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).

Input topics

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

Name	Type	Description	Default	Range
csv_path_accel_map	string	path for acceleration map csv file	$(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv	N/A
csv_path_brake_map	string	path for brake map csv file	$(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv	N/A
csv_path_steer_map	string	path for steer map csv file	$(find-pkg-share raw_vehicle_cmd_converter)/data/default/steer_map.csv	N/A
convert_accel_cmd	boolean	use accel or not	true	N/A
convert_brake_cmd	boolean	use brake or not	true	N/A
convert_steer_cmd	boolean	use steer or not	true	N/A
use_steer_ff	boolean	steering steer controller using steer feed forward or not	true	N/A
use_steer_fb	boolean	steering steer controller using steer feed back or not	true	N/A
is_debugging	boolean	debugging mode or not	false	N/A
max_throttle	float	maximum value of throttle	0.4	≥0.0
max_brake	float	maximum value of brake	0.8	≥0.0
max_steer	float	maximum value of steer	10.0	N/A
min_steer	float	minimum value of steer	-10.0	N/A
steer_pid.kp	float	proportional coefficient value in PID control	150.0	N/A
steer_pid.ki	float	integral coefficient value in PID control	15.0	>0.0
steer_pid.kd	float	derivative coefficient value in PID control	0.0	N/A
steer_pid.max	float	maximum value of PID	8.0	N/A
steer_pid.min	float	minimum value of PID	-8.0.	N/A
steer_pid.max_p	float	maximum value of Proportional in PID	8.0	N/A
steer_pid.min_p	float	minimum value of Proportional in PID	-8.0	N/A
steer_pid.max_i	float	maximum value of Integral in PID	8.0	N/A
steer_pid.min_i	float	minimum value of Integral in PID	-8.0	N/A
steer_pid.max_d	float	maximum value of Derivative in PID	0.0	N/A
steer_pid.min_d	float	minimum value of Derivative in PID	0.0	N/A
steer_pid.invalid_integration_decay	float	invalid integration decay value in PID control	0.97	>0.0

Limitation

The current feed back implementation is only applied to steering control.