tier4_control_rviz_plugin

This package is to mimic external control for simulation.

Inputs / Outputs

Input

Name	Type	Description
/control/current_gate_mode	tier4_control_msgs::msg::GateMode	Current GATE mode
/vehicle/status/velocity_status	autoware_auto_vehicle_msgs::msg::VelocityReport	Current velocity status
/api/autoware/get/engage	tier4_external_api_msgs::srv::Engage	Getting Engage
/vehicle/status/gear_status	autoware_auto_vehicle_msgs::msg::GearReport	The state of GEAR

Output

Name	Type	Description
/control/gate_mode_cmd	tier4_control_msgs::msg::GateMode	GATE mode
/external/selected/control_cmd	autoware_auto_control_msgs::msg::AckermannControlCommand	AckermannControlCommand
/external/selected/gear_cmd	autoware_auto_vehicle_msgs::msg::GearCommand	GEAR

Usage

1. Start rviz and select Panels.

   

2. Select tier4_control_rviz_plugin/ManualController and press OK.

   

3. Enter velocity in "Set Cruise Velocity" and Press the button to confirm. You can notice that GEAR shows D (DRIVE).

   

4. Press "Enable Manual Control" and you can notice that "GATE" and "Engage" turn "Ready" and the vehicle starts!