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tier4_control_rviz_plugin#

This package is to mimic external control for simulation.

Inputs / Outputs#

Input#

Name Type Description
/control/current_gate_mode tier4_control_msgs::msg::GateMode Current GATE mode
/vehicle/status/velocity_status autoware_vehicle_msgs::msg::VelocityReport Current velocity status
/api/autoware/get/engage tier4_external_api_msgs::srv::Engage Getting Engage
/vehicle/status/gear_status autoware_vehicle_msgs::msg::GearReport The state of GEAR

Output#

Name Type Description
/control/gate_mode_cmd tier4_control_msgs::msg::GateMode GATE mode
/external/selected/control_cmd autoware_control_msgs::msg::ControlCommand Control command
/external/selected/gear_cmd autoware_vehicle_msgs::msg::GearCommand GEAR

Usage#

  1. Start rviz and select Panels.

    select_panels

  2. Select tier4_control_rviz_plugin/ManualController and press OK.

    select_manual_controller

  3. Enter velocity in "Set Cruise Velocity" and Press the button to confirm. You can notice that GEAR shows D (DRIVE).

    manual_controller_not_ready

  4. Press "Enable Manual Control" and you can notice that "GATE" and "Engage" turn "Ready" and the vehicle starts!

    manual_controller_ready