joy_controller#

Role#

joy_controller is the package to convert a joy msg to autoware commands (e.g. steering wheel, shift, turn signal, engage) for a vehicle.

Name	Type	Description
`~/input/joy`	sensor_msgs::msg::Joy	joy controller command
`~/input/odometry`	nav_msgs::msg::Odometry	ego vehicle odometry to get twist

Name	Type	Description
`~/output/control_command`	autoware_auto_control_msgs::msg::AckermannControlCommand	lateral and longitudinal control command
`~/output/external_control_command`	tier4_external_api_msgs::msg::ControlCommandStamped	lateral and longitudinal control command
`~/output/shift`	tier4_external_api_msgs::msg::GearShiftStamped	gear command
`~/output/turn_signal`	tier4_external_api_msgs::msg::TurnSignalStamped	turn signal command
`~/output/gate_mode`	tier4_control_msgs::msg::GateMode	gate mode (Auto or External)
`~/output/heartbeat`	tier4_external_api_msgs::msg::Heartbeat	heartbeat
`~/output/vehicle_engage`	autoware_auto_vehicle_msgs::msg::Engage	vehicle engage

Parameter	Type	Description
`joy_type`	string	joy controller type (default: DS4)
`update_rate`	double	update rate to publish control commands
`accel_ratio`	double	ratio to calculate acceleration (commanded acceleration is ratio * operation)
`brake_ratio`	double	ratio to calculate deceleration (commanded acceleration is -ratio * operation)
`steer_ratio`	double	ratio to calculate deceleration (commanded steer is ratio * operation)
`steering_angle_velocity`	double	steering angle velocity for operation
`accel_sensitivity`	double	sensitivity to calculate acceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity))
`brake_sensitivity`	double	sensitivity to calculate deceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity))
`velocity_gain`	double	ratio to calculate velocity by acceleration
`max_forward_velocity`	double	absolute max velocity to go forward
`max_backward_velocity`	double	absolute max velocity to go backward
`backward_accel_ratio`	double	ratio to calculate deceleration (commanded acceleration is -ratio * operation)