external_cmd_converter

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

Algorithm

How to calculate reference acceleration and velocity

A reference acceleration and velocity are derived from the throttle and brake values of external control commands.

Reference Acceleration

A reference acceleration is calculated from accel_brake_map based on values of a desired_pedal and a current velocity;

\[pedal_d = throttle_d - brake_d,\] \[acc_{ref} = Acc(pedal_d, v_{x,current}).\]

Parameter	Description
$throttle_d$	throttle value of external control command (~/in/external_control_cmd.control.throttle)
$brake_d$	brake value of external control command (~/in/external_control_cmd.control.brake)
$v_{x,current}$	current longitudinal velocity (~/in/odometry.twist.twist.linear.x)
Acc	accel_brake_map

Reference Velocity

A reference velocity is calculated based on a current velocity and a reference acceleration:

\[v_{ref} = v_{x,current} + k_{v_{ref}} \cdot \text{sign}_{gear} \cdot acc_{ref}.\]

Parameter	Description
$acc_{ref}$	reference acceleration
$k_{v_{ref}}$	reference velocity gain
$\text{sign}_{gear}$	gear command (~/in/shift_cmd) (Drive/Low: 1, Reverse: -1, Other: 0)

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_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_control_msgs::msg::Control	ackermann control command converted from selected external command

Parameters

Parameter	Type	Description
ref_vel_gain_	double	reference velocity gain
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.

Changelog for package autoware_external_cmd_converter

0.43.0 (2025-03-21)

• Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
• chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
• Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
• Contributors: Fumiya Watanabe, 心刚

0.41.2 (2025-02-19)

• chore: bump version to 0.41.1 (#10088)
• Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

0.40.0 (2024-12-12)

• Merge branch 'main' into release-0.40.0
• Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
• fix: fix ticket links in CHANGELOG.rst (#9588)
• chore(package.xml): bump version to 0.39.0 (#9587)
  • chore(package.xml): bump version to 0.39.0
  • fix: fix ticket links in CHANGELOG.rst

  * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

• fix: fix ticket links in CHANGELOG.rst (#9588)
• fix(cpplint): include what you use - vehicle (#9575)
• 0.39.0
• update changelog
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo

0.39.0 (2024-11-25)

• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• Contributors: Esteve Fernandez, Yutaka Kondo

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• feat(autoware_external_cmd_converter): add ext cmd converter tests (#9118)
  • add ext cmd converter tests
  • add briefs to describe the tests

  * update tests and add nan and inf check ---------

• refactor(autoware_external_cmd_converter): add explanation about external control commands (#8224)
  • refactor(autoware_external_cmd_converter): add explanation about external control commands

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Tomoya Kimura <<tomoya.kimura@tier4.jp>>

• fix(autoware_external_cmd_converter): fix check_topic_state (#7921)
  • fix(autoware_external_cmd_converter): fix check_topic_state
  • style(pre-commit): autofix

  * Update vehicle/autoware_external_cmd_converter/src/node.cpp Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>> * style(pre-commit): autofix ---------Co-authored-by: shtokuda <<shumpei.tokuda@tier4.jp>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

• refactor(universe_utils/motion_utils)!: add autoware namespace (#7594)
• feat(autoware_universe_utils)!: rename from tier4_autoware_utils (#7538) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
• refactor(external cmd converter)!: add autoware_ prefix (#7361)
  • add prefix to the code
  • rename
  • fix
  • fix
  • fix

  * Update .github/CODEOWNERS ---------Co-authored-by: Takayuki Murooka <<takayuki5168@gmail.com>>

• Contributors: Kosuke Takeuchi, SHtokuda, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, danielsanchezaran

0.26.0 (2024-04-03)