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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
| Description | |
| Checkout URI | https://github.com/ieiauto/autodrrt.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-09-19 |
| Dev Status | UNKNOWN |
| 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_selector package
Additional Links
No additional links.
Maintainers
- Taiki Tanaka
- Tomoya Kimura
- Shumpei Wakabayashi
- Fumiya Watanabe
- Takamasa Horibe
- Satoshi Ota
- Takayuki Murooka
Authors
No additional authors.
external_cmd_selector
Purpose
external_cmd_selector is the package to publish external_control_cmd, gear_cmd, hazard_lights_cmd, heartbeat and turn_indicators_cmd, according to the current mode, which is remote or local.
The current mode is set via service, remote is remotely operated, local is to use the values calculated by Autoware.
Input / Output
Input topics
| Name | Type | Description |
|---|---|---|
/api/external/set/command/local/control |
TBD | Local. Calculated control value. |
/api/external/set/command/local/heartbeat |
TBD | Local. Heartbeat. |
/api/external/set/command/local/shift |
TBD | Local. Gear shift like drive, rear and etc. |
/api/external/set/command/local/turn_signal |
TBD | Local. Turn signal like left turn, right turn and etc. |
/api/external/set/command/remote/control |
TBD | Remote. Calculated control value. |
/api/external/set/command/remote/heartbeat |
TBD | Remote. Heartbeat. |
/api/external/set/command/remote/shift |
TBD | Remote. Gear shift like drive, rear and etc. |
/api/external/set/command/remote/turn_signal |
TBD | Remote. Turn signal like left turn, right turn and etc. |
Output topics
| Name | Type | Description |
|---|---|---|
/control/external_cmd_selector/current_selector_mode |
TBD | Current selected mode, remote or local. |
/diagnostics |
diagnostic_msgs::msg::DiagnosticArray | Check if node is active or not. |
/external/selected/external_control_cmd |
TBD | Pass through control command with current mode. |
/external/selected/gear_cmd |
autoware_auto_vehicle_msgs::msg::GearCommand | Pass through gear command with current mode. |
/external/selected/hazard_lights_cmd |
autoware_auto_vehicle_msgs::msg::HazardLightsCommand | Pass through hazard light with current mode. |
/external/selected/heartbeat |
TBD | Pass through heartbeat with current mode. |
/external/selected/turn_indicators_cmd |
autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand | Pass through turn indicator with current mode. |
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.
Launch files
- launch/external_cmd_selector.launch.xml
-
- initial_selector_mode [default: local]
- service/select_external_command [default: ~/select_external_command]
- input/local/control_cmd [default: /api/external/set/command/local/control]
- input/local/shift_cmd [default: /api/external/set/command/local/shift]
- input/local/turn_signal_cmd [default: /api/external/set/command/local/turn_signal]
- input/local/heartbeat [default: /api/external/set/command/local/heartbeat]
- input/remote/control_cmd [default: /api/external/set/command/remote/control]
- input/remote/shift_cmd [default: /api/external/set/command/remote/shift]
- input/remote/turn_signal_cmd [default: /api/external/set/command/remote/turn_signal]
- input/remote/heartbeat [default: /api/external/set/command/remote/heartbeat]
- output/control_cmd [default: /external/selected/external_control_cmd]
- output/gear_cmd [default: /external/selected/gear_cmd]
- output/turn_indicators_cmd [default: /external/selected/turn_indicators_cmd]
- output/hazard_lights_cmd [default: /external/selected/hazard_lights_cmd]
- output/heartbeat [default: /external/selected/heartbeat]
- output/current_selector_mode [default: ~/current_selector_mode]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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