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Package Summary

Tags No category tags.
Version 1.0.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_core.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

The autoware_vehicle_info_utils package

Additional Links

No additional links.

Maintainers

  • Taiki Tanaka
  • Tomoya Kimura
  • Shumpei Wakabayashi
  • Mamoru Sobue
  • Jian Kang

Authors

  • Yamato ANDO

Vehicle Info Util

Purpose

This package is to get vehicle info parameters.

Description

In here, you can check the vehicle dimensions with more detail. The current format supports only the Ackermann model. This file defines the model assumed in autoware path planning, control, etc. and does not represent the exact physical model. If a model other than the Ackermann model is used, it is assumed that a vehicle interface will be designed to change the control output for the model.

Versioning Policy

We have implemented a versioning system for the vehicle_info.param.yaml file to ensure clarity and consistency in file format across different versions of Autoware and its external applications. Please see discussion for the details.

How to Operate

  • The current file format is set as an unversioned base version (version: field is commented out).
  • For the next update involving changes (such as additions, deletions, or modifications):
    • Uncomment and update the version line at the beginning of the file.
    • Initiate versioning by assigning a version number, starting from 0.1.0. Follow the semantic versioning format (MAJOR.MINOR.PATCH).
    • Update this Readme.md too.
  • For subsequent updates, continue incrementing the version number in accordance with the changes made.
    • Discuss how to increment version depending on the amount of changes made to the file.
/**:
  ros__parameters:
    # version: 0.1.0 # Uncomment and update this line for future format changes.
    wheel_radius: 0.383
    ...

Why Versioning?

  • Consistency Across Updates: Implementing version control will allow accurate tracking of changes over time and changes in vehicle information parameters.
  • Clarity for External Applications: External applications that depend on vehicle_info.param.yaml need to reference the correct file version for optimal compatibility and functionality.
  • Simplified Management for Customized Branches: Assigning versions directly to the vehicle_info.param.yaml file simplifies management compared to maintaining separate versions for multiple customized Autoware branches. This approach streamlines version tracking and reduces complexity.

Scripts

Minimum turning radius

$ ros2 run autoware_vehicle_info_utils min_turning_radius_calculator.py
yaml path is /home/autoware/pilot-auto/install/autoware_vehicle_info_utils/share/autoware_vehicle_info_utils/config/vehicle_info.param.yaml
Minimum turning radius is 3.253042620027102 [m] for rear, 4.253220695862465 [m] for front.

You can designate yaml file with -y option as follows.

ros2 run autoware_vehicle_info_utils min_turning_radius_calculator.py -y <path-to-yaml>

Assumptions / Known limits

TBD.

CHANGELOG

Changelog for package autoware_vehicle_info_utils

1.0.0 (2025-03-31)

  • fix(autoware_vehicle_info_utils): test not linking to ament_index_cpp (#317)
  • test(autoware_vehicle_info_utils): add tests for missed lines (#271) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
  • Contributors: NorahXiong, Shane Loretz

0.3.0 (2025-03-21)

  • chore: fix versions in package.xml
  • feat(autoware_vehicle_info_utils): porting from universe to core (#183) Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
  • Contributors: NorahXiong, mitsudome-r

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.

Dependant Packages

Name Deps
autoware_global_parameter_loader
autoware_simple_pure_pursuit
autoware_ground_filter
autoware_mission_planner
autoware_path_generator
autoware_velocity_smoother
autoware_behavior_velocity_planner_common
autoware_motion_velocity_obstacle_stop_module
vehicle_cmd_analyzer
autoware_planning_data_analyzer
autoware_static_centerline_generator
parameter_estimator
autoware_autonomous_emergency_braking
autoware_collision_detector
autoware_control_performance_analysis
autoware_control_validator
autoware_lane_departure_checker
autoware_mpc_lateral_controller
autoware_obstacle_collision_checker
autoware_operation_mode_transition_manager
autoware_pid_longitudinal_controller
autoware_predicted_path_checker
autoware_pure_pursuit
autoware_trajectory_follower_base
autoware_trajectory_follower_node
autoware_vehicle_cmd_gate
autoware_control_evaluator
autoware_perception_online_evaluator
autoware_planning_evaluator
tier4_sensing_launch
autoware_ground_segmentation
autoware_freespace_planner
autoware_freespace_planning_algorithms
autoware_mission_planner_universe
autoware_obstacle_cruise_planner
autoware_obstacle_stop_planner
autoware_path_optimizer
autoware_planning_validator
autoware_surround_obstacle_checker
autoware_behavior_path_planner
autoware_behavior_path_planner_common
autoware_behavior_path_sampling_planner_module
autoware_behavior_path_static_obstacle_avoidance_module
autoware_behavior_velocity_crosswalk_module
autoware_behavior_velocity_intersection_module
autoware_behavior_velocity_no_stopping_area_module
autoware_behavior_velocity_occlusion_spot_module
autoware_behavior_velocity_run_out_module
autoware_behavior_velocity_virtual_traffic_light_module
autoware_behavior_velocity_walkway_module
autoware_motion_velocity_dynamic_obstacle_stop_module
autoware_motion_velocity_obstacle_cruise_module
autoware_motion_velocity_obstacle_slow_down_module
autoware_motion_velocity_obstacle_velocity_limiter_module
autoware_motion_velocity_out_of_lane_module
autoware_path_sampler
autoware_simple_planning_simulator
autoware_default_adapi
autoware_steer_offset_estimator
tier4_localization_rviz_plugin
tier4_planning_factor_rviz_plugin
tier4_planning_rviz_plugin

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged autoware_vehicle_info_utils at Robotics Stack Exchange

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