
  • fix(vehicle_cmd_gate): fix unnecessary modification (#7488) fix onGateMode function
  • feat(vehicle_cmd_gate): use polling subscriber (#7418)
    • change to polling subscriber

    * fix

  • refactor(vehicle_info_utils)!: prefix package and namespace with autoware (#7353)
    • chore(autoware_vehicle_info_utils): rename header
    • chore(bpp-common): vehicle info
    • chore(path_optimizer): vehicle info
    • chore(velocity_smoother): vehicle info
    • chore(bvp-common): vehicle info
    • chore(static_centerline_generator): vehicle info
    • chore(obstacle_cruise_planner): vehicle info
    • chore(obstacle_velocity_limiter): vehicle info
    • chore(mission_planner): vehicle info
    • chore(obstacle_stop_planner): vehicle info
    • chore(planning_validator): vehicle info
    • chore(surround_obstacle_checker): vehicle info
    • chore(goal_planner): vehicle info
    • chore(start_planner): vehicle info
    • chore(control_performance_analysis): vehicle info
    • chore(lane_departure_checker): vehicle info
    • chore(predicted_path_checker): vehicle info
    • chore(vehicle_cmd_gate): vehicle info
    • chore(obstacle_collision_checker): vehicle info
    • chore(operation_mode_transition_manager): vehicle info
    • chore(mpc): vehicle info
    • chore(control): vehicle info
    • chore(common): vehicle info
    • chore(perception): vehicle info
    • chore(evaluator): vehicle info
    • chore(freespace): vehicle info
    • chore(planning): vehicle info
    • chore(vehicle): vehicle info
    • chore(simulator): vehicle info
    • chore(launch): vehicle info
    • chore(system): vehicle info
    • chore(sensing): vehicle info

    * fix(autoware_joy_controller): remove unused deps ---------

  • chore(vehicle_cmd_gate): add prefix autoware_ to vehicle_cmd_gate (#7327)
    • add prefix autoware_ to vehicle_cmd_gate package
    • fix
    • fix include guard

    * fix pre-commit ---------

  • Contributors: Autumn60, Esteve Fernandez, Go Sakayori, Hayate TOBA, Kazunori-Nakajima, Kosuke Takeuchi, SHtokuda, Satoshi OTA, Takamasa Horibe, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, Zhe Shen, kobayu858, taisa1

0.26.0 (2024-04-03)

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/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. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.