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Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2024-09-19 |
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 awapi_awiv_adapter package
Additional Links
No additional links.
Maintainers
- Tomoya Kimura
Authors
- Tomoya Kimura
awapi_awiv_adapter
✓: confirmed, (blank): not confirmed
get topic
/awapi/vehicle/get/status
- get vehicle status
- MessageType: awapi_awiv_adapter/AwapiVehicleStatus
✓ | type | name | unit | note |
---|---|---|---|---|
✓ | std_msgs/Header | header | ||
✓ | geometry_msgs/Pose | pose | position:[m] | |
✓ | awapi_awiv_adapter/Euler | eulerangle | [rad] | roll/pitch/yaw |
geographic_msgs/GeoPoint | geo_point | lat/lon/alt | ||
✓ | float64 | velocity | [m/s] | |
✓ | float64 | acceleration | [m/ss] | calculate from velocity in awapi_adapter |
✓ | float64 | steering | [rad] | |
✓ | float64 | steering_velocity | [rad/s] | calculate from steering in awapi_adapter |
✓ | float64 | angular_velocity | [rad/s] | |
int32 | gear | according to tier4_vehicle_msgs/Shift | ||
float32 | energy_level | available only for golf-cart | ||
✓ | int32 | turn_signal | according to tier4_vehicle_msgs/TurnSignal | |
✓ | float64 | target_velocity | [m/s] | |
✓ | float64 | target_acceleration | [m/ss] | |
✓ | float64 | target_steering | [rad] | |
✓ | float64 | target_steering_velocity | [rad/s] |
/awapi/autoware/get/status
- get autoware status
- MessageType: awapi_awiv_adapter/AwapiVehicleStatus
✓ | type | name | unit | note |
---|---|---|---|---|
✓ | std_msgs/Header | header | ||
✓ | string | autoware_state | ||
✓ | int32 | control_mode | according to tier4_vehicle_msgs/ControlMode | manual/auto (changed by /awapi/autoware/put/engage) |
int32 | gate_mode | tier4_vehicle_msgs/GateMode | auto/remote (it is valid only when control_mode=auto)) | |
✓ | bool | emergency_stopped | True in emergency mode | |
✓ | float32 | current_max_velocity | [m/s] | |
tier4_system_msgs/HazardStatus | hazard_status | system hazard status | ||
✓ | tier4_planning_msgs/StopReasonArray | stop_reason | “stop_pose” represents the position of “base_link” (not the head of the car) | |
✓ | diagnostic_msgs/DiagnosticStatus[] | diagnostics | output only diag. of leaf node (diag. of parent node are cut) | |
✓ | diagnostic_msgs/DiagnosticStatus[] | error_diagnostics | diagnostics that are the cause of system emergency | |
✓ | bool | arrived_goal | True if the autoware_state is changed from Driving to ArrivedGoal or WaitingForRoute. False if the autoware_state is changed to WaitingForEngage or Driving. Default False. |
- specification of stop_reason
- stop_reason is output only when the following conditions are met.
- stop_point in stop_reason is close to /planning/scenario_planning/trajectory (within 10m).
- The distance between current position and stop_point is less than stop_reason_thresh_dist.
- stop_reason is output only when the following conditions are met.
/awapi/autoware/get/route
- get route
- MessageType: tier4_planning_msgs/Route
✓ | type | name | unit | note |
---|---|---|---|---|
✓ | tier4_planning_msgs/Route |
/awapi/autoware/get/stop_speed_exceeded
- get flag of exceeding stop speed or not
- True: exceed the stop speed ( = “cannot stop before the stop line”)
- False: not exceed the stop speed ( = “no stop line in the trajectory” or “possible to stop before the stop line” )
- MessageType: tier4_planning_msgs/StopSpeedExceedStatus
✓ | type | name | unit | note |
---|---|---|---|---|
tier4_planning_msgs/StopSpeedExceedStatus | - |
/awapi/prediction/get/objects
- get predicted object
- MessageType: tier4_api_msgs/DynamicObjectArray
✓ | type | name | unit | note |
---|---|---|---|---|
✓ | tier4_api_msgs/DynamicObjectArray |
/awapi/lane_change/get/status
- get lane change information
- MessageType: awapi_awiv_adapter/LaneChangeStatus
✓ | type | name | unit | note |
---|---|---|---|---|
std_msgs/Header | header | |||
bool | force_lane_change_available | True when lane change is available | available: Physically lane changeable state (do not consider other vehicle) | |
bool | lane_change_ready | True when lane change is ready | ready: State that ego-vehicle can change lane without collision with other vehicle | |
tier4_planning_msgs/Path | candidate_path | according to tier4_planning_msgs/Path |
/awapi/object_avoidance/get/status
- get obstacle avoidance information
- MessageType: awapi_awiv_adapter/ObstacleAvoidanceStatus
✓ | type | name | unit | note |
---|---|---|---|---|
std_msgs/Header | header | |||
bool | obstacle_avoidance_ready | True when obstacle avoidance is ready | ||
tier4_planning_msgs/Trajectory | candidate_path | according to tier4_planning_msgs/Trajectory | Msg type is different from lane change candidate path |
/awapi/traffic_light/get/traffic_signals
- get recognition result of traffic light
- MessageType: autoware_auto_perception_msgs/msg/TrafficSignalArray
✓ | type | name | unit | note |
---|---|---|---|---|
autoware_auto_perception_msgs/msg/TrafficSignalArray |
/awapi/traffic_light/get/nearest_traffic_signal
- get recognition result of nearest traffic light
- MessageType: autoware_auto_perception_msgs/LookingTrafficSignal
type | name | unit | note | |
---|---|---|---|---|
std_msgs/Header | header | |||
autoware_auto_perception_msgs/TrafficSignalWithJudge | perception | traffic light information from autoware perception module | ||
autoware_auto_perception_msgs/TrafficSignalWithJudge | external | traffic light information from external tool/module | ||
autoware_auto_perception_msgs/TrafficSignalWithJudge | final | traffic light information used by the planning module finally |
- The contents of TrafficSignalWithJudge.msg is following.
type | name | unit | note | |
---|---|---|---|---|
autoware_auto_perception_msgs/TrafficSignal | signal | traffic light color/arrow | ||
uint8 | judge | 0:NONE, 1:STOP, 2:GO | go/stop judgment based on the color/arrow of the traffic light |
put topic
/awapi/vehicle/put/velocity
- set upper velocity
- MessageType: tier4_api_msgs/VelocityLimit
✓ | type | name | unit | note |
---|---|---|---|---|
✓ | tier4_api_msgs/VelocityLimit | max velocity |
/awapi/vehicle/put/stop
- set temporary stop signal
- MessageType: tier4_api_msgs/StopCommand
-
Specification
- send True: send upper velocity to 0
- send False: resend last received upper velocity
- (if upper velocity have never received, send default_max_velocity value.)
- default_max_velocity refers to the param: /planning/scenario_planning/motion_velocity_optimizer/max_velocity
✓ type name unit note ✓ tier4_api_msgs/StopCommand
/awapi/autoware/put/gate_mode
- send gate mode (auto/remote)
- MessageType: tier4_control_msgs/GateMode
✓ | type | name | unit | note |
---|---|---|---|---|
tier4_control_msgs/GateMode |
/awapi/autoware/put/engage
- send engage signal (both of autoware/engage and vehicle/engage)
- MessageType: tier4_vehicle_msgs/Engage
✓ | type | name | unit | note |
---|---|---|---|---|
✓ | tier4_vehicle_msgs/Engage |
/awapi/autoware/put/goal
- send goal pose
- MessageType: geometry_msgs/PoseStamped
✓ | type | name | unit | note |
---|---|---|---|---|
geometry_msgs/PoseStamped |
/awapi/autoware/put/route
- send route
- MessageType: tier4_planning_msgs/Route
✓ | type | name | unit | note |
---|---|---|---|---|
✓ | tier4_planning_msgs/Route |
/awapi/lane_change/put/approval
- send lane change approval flag
- send True: start lane change when lane_change_ready is true
- MessageType: tier4_planning_msgs/LaneChangeCommand
✓ | type | name | unit | note |
---|---|---|---|---|
tier4_planning_msgs/msg/LaneChangeCommand |
/awapi/lane_change/put/force
- send force lane change flag
- send True: start lane change when force_lane_change_available is true
- MessageType: tier4_planning_msgs/LaneChangeCommand
✓ | type | name | unit | note |
---|---|---|---|---|
tier4_planning_msgs/LaneChangeCommand |
/awapi/object_avoidance/put/approval
- send object avoidance approval flag
- MessageType: tier4_planning_msgs/EnableAvoidance
✓ | type | name | unit | note |
---|---|---|---|---|
tier4_planning_msgs/EnableAvoidance |
/awapi/object_avoidance/put/force
- send force object avoidance flag
- **not implemented (Autoware does not have corresponded topic)**
| ✓ | type | name | unit | note | | — | :— | :— | :— | :— |
/awapi/traffic_light/put/traffic_signals
- Overwrite the recognition result of traffic light
- MessageType: autoware_auto_perception_msgs/TrafficSignalArray
✓ | type | name | unit | note |
---|---|---|---|---|
autoware_auto_perception_msgs/TrafficSignalArray |
/awapi/autoware/put/crosswalk_states
- send crosswalk status
- forcibly rewrite the internal state of crosswalk module
- MessageType: tier4_api_msgs/CrossWalkStatus
✓ | type | name | unit | note |
---|---|---|---|---|
std_msgs/Header | header | |||
int32 | status | 0:STOP, 1:GO, 2:SLOWDOWN |
/awapi/autoware/put/intersection_states
- send intersection status
- forcibly rewrite the internal state of intersection module
- MessageType: tier4_api_msgs/CrosswalkStatus
✓ | type | name | unit | note |
---|---|---|---|---|
std_msgs/Header | header | |||
int32 | status | 0:STOP, 1:GO |
/awapi/autoware/put/expand_stop_range
- send expand range of the polygon used by obstacle stop [m]
- MessageType: tier4_planning_msgs/ExpandStopRange
✓ | type | name | unit | note |
---|---|---|---|---|
tier4_planning_msgs/ExpandStopRange |
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
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
- launch/awapi_awiv_adapter.launch.xml
-
- adapter_output [default: screen]
- relay_output [default: log]
- status_pub_hz [default: 5.0]
- stop_reason_timeout [default: 0.5]
- stop_reason_thresh_dist [default: 100.0]
- input_steer [default: /vehicle/status/steering_status]
- input_vehicle_cmd [default: /control/command/control_cmd]
- input_turn_indicators [default: /vehicle/status/turn_indicators_status]
- input_hazard_lights [default: /vehicle/status/hazard_lights_status]
- input_odometry [default: /localization/kinematic_state]
- input_gear [default: /vehicle/status/gear_status]
- input_battery [default: /vehicle/status/battery_charge]
- input_nav_sat [default: /sensing/gnss/ublox/nav_sat_fix]
- input_autoware_state [default: /api/iv_msgs/autoware/state]
- input_control_mode [default: /vehicle/status/control_mode]
- input_gate_mode [default: /control/current_gate_mode]
- input_mrm_state [default: /system/fail_safe/mrm_state]
- input_hazard_status [default: /system/emergency/hazard_status]
- input_stop_reason [default: /planning/scenario_planning/status/stop_reasons]
- input_v2x_command [default: /planning/scenario_planning/status/infrastructure_commands]
- input_v2x_state [default: /system/v2x/virtual_traffic_light_states]
- input_diagnostics [default: /diagnostics_agg]
- input_lane_change_available [default: /planning/scenario_planning/lane_driving/lane_change_available]
- input_lane_change_ready [default: /planning/scenario_planning/lane_driving/lane_change_ready]
- input_lane_change_candidate_path [default: /planning/scenario_planning/lane_driving/lane_change_candidate_path]
- input_path_change_ready [default: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/ready_module]
- input_path_change_force_available [default: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/force_available]
- input_path_change_running [default: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/running_modules]
- input_obstacle_avoid_ready [default: /planning/scenario_planning/lane_driving/obstacle_avoidance_ready]
- input_obstacle_avoid_candidate_path [default: /planning/scenario_planning/lane_driving/obstacle_avoidance_candidate_trajectory]
- input_route [default: /planning/mission_planning/route]
- input_object [default: /perception/object_recognition/objects]
- input_traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
- input_nearest_traffic_signal [default: /planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal]
- input_trajectory [default: /planning/scenario_planning/trajectory]
- input_current_max_velocity [default: /planning/scenario_planning/current_max_velocity]
- input_stop_speed_exceeded [default: /planning/scenario_planning/motion_velocity_smoother/stop_speed_exceeded]
- input_external_crosswalk_status [default: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_crosswalk_states]
- input_external_intersection_status [default: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/input/external_intersection_states]
- input_expand_stop_range [default: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/input/expand_stop_range]
- input_pose_initialization_request [default: /localization/util/pose_initialization_request]
- output_vehicle_status [default: vehicle/get/status]
- output_autoware_status [default: autoware/get/status]
- output_lane_change_status [default: lane_change/get/status]
- output_obstacle_avoid_status [default: object_avoidance/get/status]
- output_max_velocity [default: /planning/scenario_planning/max_velocity_default]
- output_autoware_engage [default: /autoware/engage]
- output_vehicle_engage [default: /vehicle/engage]
- output_goal [default: /planning/mission_planning/goal]
- output_route [default: /planning/mission_planning/route]
- output_lane_change_approval [default: /planning/scenario_planning/lane_driving/lane_change_approval]
- output_force_lane_change [default: /planning/scenario_planning/lane_driving/force_lane_change]
- output_path_change_approval [default: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/path_change_approval]
- output_path_change_force [default: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/path_change_force]
- output_obstacle_avoid_approval [default: /planning/scenario_planning/lane_driving/obstacle_avoidance_approval]
- output_force_obstacle_avoid [default: tmp]
- output_overwrite_traffic_signals [default: /external/traffic_light_recognition/traffic_signals]
- node_emergency_stop [default: /control/vehicle_cmd_gate]
- param_emergency_stop [default: check_external_emergency_heartbeat]
- node_max_velocity [default: /planning/scenario_planning/motion_velocity_smoother]
- param_max_velocity [default: max_velocity]
- set_max_velocity [default: vehicle/put/velocity]
- set_temporary_stop [default: vehicle/put/stop]
- set_engage [default: autoware/put/engage]
- set_route [default: autoware/put/route]
- set_goal [default: autoware/put/goal]
- set_lane_change_approval [default: lane_change/put/approval]
- set_force_lane_change [default: lane_change/put/force]
- set_path_change_approval [default: path_change/put/approval]
- set_path_change_force [default: path_change/put/force]
- set_obstacle_avoid_approval [default: object_avoidance/put/approval]
- set_force_obstacle_avoid [default: object_avoidance/put/force]
- set_overwrite_traffic_signals [default: traffic_light/put/traffic_signals]
- set_crosswalk_status [default: autoware/put/crosswalk_states]
- set_intersection_status [default: autoware/put/intersection_states]
- set_expand_stop_range [default: autoware/put/expand_stop_range]
- set_pose_initialization_request [default: autoware/put/pose_initialization_request]
- get_route [default: autoware/get/route]
- get_predicted_object [default: prediction/get/objects]
- get_stop_speed_exceeded [default: autoware/get/stop_speed_exceeded]
- get_traffic_signals [default: traffic_light/get/traffic_signals]
- get_nearest_traffic_signal [default: traffic_light/get/nearest_traffic_signal]
- get_v2x_command [default: /awapi/tmp/infrastructure_commands]
- get_v2x_state [default: /awapi/tmp/virtual_traffic_light_states]
- get_path_change_ready [default: path_change/get/ready_module]
- get_path_change_force_available [default: path_change/get/force_available]
- get_path_change_running [default: path_change/get/running_modules]
- use_intra_process [default: false]
- use_multithread [default: false]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged awapi_awiv_adapter at Robotics Stack Exchange
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