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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_velocity_limit_selector ROS 2 package
Additional Links
No additional links.
Maintainers
- Satoshi Ota
- Shinnosuke Hirakawa
- Shumpei Wakabayashi
- Tomohito Ando
- Tomoya Kimura
Authors
- Satoshi Ota
External Velocity Limit Selector
Purpose
The external_velocity_limit_selector_node is a node that keeps consistency of external velocity limits. This module subscribes
- velocity limit command sent by API,
- velocity limit command sent by Autoware internal modules.
VelocityLimit.msg contains not only max velocity but also information about the acceleration/jerk constraints on deceleration. The external_velocity_limit_selector_node integrates the lowest velocity limit and the highest jerk constraint to calculate the hardest velocity limit that protects all the deceleration points and max velocities sent by API and Autoware internal modules.
Inner-workings / Algorithms
WIP
Inputs
| Name | Type | Description |
|---|---|---|
~input/velocity_limit_from_api |
tier4_planning_msgs::VelocityLimit | velocity limit from api |
~input/velocity_limit_from_internal |
tier4_planning_msgs::VelocityLimit | velocity limit from autoware internal modules |
~input/velocity_limit_clear_command_from_internal |
tier4_planning_msgs::VelocityLimitClearCommand | velocity limit clear command |
Outputs
| Name | Type | Description |
|---|---|---|
~output/max_velocity |
tier4_planning_msgs::VelocityLimit | current information of the hardest velocity limit |
Parameters
{{ json_to_markdown(“planning/external_velocity_limit_selector/schema/external_velocity_limit_selector.schema.json”) }}
Assumptions / Known limits
(Optional) Error detection and handling
(Optional) Performance characterization
(Optional) References/External links
(Optional) Future extensions / Unimplemented parts
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
| Deps | Name |
|---|---|
| ament_cmake_auto | |
| autoware_cmake | |
| ros2cli | |
| topic_tools | |
| ament_lint_auto | |
| autoware_lint_common | |
| rclcpp | |
| rclcpp_components | |
| tier4_debug_msgs | |
| tier4_planning_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
- launch/external_velocity_limit_selector.launch.xml
-
- external_velocity_limit_selector_param_path [default: $(find-pkg-share external_velocity_limit_selector)/config/external_velocity_limit_selector.param.yaml]
- input_velocity_limit_from_api [default: /planning/scenario_planning/max_velocity_default]
- input_velocity_limit_from_internal [default: /planning/scenario_planning/max_velocity_candidates]
- input_velocity_limit_clear_command_from_internal [default: /planning/scenario_planning/clear_velocity_limit]
- output_velocity_limit_from_selector [default: /planning/scenario_planning/max_velocity]
- output_debug_string [default: /planning/scenario_planning/external_velocity_limit_selector/debug]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged external_velocity_limit_selector at Robotics Stack Exchange
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