/vehicle/status/gear_status#
Specifications#
| Item | Value |
|---|---|
| Last Updated | 2026-01-21 |
| Interface Type | topic |
| Interface Name | /vehicle/status/gear_status |
| Data Type | autoware_vehicle_msgs/msg/GearReport |
| Rate [Hz] | 10 or N/A |
| QoS Reliability | reliable |
| QoS Durability | volatile or transient_local |
Description#
Get the current gear status of the vehicle. The statuses are listed in the table below. It is recommended to set QoS to transient_local and publish only when the status changes, but currently many implementations publish the status periodically. Therefore, ensure consistency across the entire system.
| Value | Description |
|---|---|
| PARKING | The engine or motor is disconnected from the tires and the stopping mechanism is activated. |
| NEUTRAL | The engine or motor is disconnected from the tires. |
| DRIVE | The engine or motor is connected to the tires in the forward direction. |
| REVERSE | The engine or motor is connected to the tires in the backward direction. |
Message#
The stamp field is the status received time or hardware time such as VCU. In the case of periodic publication, use the latest time, not the last status change.
For the report field, use the valid values listed above. The NONE value can be used internally by programs, but will never be sent as a topic.
Values such as LOW and DRIVE_2 can be used if the vehicle has its own special gear types, but a dedicated implementation is required to handle this.
Errors#
Unknown status: If the vehicle interface cannot get the status due to connection loss, etc., the status is stopped and a diagnostic error is reported.
Invalid status: If the vehicle interface receives an undefined status, stop publishing status and report as diagnostics.
Hardware Fault: If the vehicle platform reports a sensor fault, a diagnostic error is reported.
Support#
This interface is required. If the vehicle does not have gear, simulate the gear behavior.
Limitations#
Latency: Gear shifting is a mechanical process that takes time (typically 0.5s to 2.0s). The status reported here reflects the actual engaged gear, so there will be a delay after sending a command. Autoware must handle this transition period.
Use Cases#
- Control the vehicle for autonomous driving.
- Display current gear status to the operator.
Requirement#
- Support getting the current gear status of the vehicle.
- Support vehicle-specific gear status if necessary.
Design#
- Support four typical gear types: PARKING, NEUTRAL, DRIVE, and REVERSE.
- Unused values can be used for special gear types.
- Simulate gear if necessary to increase reusability.
History#
| Date | Description |
|---|---|
| 2026-01-21 | First release in the new format. |