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