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Package Summary
| Tags | No category tags. |
| Version | 0.44.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-25 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The steer_offset_estimator
Additional Links
No additional links.
Maintainers
- Taiki Tanaka
Authors
No additional authors.
steer_offset_estimator
Purpose
The role of this node is to automatically calibrate steer_offset used in the vehicle_interface node.
The base steer offset value is 0 by default, which is standard, is updated iteratively with the loaded driving data. This module is supposed to be used in below straight driving situation.
Inner-workings / Algorithms
Estimates sequential steering offsets from kinematic model and state observations.
Calculate yaw rate error and then calculate steering error recursively by least squared method, for more details see updateSteeringOffset() function.
Inputs / Outputs
Input
| Name | Type | Description |
|---|---|---|
~/input/twist |
geometry_msgs::msg::TwistStamped |
vehicle twist |
~/input/steer |
autoware_vehicle_msgs::msg::SteeringReport |
steering |
Output
| Name | Type | Description |
|---|---|---|
~/output/steering_offset |
autoware_internal_debug_msgs::msg::Float32Stamped |
steering offset |
~/output/steering_offset_covariance |
autoware_internal_debug_msgs::msg::Float32Stamped |
covariance of steering offset |
Launch Calibrator
After launching Autoware, run the steer_offset_estimator by the following command and then perform autonomous driving. Note: You can collect data with manual driving if it is possible to use the same vehicle interface as during autonomous driving (e.g. using a joystick).
ros2 launch steer_offset_estimator steer_offset_estimator.launch.xml
Or if you want to use rosbag files, run the following commands.
ros2 param set /use_sim_time true
ros2 bag play <rosbag_file> --clock
Parameters
{{ json_to_markdown(“vehicle/autoware_steer_offset_estimator/schema/steer_offset_estimator.schema.json”) }}
Diagnostics
The steer_offset_estimator publishes diagnostics message depending on the calibration status.
Diagnostic type WARN indicates that the current steer_offset is estimated to be inaccurate. In this situation, it is strongly recommended to perform a re-calibration of the steer_offset.
| Status | Diagnostics Type | Diagnostics message |
|---|---|---|
| No calibration required | OK |
“Preparation” |
| Calibration Required | WARN |
“Steer offset is larger than tolerance” |
This diagnostics status can be also checked on the following ROS topic.
ros2 topic echo /vehicle/status/steering_offset
CHANGELOG
Changelog for package autoware_steer_offset_estimator
0.44.0 (2025-04-18)
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)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat(autoware_steer_offset_estimator)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_steer_offset_estimator (#9926) feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in files vehicle/autoware_steer_offset_estimator Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>>
- Contributors: Fumiya Watanabe, 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)
- refactor(global_parameter_loader): prefix package and namespace with autoware (#9303)
- 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, 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
- refactor(pose2twist)!: prefix package and namespace with autoware
(#8347)
- add autoware_ prefix
* use target_include_directories instead ---------Co-authored-by: SakodaShintaro <<shintaro.sakoda@tier4.jp>>
- fix(steer_offset_estimator): fix link to json schema in README (#7655)
- feat(autoware_universe_utils)!: rename from tier4_autoware_utils (#7538) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
- refactor(vehicle_info_utils)!: prefix package and namespace with
autoware
(#7353)
- chore(autoware_vehicle_info_utils): rename header
- chore(bpp-common): vehicle info
- chore(path_optimizer): vehicle info
- chore(velocity_smoother): vehicle info
- chore(bvp-common): vehicle info
- chore(static_centerline_generator): vehicle info
- chore(obstacle_cruise_planner): vehicle info
- chore(obstacle_velocity_limiter): vehicle info
- chore(mission_planner): vehicle info
- chore(obstacle_stop_planner): vehicle info
- chore(planning_validator): vehicle info
- chore(surround_obstacle_checker): vehicle info
- chore(goal_planner): vehicle info
- chore(start_planner): vehicle info
- chore(control_performance_analysis): vehicle info
- chore(lane_departure_checker): vehicle info
- chore(predicted_path_checker): vehicle info
- chore(vehicle_cmd_gate): vehicle info
- chore(obstacle_collision_checker): vehicle info
- chore(operation_mode_transition_manager): vehicle info
- chore(mpc): vehicle info
- chore(control): vehicle info
- chore(common): vehicle info
- chore(perception): vehicle info
- chore(evaluator): vehicle info
- chore(freespace): vehicle info
- chore(planning): vehicle info
- chore(vehicle): vehicle info
- chore(simulator): vehicle info
- chore(launch): vehicle info
- chore(system): vehicle info
- chore(sensing): vehicle info
* fix(autoware_joy_controller): remove unused deps ---------
- chore(steer_offset_estimator): add prefix autoware_ to
steer_offset_estimator
(#7342)
- add perfix
- fix directory structrue
* fix include guard ---------
- Contributors: Go Sakayori, Masaki Baba, Maxime CLEMENT, Satoshi OTA, Takayuki Murooka, Yutaka Kondo
0.26.0 (2024-04-03)
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
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/steer_offset_estimator.launch.xml
-
- config_file [default: $(find-pkg-share autoware_steer_offset_estimator)/config/steer_offset_estimator.param.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged autoware_steer_offset_estimator at Robotics Stack Exchange
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