ROS Index
Package Summary
| Tags | No category tags. |
| Version | 0.43.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-04 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Takamasa Horibe
- Tanaka Taiki
- Makoto Kurihara
- Sho Iwasawa
- Kosuke Takeuchi
- Takayuki Murooka
- Kyoichi Sugahara
Authors
- Makoto Kurihara
- Takamasa Horibe
- Tanaka Taiki
autoware_raw_vehicle_cmd_converter
Overview
The raw_vehicle_command_converter is a crucial node in vehicle automation systems, responsible for translating desired steering and acceleration inputs into specific vehicle control commands. This process is achieved through a combination of a lookup table and an optional feedback control system.
Lookup Table
The core of the converter’s functionality lies in its use of a CSV-formatted lookup table. This table encapsulates the relationship between the throttle/brake pedal (depending on your vehicle control interface) and the corresponding vehicle acceleration across various speeds. The converter utilizes this data to accurately translate target accelerations into appropriate throttle/brake values.
Creation of Reference Data
Reference data for the lookup table is generated through the following steps:
- Data Collection: On a flat road, a constant value command (e.g., throttle/brake pedal) is applied to accelerate or decelerate the vehicle.
- Recording Data: During this phase, both the IMU acceleration and vehicle velocity data are recorded.
- CSV File Generation: A CSV file is created, detailing the relationship between command values, vehicle speed, and resulting acceleration.
Once the acceleration map is crafted, it should be loaded when the RawVehicleCmdConverter node is launched, with the file path defined in the launch file.
Auto-Calibration Tool
For ease of calibration and adjustments to the lookup table, an auto-calibration tool is available. More information and instructions for this tool can be found here.
Variable Gear Ratio (VGR)
This is a gear ratio for converting tire angle to steering angle. Generally, to improve operability, the gear ratio becomes dynamically larger as the speed increases or the steering angle becomes smaller. For a certain vehicle, data was acquired and the gear ratio was approximated by the following formula.
\[a + b \times v^2 - c \times \lvert \delta \rvert\]For that vehicle, the coefficients were as follows.
vgr_coef_a: 15.713
vgr_coef_b: 0.053
vgr_coef_c: 0.042
When convert_steer_cmd_method: "vgr" is selected, the node receives the control command from the controller as the desired tire angle and calculates the desired steering angle to output.
Also, when convert_actuation_to_steering_status: true, this node receives the actuation_status topic and calculates the steer tire angle from the steer_wheel_angle and publishes it.
Vehicle Adaptor
Under development
A feature that compensates for control commands according to the dynamic characteristics of the vehicle.
This feature works when use_vehicle_adaptor: true is set and requires control_horizon to be enabled, so you need to set enable_control_cmd_horizon_pub: true in the trajectory_follower node.
Input topics
| Name | Type | Description |
|---|---|---|
~/input/control_cmd |
autoware_control_msgs::msg::Control | target velocity/acceleration/steering_angle/steering_angle_velocity is necessary to calculate actuation command. |
~/input/steering" |
autoware_vehicle_msgs::msg::SteeringReport | subscribe only when convert_actuation_to_steering_status: false. current status of steering used for steering feed back control |
~/input/odometry |
navigation_msgs::Odometry | twist topic in odometry is used. |
~/input/actuation_status |
tier4_vehicle_msgs::msg::ActuationStatus | actuation status is assumed to receive the same type of status as sent to the vehicle side. For example, if throttle/brake pedal/steer_wheel_angle is sent, the same type of status is received. In the case of steer_wheel_angle, it is used to calculate steer_tire_angle and VGR in this node. |
Input topics when vehicle_adaptor is enabled
| Name | Type | Description |
|---|---|---|
~/input/accel |
geometry_msgs::msg::AccelWithCovarianceStamped; | acceleration status |
~/input/operation_mode_state |
autoware_adapi_v1_msgs::msg::OperationModeState | operation mode status |
~/input/control_horizon |
autoware_control_msgs::msg::ControlHorizon | control horizon command |
Output topics
| Name | Type | Description |
|---|---|---|
~/output/actuation_cmd |
tier4_vehicle_msgs::msg::ActuationCommandStamped | actuation command for vehicle to apply mechanical input |
~/output/steering_status |
autoware_vehicle_msgs::msg::SteeringReport | publish only when convert_actuation_to_steering_status: true. steer tire angle is calculated from steer wheel angle and published. |
Parameters
{{ json_to_markdown(“vehicle/autoware_raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json”) }}
Limitation
The current feed back implementation is only applied to steering control.
Changelog for package autoware_raw_vehicle_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)
- fix: add missing includes to autoware_universe_utils (#10091)
- Contributors: Fumiya Watanabe, Ryohsuke Mitsudome, 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)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat(autoware_raw_vehicle_cmd_converter)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_raw_vehicle_cmd_converter (#9924) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files vehicle/autoware_raw_vehicle_cmd_converter Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>>
- fix(raw_veihicle_converter): fix too long line (#9716)
- feat(raw_vehicle_cmd_converter): add vehicle adaptor
(#8782)
* feat(raw_vehicle_cmd_converter): add vehicle adaptor sub
operation status
- feat(raw_vehicle_cmd_converter): publish vehicle adaptor output
- use control horizon
- revert carla
* update docs ---------
- Contributors: Fumiya Watanabe, Kosuke Takeuchi, Vishal Chauhan
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
- fix(simple_planning_simulator, raw_vehicle_cmd_converter): swap row index and column index for csv loader (#8963) swap row and column
- test(raw_vehicle_cmd_converter): add tests
(#8951)
- remove header file according to clangd warning
- add test
- fix
- add test for get function
- apply clang tidy
* fix test content ---------
- refactor(autoware_interpolation): prefix package and namespace with autoware (#8088) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
- refactor(start_planner,raw_vechile_cmd_converter): align
parameter with autoware_launch's parameter
(#8913)
- align autoware_raw_vehicle_cmd_converter's parameter
* align start_planner's parameter ---------
- fix(raw_vehicle_cmd_converter): fix convert_steer_cmd_method condition (#8813)
- fix(raw_vehicle_cmd_converter): fix null check (#8677)
- chore(raw_vehicle_cmd_converter): add maintainer (#8671)
- feat(raw_vehicle_cmd_converter): set convert_actuation_to_steering_status false by default (#8668)
- feat(raw_vehicle_cmd_converter): disable actuation to steering (#8588)
- feat(raw_vehicle_cmd_converter): add steer command conversion
with VGR
(#8504)
- feat(raw_vehicle_cmd_converter): add steer command conversion with VGR
- make class and add test
- remove member vgr_coef from node
- update readme
- add svg
- add plot scripts
* Update vehicle/autoware_raw_vehicle_cmd_converter/README.md Co-authored-by: Takamasa Horibe <<horibe.takamasa@gmail.com>>
- not always subscribe actuation_status
* add comment for using normal sub for steering status ---------Co-authored-by: Takamasa Horibe <<horibe.takamasa@gmail.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>>
- feat(raw_vehicle_cmd_converter): use polling subscriber
(#7319)
- replace subscription
- fix document
- sum up functions
* add maintainer ---------Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>
- refactor(accel_brake_map_calibrator)!: add autoware_ prefix
(#7351)
* add prefix to the codes change dir name update update
- delete debug
- fix format
- fix format
- restore
* poi
- refactor(raw_vehicle_cmd_converter)!: prefix package and
namespace with autoware
(#7385)
- add prefix
- fix other packages
- fix cppcheck
- pre-commit
* fix
- Contributors: Esteve Fernandez, Go Sakayori, Kosuke Takeuchi, Kyoichi Sugahara, Sho Iwasawa, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo
0.26.0 (2024-04-03)
Wiki Tutorials
Package Dependencies
System Dependencies
Dependant Packages
Launch files
- launch/raw_vehicle_converter.launch.xml
-
- input_control_cmd [default: /control/command/control_cmd]
- input_odometry [default: /localization/kinematic_state]
- input_accel [default: /localization/acceleration]
- input_steering [default: /vehicle/status/steering_status]
- input_actuation_status [default: /vehicle/status/actuation_status]
- input_operation_mode_state [default: /system/operation_mode/state]
- input_control_horizon [default: /control/trajectory_follower/controller_node_exe/debug/control_cmd_horizon]
- output_actuation_cmd [default: /control/command/actuation_cmd]
- output_steering_status [default: /vehicle/status/steering_status]
- config_file [default: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/config/raw_vehicle_cmd_converter.param.yaml]