Control

Inputs

Vehicle kinematic state

Current position and orientation of ego. Published by the Localization module.

• nav_msgs/Odometry
  • std_msgs/Header header
  • string child_frame_id
  • geometry_msgs/PoseWithCovariance pose
  • geometry_msgs/TwistWithCovariance twist

Trajectory

trajectory to be followed by the controller. See Outputs of Planning.

Steering Status

Current steering of the ego vehicle. Published by the Vehicle Interface.

• Steering message (github discussion).
  • builtin_interfaces::msg::Time stamp
  • float32 steering_angle

Actuation Status

Actuation status of the ego vehicle for acceleration, steering, and brake.

TODO This represents the reported physical efforts exerted by the vehicle actuators. Published by the Vehicle Interface.

• ActuationStatus (github discussion).
  • builtin_interfaces::msg::Time stamp
  • float32 acceleration
  • float32 steering

Output

Vehicle Control Command

A motion signal to drive the vehicle, achieved by the low-level controller in the vehicle layer. Used by the Vehicle Interface.

• autoware_auto_control_msgs/AckermannControlCommand
  • builtin_interfaces::msg::Time stamp
  • autoware_auto_control_msgs/AckermannLateralCommand lateral
    • builtin_interfaces::msg::Time stamp
    • float steering_tire_angle
    • float steering_tire_rotation_rate
  • autoware_auto_control_msgs/LongitudinalCommand longitudinal
    • builtin_interfaces::msg::Time stamp
    • builtin_interfaces::msg::Duration duration
    • builtin_interfaces::msg::Duration time_step
    • float[] speeds
    • float[] accelerations
    • float[] jerks