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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 external_cmd_converter package
Additional Links
No additional links.
Maintainers
- Takamasa Horibe
Authors
- Takamasa Horibe
external_cmd_converter
external_cmd_converter
is a node that converts desired mechanical input to acceleration and velocity by using accel/brake map.
Input topics
Name | Type | Description |
---|---|---|
~/in/external_control_cmd |
tier4_external_api_msgs::msg::ControlCommand | target throttle/brake/steering_angle/steering_angle_velocity is necessary to calculate desired control command. |
~/input/shift_cmd" |
autoware_auto_vehicle_msgs::GearCommand | current command of gear. |
~/input/emergency_stop |
tier4_external_api_msgs::msg::Heartbeat | emergency heart beat for external command. |
~/input/current_gate_mode |
tier4_control_msgs::msg::GateMode | topic for gate mode. |
~/input/odometry |
navigation_msgs::Odometry | twist topic in odometry is used. |
Output topics
Name | Type | Description |
---|---|---|
~/out/control_cmd |
autoware_auto_control_msgs::msg::AckermannControlCommand | ackermann control command converted from selected external command |
Parameters
Parameter | Type | Description |
---|---|---|
timer_rate |
double | timer’s update rate |
wait_for_first_topic |
double | if time out check is done after receiving first topic |
control_command_timeout |
double | time out check for control command |
emergency_stop_timeout |
double | time out check for emergency stop command |
Limitation
tbd.
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/external_cmd_converter.launch.xml
-
- csv_path_accel_map [default: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/accel_map.csv]
- csv_path_brake_map [default: $(find-pkg-share raw_vehicle_cmd_converter)/data/default/brake_map.csv]
- ref_vel_gain [default: 3.0]
- timer_rate [default: 10.0]
- wait_for_first_topic [default: true]
- control_command_timeout [default: 1.0]
- emergency_stop_timeout [default: 3.0]
- in/external_control_cmd [default: /external/selected/external_control_cmd]
- in/shift_cmd [default: /external/selected/gear_cmd]
- in/emergency_stop [default: /external/selected/heartbeat]
- in/current_gate_mode [default: /control/current_gate_mode]
- in/odometry [default: /localization/kinematic_state]
- out/control_cmd [default: /external/selected/control_cmd]
- out/latest_external_control_cmd [default: /api/external/get/command/selected/control]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged external_cmd_converter at Robotics Stack Exchange
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