vehicle_cmd_gate

Purpose

vehicle_cmd_gate is the package to get information from emergency handler, planning module, external controller, and send a msg to vehicle.

Inputs / Outputs

Input

Name	Type	Description
~/input/steering	autoware_auto_vehicle_msgs::msg::SteeringReport	steering status
~/input/auto/control_cmd	autoware_auto_control_msgs::msg::AckermannControlCommand	command for lateral and longitudinal velocity from planning module
~/input/auto/turn_indicators_cmd	autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand	turn indicators command from planning module
~/input/auto/hazard_lights_cmd	autoware_auto_vehicle_msgs::msg::HazardLightsCommand	hazard lights command from planning module
~/input/auto/gear_cmd	autoware_auto_vehicle_msgs::msg::GearCommand	gear command from planning module
~/input/external/control_cmd	autoware_auto_control_msgs::msg::AckermannControlCommand	command for lateral and longitudinal velocity from external
~/input/external/turn_indicators_cmd	autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand	turn indicators command from external
~/input/external/hazard_lights_cmd	autoware_auto_vehicle_msgs::msg::HazardLightsCommand	hazard lights command from external
~/input/external/gear_cmd	autoware_auto_vehicle_msgs::msg::GearCommand	gear command from external
~/input/external_emergency_stop_heartbeat	tier4_external_api_msgs::msg::Heartbeat	heartbeat
~/input/gate_mode	tier4_control_msgs::msg::GateMode	gate mode (AUTO or EXTERNAL)
~/input/emergency/control_cmd	autoware_auto_control_msgs::msg::AckermannControlCommand	command for lateral and longitudinal velocity from emergency handler
~/input/emergency/hazard_lights_cmd	autoware_auto_vehicle_msgs::msg::HazardLightsCommand	hazard lights command from emergency handler
~/input/emergency/gear_cmd	autoware_auto_vehicle_msgs::msg::GearCommand	gear command from emergency handler
~/input/engage	autoware_auto_vehicle_msgs::msg::Engage	engage signal
~/input/operation_mode	autoware_adapi_v1_msgs::msg::OperationModeState	operation mode of Autoware

Output

Name	Type	Description
~/output/vehicle_cmd_emergency	autoware_auto_system_msgs::msg::EmergencyState	emergency state which was originally in vehicle command
~/output/command/control_cmd	autoware_auto_control_msgs::msg::AckermannControlCommand	command for lateral and longitudinal velocity to vehicle
~/output/command/turn_indicators_cmd	autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand	turn indicators command to vehicle
~/output/command/hazard_lights_cmd	autoware_auto_vehicle_msgs::msg::HazardLightsCommand	hazard lights command to vehicle
~/output/command/gear_cmd	autoware_auto_vehicle_msgs::msg::GearCommand	gear command to vehicle
~/output/gate_mode	tier4_control_msgs::msg::GateMode	gate mode (AUTO or EXTERNAL)
~/output/engage	autoware_auto_vehicle_msgs::msg::Engage	engage signal
~/output/external_emergency	tier4_external_api_msgs::msg::Emergency	external emergency signal
~/output/operation_mode	tier4_system_msgs::msg::OperationMode	current operation mode of the vehicle_cmd_gate

Parameters

Parameter	Type	Description
update_period	double	update period
use_emergency_handling	bool	true when emergency handler is used
check_external_emergency_heartbeat	bool	true when checking heartbeat for emergency stop
system_emergency_heartbeat_timeout	double	timeout for system emergency
external_emergency_stop_heartbeat_timeout	double	timeout for external emergency
stop_hold_acceleration	double	longitudinal acceleration cmd when vehicle should stop
emergency_acceleration	double	longitudinal acceleration cmd when vehicle stop with emergency
nominal.vel_lim	double	limit of longitudinal velocity (activated in AUTONOMOUS operation mode)
nominal.lon_acc_lim	double	limit of longitudinal acceleration (activated in AUTONOMOUS operation mode)
nominal.lon_jerk_lim	double	limit of longitudinal jerk (activated in AUTONOMOUS operation mode)
nominal.lat_acc_lim	double	limit of lateral acceleration (activated in AUTONOMOUS operation mode)
nominal.lat_jerk_lim	double	limit of lateral jerk (activated in AUTONOMOUS operation mode)
on_transition.vel_lim	double	limit of longitudinal velocity (activated in TRANSITION operation mode)
on_transition.lon_acc_lim	double	limit of longitudinal acceleration (activated in TRANSITION operation mode)
on_transition.lon_jerk_lim	double	limit of longitudinal jerk (activated in TRANSITION operation mode)
on_transition.lat_acc_lim	double	limit of lateral acceleration (activated in TRANSITION operation mode)
on_transition.lat_jerk_lim	double	limit of lateral jerk (activated in TRANSITION operation mode)

Assumptions / Known limits

The parameter check_external_emergency_heartbeat (true by default) enables an emergency stop request from external modules. This feature requires a ~/input/external_emergency_stop_heartbeat topic for health monitoring of the external module, and the vehicle_cmd_gate module will not start without the topic. The check_external_emergency_heartbeat parameter must be false when the "external emergency stop" function is not used.