raw_vehicle_cmd_converter
raw_vehicle_command_converter is a node that converts desired acceleration and velocity to mechanical input by using feed forward + feed back control (optional).
| Name |
Type |
Description |
~/input/control_cmd |
autoware_auto_control_msgs::msg::AckermannControlCommand |
target velocity/acceleration/steering_angle/steering_angle_velocity is necessary to calculate actuation command. |
~/input/steering" |
autoware_auto_vehicle_msgs::SteeringReport |
current status of steering used for steering feed back control |
~/input/twist |
navigation_msgs::Odometry |
twist topic in odometry is used. |
Output topics
| Name |
Type |
Description |
~/output/actuation_cmd |
tier4_vehicle_msgs::msg::ActuationCommandStamped |
actuation command for vehicle to apply mechanical input |
Parameters
| Parameter |
Type |
Description |
update_rate |
double |
timer's update rate |
th_max_message_delay_sec |
double |
threshold time of input messages' maximum delay |
th_arrived_distance_m |
double |
threshold distance to check if vehicle has arrived at the trajectory's endpoint |
th_stopped_time_sec |
double |
threshold time to check if vehicle is stopped |
th_stopped_velocity_mps |
double |
threshold velocity to check if vehicle is stopped |
Limitation
The current feed back implementation is only applied to steering control.