external_cmd_converter

external_cmd_converter is a node that converts desired mechanical input to acceleration and velocity by using accel/brake map.

Input topics

Name	Type	Description
~/in/external_control_cmd	tier4_external_api_msgs::msg::ControlCommand	target throttle/brake/steering_angle/steering_angle_velocity is necessary to calculate desired control command.
~/input/shift_cmd"	autoware_auto_vehicle_msgs::GearCommand	current command of gear.
~/input/emergency_stop	tier4_external_api_msgs::msg::Heartbeat	emergency heart beat for external command.
~/input/current_gate_mode	tier4_control_msgs::msg::GateMode	topic for gate mode.
~/input/odometry	navigation_msgs::Odometry	twist topic in odometry is used.

Output topics

Name	Type	Description
~/out/control_cmd	autoware_auto_control_msgs::msg::AckermannControlCommand	ackermann control command converted from selected external command

Parameters

Parameter	Type	Description
timer_rate	double	timer's update rate
wait_for_first_topic	double	if time out check is done after receiving first topic
control_command_timeout	double	time out check for control command
emergency_stop_timeout	double	time out check for emergency stop command

Limitation

tbd.