autoware_goal_distance_calculator
Purpose
This node publishes deviation of self-pose from goal pose.
Inner-workings / Algorithms
Name |
Type |
Description |
/planning/mission_planning/route |
autoware_planning_msgs::msg::Route |
Used to get goal pose |
/tf |
tf2_msgs/TFMessage |
TF (self-pose) |
Output
Name |
Type |
Description |
deviation/lateral |
tier4_debug_msgs::msg::Float64Stamped |
publish lateral deviation of self-pose from goal pose[m] |
deviation/longitudinal |
tier4_debug_msgs::msg::Float64Stamped |
publish longitudinal deviation of self-pose from goal pose[m] |
deviation/yaw |
tier4_debug_msgs::msg::Float64Stamped |
publish yaw deviation of self-pose from goal pose[rad] |
deviation/yaw_deg |
tier4_debug_msgs::msg::Float64Stamped |
publish yaw deviation of self-pose from goal pose[deg] |
Parameters
Node Parameters
Name |
Type |
Default Value |
Explanation |
update_rate |
double |
10.0 |
Timer callback period. [Hz] |
Core Parameters
Name |
Type |
Default Value |
Explanation |
oneshot |
bool |
true |
publish deviations just once or repeatedly |
Assumptions / Known limits
TBD.