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