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autoware_nova_carter_interface package from autoware_nova_carter repoautoware_nova_carter_description autoware_nova_carter_interface autoware_nova_carter_occupancy_grid autoware_nova_carter_sensing autoware_nova_carter_vehicle |
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | TODO: License declaration |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | Integration of NVIDIA Nova Carter with Autoware |
| Checkout URI | https://github.com/tier4/autoware_nova_carter.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-02-28 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | cuda nvidia amr autonomous-driving ros2 autoware nvidia-jetson |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
TODO: Package description
Additional Links
No additional links.
Maintainers
- mitsudome-r
Authors
No additional authors.
Autoware Nova Carter Interface
The autoware_nova_carter package is part of the Autoware project, designed to interface with the Nova Carter vehicle platform. It provides nodes and configurations for controlling and sensing the vehicle in various environments.
Features
- Interface with Nova Carter vehicle for control and sensing.
Installation
- Clone the repository:
cd ~/your_ros_workspace/src/
git clone https://github.com/tier4/autoware_nova_carter.git
-
Build the package:
Navigate to your ROS workspace and build the package:
cd ~/your_ros_workspace
colcon build --packages-up-to autoware_nova_carter_interface
Parameters
The interface node uses several parameters that can be configured in the config/nova_carter_interface.param.yaml file. Key parameters include:
-
base_frame_id: The frame ID for the vehicle’s base link. -
maximum_linear_velocity: Maximum allowable linear velocity. -
maximum_angular_velocity: Maximum allowable angular velocity. -
wheel_base: The distance between the front and rear axles.
Inputs and Outputs
Subscribers
| Topic Name | Message Type | Description |
|---|---|---|
control_cmd |
autoware_msgs/ControlCommand |
Control commands from Autoware. |
odom |
nav_msgs/Odometry |
Odometry messages from the Nova Carter vehicle. |
Publishers
| Topic Name | Message Type | Description |
|---|---|---|
cmd_vel |
geometry_msgs/TwistStamped |
Twist command which will be sent to the vehicle. |
vehicle_twist_report |
autoware_msgs/VelocityReport |
Current velocity information reported to Autoware. |
steering_status_report |
autoware_msgs/SteeringReport |
Current steering angle reported to Autoware. Nova Carter is a differential drive vehicle, so the steering angle is virtually calculated from the linear and angular velocities. |
Usage
Launching the Interface
To launch the Nova Carter interface, use the following command:
ros2 launch autoware_nova_carter_interface nova_carter_interface.launch.xml
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| autoware_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| autoware_lint_common | |
| autoware_control_msgs | |
| autoware_vehicle_msgs | |
| geometry_msgs | |
| nav_msgs | |
| rclcpp | |
| rclcpp_components |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_nova_carter_interface at Robotics Stack Exchange
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